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

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

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

[0002] The location of a terminal may be estimated using a location estimation algorithm based on information such as radio wave intensity, radio wave arrival angle, and radio wave arrival time. Alternatively, the location of a terminal may be estimated from measurement results using a laser rangefinder or a tape measure. Here, the terminal may be, for example, a wireless terminal. The wireless terminal may be, for example, an air conditioning indoor unit or a lighting fixture with wireless communication capabilities. The location of a terminal estimated using the above-described method may contain errors.

[0003] Patent Document 1 describes a technique for correcting the position of a terminal estimated by wireless technology, in which the terminal position is corrected by applying the terminal position 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.

[0004] Japanese Patent Application Laid-Open No. 2006-90868

[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, if the position of a terminal is applied to a template configured with intervals based on the construction unit, as in Patent Document 1, there is a risk that the position of the terminal will be corrected to an incorrect position. The present disclosure aims to enable the position of a terminal to be appropriately corrected.

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

[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 will be corrected to an incorrect position, making it possible to appropriately correct the position of the processing terminal.

[0008] 1 is a configuration diagram of a position correction device 10 according to the first embodiment. 2 is a flowchart of processing by the position correction device 10 according to the first embodiment. 3 is an explanatory diagram of information stored in an estimated position storage unit 31 according to the first embodiment. 4 is an explanatory diagram of a template 40 according to the first embodiment. 5 is an explanatory diagram of parameters of the template 40 according to the first embodiment. 6 is a flowchart of template optimization processing according to the first embodiment. 7 is an explanatory diagram of position correction processing according to the first embodiment. 8 is a configuration diagram of a position correction device 10 according to a first modification. 9 is a flowchart of processing by the position correction device 10 according to the first modification. 10 is a configuration diagram of a position correction device 10 according to a second embodiment. 11 is a configuration diagram of a position correction device 10 according to a third embodiment. 12 is an explanatory diagram of an outline of the operation of the position correction device 10 according to the third embodiment. 13 is an explanatory diagram of information stored in a connection relationship storage unit 34 according to the third embodiment. 14 is an explanatory diagram of information stored in a connection relationship storage unit 34 according to a fifth modification.

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

[0010] The processor 11 is an IC that performs processing. IC stands for Integrated Circuit. Specific examples of the processor 11 include a CPU, a DSP, and a GPU. CPU stands for Central Processing Unit. DSP stands for Digital Signal Processor. GPU stands 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 stands for Static Random Access Memory. DRAM stands 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 external devices. Specific examples of the communication interface 14 include Ethernet (registered trademark), USB, and HDMI (registered trademark) ports. USB stands for Universal Serial Bus. HDMI stands 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 each functional component of the position correction device 10 are realized by software. The storage 13 stores a program that realizes the function of each functional component of the position correction device 10. This program is read 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 realized.

[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] ***Description of Operation*** The operation of the position correction device 10 according to the first embodiment will be described with reference to Figures 2 to 6. The operation procedure of the position correction device 10 according to the first embodiment corresponds to the position correction method according to the first embodiment. Furthermore, the program that realizes the operation of the position correction device 10 according to the first embodiment corresponds to the position correction program according to the first embodiment.

[0018] The processing of the position correction device 10 according to the first embodiment will be described with reference to Fig. 2. (Step S11 in Fig. 2: Estimated position acquisition processing) 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 terminals are terminals whose positions are 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 arranged regularly. "Arranged regularly" 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 the 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 for 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. There may be an error in the estimated position. The reference point is set in advance. The reference point is, 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. 4 . The template 40 indicates the relative positions of multiple assumed terminals using lattice points 41, which are the intersections of multiple lines drawn in a lattice pattern. That is, the template 40 indicates the relative positions of multiple assumed terminals using lattice points 41, which are the intersections of multiple parallel horizontal lines drawn at equal intervals and multiple parallel vertical lines drawn at equal intervals. In the first embodiment, two terminal arrangement patterns 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 the 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 arranged. 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 due to the shape of the staggered pattern, there is no case where there is only one horizontal or vertical line. In addition, various templates 40 with different numbers of processing terminals are possible, as shown in templates 40E and 40F.

[0022] The template generation unit 21 generates the template 40 based on the number of processing terminals and the ranges of estimated positions of each of the multiple processing terminals acquired in step S11. Here, the template generation 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, inter-lattice point distances Δx and Δy, and shape parameters αx, αy, and β. The number of columns nx is the number of multiple lines that make up a lattice point arranged in the x-axis direction. The number of rows ny is the number of multiple lines that make up a lattice point arranged in the y-axis direction. The inter-lattice point distance Δx is the distance between lattice points in the x-axis direction. The inter-lattice point distance Δy is the distance between lattice points 41 in the y-axis direction. The shape parameter αx indicates whether a staggered arrangement is formed in the x-axis direction. The shape parameter αy indicates whether 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 staggered pattern. In the staggered pattern, the lattice points 41 are arranged alternately, so when the shape parameter β is 0 as in templates 40C and 40D and when the shape parameter β is 1, the position of the starting point is shifted to the position of the adjacent lattice point 41.

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

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

[0025] (A) The 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. For the target combination, the template generation unit 21 sets the distance Δ(w, nx) to the distance Δx between lattice points in the x-axis direction. In other words, 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 number of columns nx minus 1 to the distance Δx between lattice points in the x-axis direction. For the target combination, the template generation unit 21 sets the distance Δ(h, ny) to the distance Δy between lattice points in the y-axis direction. In other words, 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 number of rows ny minus 1 to the distance Δy between lattice points in the y-axis direction. 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) The 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. That is, nx·ny = 2N, nx·ny = 2N±1. The template generation unit 21 sets each of the one or more combinations as a target combination. For the target combination, the template generation unit 21 sets the distance Δ(w, nx) as the distance Δx between lattice points in the x-axis direction. 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. For the target combination, the template generation unit 21 sets the distance Δ(h, ny) as the distance Δy between lattice points in the y-axis direction. That is, the template generation unit 21 sets the distance between lattice points in the y-axis direction as 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. Then, the template generation 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 following seven templates 40 (1) to (7) have parameters (nx, ny, Δx, Δy, αx, αy, β) 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 Specifically, for (A), the template generating unit 21 generates the template 40 by taking 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 Processing) The template optimization unit 22 selects the template 40 with the smallest degree of deviation from the one or more templates 40 generated in step S12. At the same time, the template optimization unit 22 optimizes the distances Δx and Δy between lattice points of the template 40 and the fitting position θ so as to reduce the degree of deviation. The degree of deviation is an evaluation value calculated from the distance between each of the multiple processing terminals and the corresponding lattice point 41. For example, the degree of deviation is the sum of the distances between the processing terminals and the corresponding lattice point 41 for the multiple processing terminals. The fitting position θ indicates the position at which the template 40 is associated with the coordinate systems of the multiple processing terminals. In other words, the fitting position θ indicates the position on the template 40 where the reference position of the coordinate systems of the multiple processing terminals is located.

[0030] Specifically, the template optimization unit 22 optimizes the distances Δx and Δy between lattice points and the fitting position θ by solving the optimization problem shown in Equation 1, and selects the template 40 with the smallest deviation from the optimized templates 40. In the following description, the position p^ of the processing terminal i is ｉ ha p^ ｉ =p^ ｉ - [min(X), min(Y)] Ｔ It is assumed that the coordinates are transformed as follows. In Equation 1, Z is the set of templates 40 generated in step S12. The subscript u is the identifier of the template 40. Therefore, Z ｕ represents an individual template 40 included in the set Z. ｕ , ny ｕ , Δx ＊ ｕ , Δy ＊ ｕ , αx ｕ , αy ｕ , β ｕ represents the parameters for the individual template 40. The subscript "*" represents the optimal parameter. That is, Δx ＊ ｕ and Δy ＊ ｕrepresents the optimized distances Δx and Δy between lattice points. ＊ ｕ represents the optimized fitting position θ. ＊ represents the template 40 with the smallest deviation in the optimized state. ＊ ｕ is the optimized template Z ｕ J(Z ｕ , θ ｕ ) is an evaluation function that calculates the degree of deviation between the template 40 and the provisional position. ｉ , Z （０） ｕ , Z ｕ ) is template Z （０） ｕ The position p^ of the processing terminal i on ｉ The coordinates of the nearest grid point are defined as template Z ｕ This is a function that recalculates using Template Z. （０） ｕ is Template Z ｕ The processing terminal i represents the initial value of N processing terminals.

[0031] The template optimization process according to the first embodiment will be described with reference to Fig. 6. By solving the optimization problem shown in Equation 1, the following processes are performed collectively.

[0032] (Step S131 in FIG. 6: Correspondence Identification Process) The correspondence identification unit 221 sets each of the one or more templates 40 generated in step S12 as the target template 40. The correspondence identification unit 221 matches 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 identification unit 221 identifies lattice points 41 in the target template 40 that correspond to each of the multiple processing terminals. Here, the correspondence identification 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] In this case, 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 corrector 222 sets each of the one or more templates 40 generated in step S12 as a target template 40. The template corrector 222 corrects the inter-lattice point distances Δx and Δy and the fitting position θ in the target template 40 so that the degree of deviation calculated using the evaluation function J is minimized, 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 the one or more templates 40 generated in step S12.

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

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

[0038] ***Effects of First Embodiment*** As described above, the position correction device 10 according to the first embodiment generates the corrected template 42 by correcting the template 40 so as to reduce the degree of discrepancy between the estimated position of the processing terminal and the positions of the lattice points in the template 40. The position correction device 10 then corrects the estimated position based on the corrected template 42. This reduces the possibility that the position of the processing terminal will be corrected to an incorrect position, making it possible to appropriately correct the position of the processing terminal.

[0039] Furthermore, the position correction device 10 according to the first embodiment generates templates 40 with corresponding arrangements based on the number of processing terminals and the range of the estimated positions. This makes it possible to correct the estimated positions by simply fitting the processing terminals to an appropriate template 40, without fitting the processing terminals to a large number of templates 40. As a result, it is possible to reduce the calculation load involved in correcting the estimated positions.

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

[0041] The configuration of the position correction device 10 according to the first modification will be described with reference to FIG. 8 . The position correction device 10 differs from the position correction device 10 shown in FIG. 1 in that it includes a template readout unit 24 instead of the template generation 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 implements the function of the template storage unit 32. The template storage unit 32 stores a plurality of templates 40 that have been generated in advance. Note that, instead of the storage 13, a storage device external to the position correction device 10 may implement the function of the template storage unit 32.

[0042] The processing of the position correction device 10 according to the first modification will be described with reference to Fig. 9. The processing of step S21 is the same as the processing of step S11 in Fig. 2. However, the processing is mainly performed by the template reading unit 24, not the template generating unit 21. The processing of steps S23 and S24 is the same as the processing of steps S13 and S14 in Fig. 2.

[0043] (Step S22 in FIG. 9: Template reading process) The template reading unit 24 reads one or more templates 40 that correspond 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 one or more templates 40 generated in (A) and (B) in step S12 in FIG. 2 .

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

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

[0046] <Modification 2> In the first embodiment, each functional component is realized by software. However, in a modification 2, each functional component may be realized by hardware. The following describes the differences between this modification 2 and 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 that realizes the functions of each functional component, the memory 12, and the storage 13.

[0048] Possible electronic circuits include a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA, an ASIC, and an FPGA. 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 a single electronic circuit, or each functional component may be distributed across multiple electronic circuits.

[0049] <Modification 3> As a modification 3, 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 respective functional components are realized by the processing circuit.

[0051] Embodiment 2. Embodiment 2 differs from embodiment 1 in that the correction range of the inter-lattice point distances Δx and Δy is limited by utilizing the limitation on the installation interval of the processing terminals. In embodiment 2, this difference will be explained, and the explanation of the same points will be omitted.

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

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

[0054] ***Effects of Embodiment 2*** As described above, the position correction device 10 according to Embodiment 2 limits the correction range of the inter-lattice point distances Δx and Δy by utilizing the restriction on the installation interval of the processing terminals. This makes it possible to omit calculations for unrealistic inter-lattice point distances Δx and Δy, thereby reducing the calculation load related to optimization of the template 40. Furthermore, inappropriate inter-lattice point distances Δx and Δy will no longer be used.

[0055] ***Other Configurations*** <Modification 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, the threshold storage unit 33 may store an upper limit value for the deviation. In this case, in step S14 of FIG. 2, the position correction unit 23 determines whether the deviation 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 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 is equal to or greater than the upper limit value, the template optimization unit 22 stops correcting the estimated position. If the deviation is high, the deviation between the estimated position and the grid points 41 on the correction template 42 is large. 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 reduce the accuracy of the position estimation. By stopping the correction using the upper limit value of the deviation, it is possible to prevent a decrease in the accuracy of the position estimation.

[0057] Embodiment 3. Embodiment 3 differs from embodiments 1 and 2 in that a plurality of processing terminals are classified into a plurality of groups, and the estimated position is corrected for each group. In embodiment 3, this difference will be explained, and explanation of the same points will be omitted. In embodiment 3, a case where a function is added to embodiment 1 will be explained. However, it is also possible to add a function to embodiment 2.

[0058] ***Description of Configuration*** The configuration of the position correction device 10 according to the third embodiment will be described with reference to FIG. 11 . The position correction device 10 differs from the position correction device 10 shown in FIG. 1 in that it includes a dividing unit 25 as a functional component. The function of the dividing unit 25, like the other functional components, is realized by software or hardware. 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 connection relationship storage unit 34. Note that, instead of the storage 13, an external storage device to the position correction device 10 may realize the function of the connection relationship storage unit 34.

[0059] ***Description of Operation*** The operation of the position correction device 10 according to the third embodiment will be described with reference to Figures 12 and 13. The operation procedure of the position correction device 10 according to the third embodiment corresponds to the position correction method according to the third embodiment. Furthermore, the program that realizes the operation of the position correction device 10 according to the third embodiment corresponds to the position correction program according to the third embodiment.

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

[0061] With reference to Fig. 13, the 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 device to which each processing terminal is connected. For example, if the processing terminal is an air conditioning indoor unit, the device to which it is connected 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 processing of FIG. 2 , the dividing unit 25 classifies a plurality of processing terminals to generate a plurality of groups. Specifically, the dividing unit 25 identifies the connection relationships between the plurality of processing terminals by referring to the information stored in the connection relationship storage unit 34. Then, the dividing unit 25 classifies the plurality of processing terminals to generate a plurality of groups based on the connection relationships between the plurality of processing terminals. For example, when the information shown in FIG. 13 is stored in the connection relationship storage unit 34, the dividing unit 25 classifies processing terminals connected to the same device into the same group, assuming that they have 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 plurality of groups as a target group.

[0064] ***Effects of Embodiment 3*** As described above, the position correction device 10 according to Embodiment 3 classifies a plurality of processing terminals into 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 for all processing terminals.

[0065] ***Other Configurations*** <Modification 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 connected devices. 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 rangefinder or a tape measure. The dividing unit 25 considers processing terminals connected to devices that are close to each other to be installed in the same area. On the other hand, the dividing unit 25 considers processing terminals connected to devices that are far from each other to be 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, processing terminals can be classified more accurately.

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

[0069] The embodiments and modifications of the present disclosure have been described above. Some of these embodiments and modifications may be combined and implemented. Furthermore, one or more of them may be implemented partially. Note that the present disclosure is not limited to the above embodiments and modifications, and various modifications are possible as needed.

[0070] 10 Position correction device, 11 Processor, 12 Memory, 13 Storage, 14 Communication interface, 21 Template generation unit, 22 Template optimization unit, 221 Correspondence identification unit, 222 Template correction unit, 23 Position correction unit, 24 Template reading unit, 25 Segmentation 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 Corrected template.

Claims

1. 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; 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, which is the number of lines constituting the lattice points, and the number of rows ny, which is the number of lines constituting the lattice points, in the x-axis direction, is equal to 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 the 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 the 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 distances 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 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, and identifies lattice points in the template that correspond to each of the plurality of processing terminals; a computer generates a corrected template by correcting distances between 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 identification process for fitting a plurality of processing terminals to be located based on the estimated positions of each of the plurality of processing terminals to be located to 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, and identifying the lattice points in the template that correspond to each of the plurality of processing terminals; a template correction process for generating a corrected template by correcting 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 process for each of the plurality of processing terminals 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.