Management system, management apparatus, management method, and program

Abstract

The present invention comprises: a first network device (8d) that is provided with a first positioning device (7d); a second network device (8g) that is connected to the first network device (8d) by a connection cable (55b) and that is provided with a second positioning device (7g); and a management apparatus (3A) that includes a management control unit that sets the first positioning device (7d) as an anchor, sets the second positioning device (7g) as a tag, and causes the first positioning device (7d) to measure the position of the second positioning device (7g). The management control unit of the management apparatus (3A) determines the position of the second positioning device (7g), on the basis of the positioning result of the position of the second positioning device (7g) measured by the first positioning device (7d) and the cable length of the connection cable (55b) between the first network device (8d) and the second network device (8g).

Description

Management system, management device, method, and program

[0001] The present disclosure relates to a management system, a management device, a method, and a program.

[0002] In a manufacturing system where manufacturing equipment used to manufacture products in a factory is connected to a wired network, when a malfunction or problem occurs with a manufacturing device on the network, the connection relationship of the manufacturing equipment can be seen on the tool screen, but the location of the manufacturing equipment on the manufacturing floor is often unknown. In this case, maintenance workers must search for the malfunctioning manufacturing equipment on the manufacturing floor. This often results in prolonged downtime for the manufacturing system. Meanwhile, methods for measuring the three-dimensional position of equipment indoors have been proposed, such as methods using wireless technology such as UWB (Ultra-Wide Band) to determine the location of equipment on a network. For example, Patent Document 1 discloses technology related to a management device that can perform backups, restores, etc. based on the location information of manufacturing equipment.

[0003] Japanese Patent Application Laid-Open No. 2018-97542

[0004] In the technology disclosed in Patent Document 1, a management device broadcasts a location information request to all connected manufacturing equipment and acquires the location information of each manufacturing equipment based on responses from the manufacturing equipment. However, when using the technology disclosed in Patent Document 1 to build a control and measurement system using a wired network within a factory, it is necessary to install and configure wireless positioning tags and anchors equal to the number of manufacturing equipment to be positioned. In this case, depending on the installation status of the wireless positioning tags and anchors, it may be difficult to perform positioning of the target.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to easily locate the position of a positioning target within a factory.

[0006] In order to achieve the above-mentioned object, a management system according to the present disclosure includes a first network device arranged on a wired network and performing positioning of a positioning object, a first positioning device provided in the first network device and wirelessly measuring the position of the positioning object, a second network device connected to the first network device via a wired connection cable and including a second positioning device that wirelessly measures the position of the positioning object, and a management apparatus including a management control unit that sets the first positioning device as an anchor that serves as a reference for positioning and sets the second positioning device as a tag that is to be positioned, and causes the first positioning device to measure the position of the second positioning device. The management control unit of the management apparatus determines the position of the second positioning device based on the positioning result of the position of the second positioning device measured by the first positioning device and the cable length of the connection cable between the first network device and the second network device.

[0007] According to the present disclosure, the position of an object to be positioned within a factory can be easily determined.

[0008]

[0009] First Embodiment Hereinafter, a management device 3 according to a first embodiment of the present disclosure and a management system 100 including the management device 3 will be described with reference to the drawings. Note that the same or equivalent parts are denoted by the same reference numerals.

[0010] The management device 3 is a device that measures the position of the remote device 2, which is manufacturing equipment connected via a field network to a programmable logic controller (PLC) used to control equipment in a factory. The management system 100 is a system that includes the management device 3.

[0011] 1 shows an overview of a management system 100. The management system 100 includes remote devices 2 equipped with positioning modules 1 for positioning, a management device 3 that performs positioning of the remote devices 2, and a display device 4 that displays the positioning results. The remote devices 2 include a first remote device 2a equipped with a first positioning module 1a, a second remote device 2b equipped with a second positioning module 1b, ..., and an nth remote device 2n equipped with an nth positioning module 1n, where n is an integer equal to or greater than 2.

[0012] The first remote device 2a and the second remote device 2b are connected by a wired first device connection cable 51a. The second remote device 2b is connected to a third remote device 2c (not shown) by a wired second device connection cable 51b. The nth remote device 2n is connected to an (n-1)th remote device 2k (not shown) by a wired nth device connection cable 51n. Note that k is a unique alphabetic symbol. In the following, the first device connection cable 51a, the second device connection cable 51b, ..., the nth device connection cable 51n are collectively referred to as device connection cables 51. The first remote device 2a is connected to a management device 3 by a wired device connection cable 52. The management device 3 is connected to a display device 4 by a display cable 53.

[0013] Next, the configuration of the management system 100 is shown. FIG. 2 is a block diagram showing the configuration of the management system 100. The positioning module 1 is a module that can be used as a mobile positioning tag. The positioning module 1 includes an antenna unit 11 for performing positioning via wireless communication with other positioning modules 1, a positioning memory unit 12 for storing positioning results, a positioning power supply unit 13 for operation, a positioning control unit 14 for performing various controls, and a positioning connection unit 15 for connecting to a remote device 2. The antenna unit 11 connects to other positioning modules 1 via wireless communication and functions as a positioning tag or anchor. The positioning memory unit 12 stores the positioning results obtained by the antenna unit 11. The positioning control unit 14 performs various controls. The positioning connection unit 15 connects to the remote device 2 and transmits and receives various data, power, etc.

[0014] The remote device 2 is a manufacturing device connected via a field network to a PLC used to control devices in a factory. The remote device 2 includes a remote communication unit 21 that communicates with the management device 3, a remote storage unit 22 that stores positioning results, a remote power supply unit 23 for operation, a remote control unit 24 that executes various controls, and a remote connection unit 25 that connects to the positioning module 1. The remote communication unit 21 communicates with the management device 3 via a wired device connection cable 52. When the remote device 2 functions as a first remote device 2a, the remote communication unit 21 connects to a second remote device 2b via a first device connection cable 51a.

[0015] The remote storage unit 22 synchronizes various data such as positioning results and control information with the positioning storage unit 12 of the positioning module 1 via the remote connection unit 25 and the positioning connection unit 15. The remote power supply unit 23 supplies power to the positioning power supply unit 13 of the positioning module 1 via the remote connection unit 25 and the positioning connection unit 15. The remote control unit 24 executes various controls.

[0016] The management device 3 selects whether to use the positioning module 1 of the remote device 2 connected via the wired device connection cable 52 as a positioning tag or an anchor, controls the positioning timing, associates the remote device 2 with the positioning module 1, and performs positioning processing, etc. The management device 3 includes a management display processing unit 31 that performs display processing, a management power supply unit 32 used for operation, a management memory unit 33 that stores various data and programs, a management control unit 34 that performs various controls, a management input operation unit 35 that inputs various data, etc., and a management communication unit 36 ​​that communicates with the remote device 2.

[0017] The management display processing unit 31 displays the positioning results on the display device 4 connected via the display cable 53. The management power supply unit 32 is a power source that supplies power for executing the operations of the management device 3. The management memory unit 33 stores various data and programs including the positioning results acquired from the remote devices 2 and connection information for each remote device 2. The management control unit 34 performs various controls by executing the programs stored in the management memory unit 33. The management input operation unit 35 inputs various data, instructions from the user, etc. The management communication unit 36 ​​sends and receives various data, instruction signals, etc. by communicating with the remote devices 2.

[0018] The functions executed by the positioning module 1, the remote device 2, and the management device 3 described above are functions realized by software. Examples of hardware configurations for executing software programs that realize the functions are shown in Figures 3 to 5. Figure 3 shows an example of the hardware configuration of the positioning module 1.

[0019] The positioning module 1 includes a wireless communication device 101 for communicating with other positioning modules 1, a connection device 102 for connecting to the remote device 2, a power supply device 103 for operation, a storage device 104 for storing various data including positioning results and various programs, a memory 105 for expanding the various programs, and a processor 106 for executing the various programs. The wireless communication device 101, the connection device 102, the power supply device 103, the storage device 104, the memory 105, and the processor 106 are interconnected via a bus 107.

[0020] The wireless communication device 101 performs positioning by communicating with other positioning modules 1. The wireless communication device 101 can be configured with an antenna that uses a communication method that allows data to be transmitted and received between positioning modules 1, such as UWB (Ultra-Wide Band), Wi-Fi (registered trademark), or infrared communication. The wireless communication device 101 functions as the antenna unit 11 of the positioning module 1 shown in FIG. 2.

[0021] The connection device 102 connects to the remote device 2, acquires power, and synchronizes various data including positioning results with the remote device 2. The connection device 102 can be configured using various ports and connectors that allow devices to send and receive power and data, such as a wired USB (Universal Serial Bus) port or serial bus port. The connection device 102 functions as the positioning connection unit 15 of the positioning module 1 shown in FIG. 2 .

[0022] The power supply device 103 is a power source for operating the positioning module 1. Power for the power supply device 103 is supplied from the remote device 2. The power supply device 103 can be configured using, for example, a battery that can store the power supplied from the remote device 2. The power supply device 103 functions as the positioning power supply unit 13 of the positioning module 1 shown in FIG. 2 .

[0023] The storage device 104 stores various programs executed by the processor 106 and various data including positioning results. The storage device 104 can be configured using a storage element such as a semiconductor memory or a semiconductor chip. The storage device 104 also functions as the positioning storage unit 12 of the positioning module 1 shown in FIG. 2.

[0024] The memory 105 is a device for expanding the various programs stored in the storage device 104. The memory 105 can be configured using a storage element and a storage medium, such as a volatile or non-volatile semiconductor memory, such as a random access memory (RAM) or a flash memory.

[0025] The processor 106 reads out various programs stored in the storage device 104, loads them into the memory 105, and executes them. The processor 106 can be configured using a processing device such as a CPU (Central Processing Unit) or an MPU (Micro-processing Unit). The memory 105 and the processor 106 function as the positioning control unit 14 of the positioning module 1 shown in FIG. 2.

[0026] 4 shows an example of the hardware configuration of the remote device 2. The remote device 2 includes a connection device 201 that connects to the positioning module 1, a communication device 202 for communicating with the management device 3 and the second remote device 2b, a power supply device 203 for operation, a storage device 204 that stores various data including positioning results and various programs, a memory 205 for expanding the various programs, and a processor 206 that executes the various programs. The connection device 201, communication device 202, power supply device 203, storage device 204, memory 205, and processor 206 are interconnected via a bus 207.

[0027] The connection device 201 connects to the positioning module 1, supplies or acquires power, and synchronizes various data including positioning results with the positioning module 1. The connection device 201 can be configured using various ports that can send and receive power and data between devices, such as a wired USB port or serial bus port. The connection device 201 functions as the remote connection unit 25 of the remote device 2 shown in FIG. 2.

[0028] The communication device 202 is connected to the management device 3 and the second remote device 2b and transmits and receives various data. The communication device 202 can be configured using various ports that allow data to be transmitted and received between devices, such as various industrial networks, a wired LAN (Local Area Network) port, a USB port, an IEEE 1394 port, etc. The communication device 202 functions as the remote communication unit 21 of the remote device 2 shown in FIG. 2.

[0029] The power supply device 203 is a power source for operating the remote device 2. The power supply device 203 supplies power to the power supply device 103 of the positioning module 1 shown in Fig. 3. The power supply device 203 can be configured using, for example, a power port that receives power from an external source and a battery that can store the power supplied from an external source. The power supply device 203 functions as the remote power supply unit 23 of the remote device 2 shown in Fig. 2.

[0030] The storage device 204 stores various programs executed by the processor 206 and various data including the positioning results. The storage device 204 can be configured using a storage element such as a semiconductor memory or a semiconductor chip. The storage device 204 also functions as the remote storage unit 22 of the remote device 2 shown in FIG. 2.

[0031] The memory 205 is a device for expanding the various programs stored in the storage device 204. The memory 205 can be configured using a storage element and a storage medium, such as a volatile or non-volatile semiconductor memory, such as a RAM or a flash memory.

[0032] The processor 206 reads out various programs stored in the storage device 204, loads them into the memory 205, and executes them. The processor 206 can be configured using a processing device such as a CPU or an MPU. The memory 205 and the processor 206 function as the remote control unit 24 of the remote device 2 shown in FIG. 2 .

[0033] 5 shows an example of the hardware configuration of the management device 3. The management device 3 includes a communication device 301 for communicating with the remote device 2, an input device 302 for receiving input of various data, a storage device 303 for storing various programs and various data, a display controller 304 for generating display data to be displayed on the display device 4, a power supply device 305 for operation, a memory 306 for expanding the various programs, and a processor 307 for executing the various programs. The communication device 301, the input device 302, the storage device 303, the display controller 304, the power supply device 305, the memory 306, and the processor 307 are connected to each other via a bus 308.

[0034] The communication device 301 connects to the remote device 2 and transmits and receives various data including positioning results. The communication device 301 can be configured using various ports that allow data to be transmitted and received between devices, such as various industrial networks, a wired LAN port, a USB port, an IEEE 1394 port, etc. The communication device 301 functions as the management communication unit 36 ​​of the management device 3 shown in FIG. 2.

[0035] The input device 302 is an input unit through which a user inputs various data and instructions. The input device 302 can be configured using, for example, a keyboard, a mouse, a touch panel, etc. The input device 302 functions as the management input operation unit 35 of the management device 3 shown in FIG. 2.

[0036] The storage device 303 stores various programs executed by the processor 307 and display data such as images and characters to be displayed on the display device 4. The storage device 303 can be configured using a storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage device 303 also functions as the management storage unit 33 of the management device 3 shown in FIG. 2.

[0037] The display controller 304 is a controller that outputs a video signal to the display device 4 to display display data including characters and images. The display device 4 can be configured using, for example, an LCD (Liquid Crystal Display), an organic EL (Electroluminescence) monitor, or the like. The display controller 304 can be configured using, for example, a video signal output device such as a video card, a GPU (Graphics Processing Unit), or a graphics board. The display controller 304 functions as the management display processing unit 31 of the management device 3 shown in FIG. 2.

[0038] The power supply device 305 is a power source for operating the management device 3. The power supply device 305 can be configured using, for example, a power port that receives power from an external source and a battery that can store the power supplied from an external source. The power supply device 305 functions as the management power supply unit 32 of the management device 3 shown in FIG. 2.

[0039] The memory 306 is a device for expanding the various programs stored in the storage device 303. The memory 306 can be configured using a storage element and a storage medium, such as a RAM, a volatile or non-volatile semiconductor memory such as a flash memory, etc.

[0040] The processor 307 reads out various programs stored in the storage device 303, loads them into the memory 306, and executes them. The processor 307 can be configured using a processing device such as a CPU or an MPU. The memory 306 and the processor 307 function as the management control unit 34 of the management device 3 shown in FIG. 2.

[0041] Next, a method for locating the position of the remote device 2 in the first embodiment will be described with reference to Fig. 6. In principle, the remote device 2 is not stopped while in operation. Therefore, the position of the remote device 2 is located periodically during operation or in response to a request from the management device 3. First, the management control unit 34 of the management device 3 shown in Fig. 2 obtains connection information of each remote device 2 connected via the device connection cable 52 and the device connection cable 51 from the management storage unit 33.

[0042] 6, for example, the management device 3 is connected to a first remote device 2a via a device connection cable 52. The first remote device 2a is connected to a second remote device 2b via a first device connection cable 51a. The second remote device 2b is connected to a third remote device 2c via a second device connection cable 51b. The third remote device 2c is connected to a fourth remote device 2d via a third device connection cable 51c. The fourth remote device 2d is connected to a fifth remote device 2e via a fourth device connection cable 51d. The fifth remote device 2e is connected to a sixth remote device 2f via a fifth device connection cable 51e. The sixth remote device 2f is connected to a seventh remote device 2g (not shown) via a sixth device connection cable 51f.

[0043] In this state, consider a case where the management control unit 34 of the management device 3 shown in Figure 2 determines the positions of each of the first remote device 2a to the sixth remote device 2f, for example, by angle and distance combined positioning, which is capable of determining one-to-one anchor-to-tag positioning. First, the management control unit 34 of the management device 3 transmits an instruction signal to each remote device 2 based on the connection information of each remote device 2 acquired from the management storage unit 33, and sets an anchor and a tag. As a result, the management control unit 34 of the management device 3 can set an anchor and a tag based on the connection information of each remote device 2, and can also control the positioning timing of each remote device 2.

[0044] For example, the management control unit 34 of the management device 3 transmits an instruction signal via the device connecting cable 52 to simultaneously operate the first positioning module 1a of the first remote device 2a and the second positioning module 1b of the second remote device 2b. At this time, the management control unit 34 of the management device 3 performs positioning of the second remote device 2b, using the first remote device 2a as a reference anchor and the second remote device 2b as a tag. More specifically, the first positioning module 1a provided in the first remote device 2a is the anchor. The second positioning module 1b provided in the second remote device 2b is the tag. The first remote device 2a determines the current position of the second positioning module 1b using its own position as a reference.

[0045] Similarly, the management control unit 34 of the management device 3 transmits an instruction signal via the device connection cable 52 to simultaneously operate the second positioning module 1b of the second remote device 2b and the third positioning module 1c of the third remote device 2c. Positioning is performed using the second remote device 2b as the anchor and the third remote device 2c as the tag. The management control unit 34 of the management device 3 then sequentially positions the third remote device 2c as the anchor and the fourth remote device 2d as the tag, the fourth remote device 2d as the anchor and the fifth remote device 2e as the tag, and the fifth remote device 2e as the anchor and the sixth remote device 2f as the tag. After the measurements are complete, the management control unit 34 of the management device 3 receives positioning data from the first remote device 2a through the sixth remote device 2f.

[0046] In the case of a 2:1 or 3:1 anchor-to-tag positioning method, if the relative positions of two or three localization modules 1 are initially known, it is possible to perform positioning of all localization modules 1 in the same way as in the case of a 1:1 anchor-to-tag ratio. Furthermore, by using positioning data of one tag from multiple anchors, it is possible to improve positioning accuracy.

[0047] The management control unit 34 of the management device 3 receives positioning data from the first remote device 2a to the sixth remote device 2f. The management control unit 34 of the management device 3 associates the positioning data of each remote device 2 calculated from the received positioning data of the first remote device 2a to the sixth remote device 2f with asset information, status information, etc. of each remote device 2 to create data. This data will be referred to as positioning information data hereinafter. The management display processing unit 31 of the management device 3 shown in FIG. 2 displays a space map 410 shown in FIG. 7 on the display device 4 based on the positioning information data of each remote device 2.

[0048] The spatial map 410 is displayed on the display screen 41 of the display device 4. In Fig. 7, for example, a management device 3, a router Ru, and a first remote device 2a to a ninth remote device 2i are arranged on a factory floor map 421. Each of the first remote device 2a to the ninth remote device 2i is equipped with a positioning module 1. The rectangular parallelepipeds indicated by dotted lines represent, for example, multiple devices and workbenches for manufacturing, inspecting, etc. products.

[0049] A first remote device 2a to a third remote device 2c are connected to a management device 3. A router Ru is connected to the third remote device 2c, which branches out into a fourth remote device 2d, a fifth remote device 2e, a sixth remote device 2f, a seventh remote device 2g, an eighth remote device 2h, and a ninth remote device 2i.

[0050] When the user selects the management device 3 or any of the first to ninth remote devices 2a to 2i displayed on the space map 410 from the management input operation unit 35 of the management device 3 shown in FIG. 2, an information presentation unit 422 is displayed. The information presentation unit 422 displays asset information and status information, such as serial numbers and alarm information, of the selected management device 3 or remote device 2. Furthermore, when asset information or status information is selected or input from the management input operation unit 35 of the management device 3, the position of the corresponding management device 3 or remote device 2 is highlighted on the space map 410. This makes it possible to show the user where on the space map 410 the selected management device 3 or remote device 2 is located.

[0051] Next, a positioning method for the remote device 2 in the first embodiment will be described below with reference to the flowchart shown in Fig. 8. Fig. 8 is a flowchart showing the flow of processing in the positioning process. The positioning process is stored as a positioning process program in the management storage unit 33 of the management device 3 shown in Fig. 2. For example, when a user selects an icon associated with the positioning process program arranged on the display screen 41 of the display device 4 using the management input operation unit 35 of the management device 3, the processor 307 shown in Fig. 5 reads the positioning process program stored in the storage device 303 into the memory 306 and executes it.

[0052] The management control unit 34 of the management device 3 shown in FIG. 2 sets the variable m to 1 (step S101). The management control unit 34 transmits an instruction signal via the device connection cable 52 to simultaneously operate the positioning modules of the mth remote device k and the (m+1)th remote device l (step S102). Note that k and l are any numbers and alphabetic suffixes. For example, based on the connection information of each remote device 2 previously acquired from the management storage unit 33, the management control unit 34 transmits an instruction signal via the device connection cable 52 to simultaneously operate the first positioning module 1a of the first remote device 2a and the second positioning module 1b of the second remote device 2b.

[0053] The management control unit 34 sets an anchor that serves as a reference for positioning and a tag that is to be positioned (step S103). For example, the management control unit 34 sets the first positioning module 1a of the first remote device 2a as the anchor and the second positioning module 1b of the second remote device 2b as the tag. The management control unit 34 causes the first positioning module 1a of the first remote device 2a to position the tag (step S104). For example, the management control unit 34 causes the first positioning module 1a provided in the first remote device 2a to position the position of the second positioning module 1b of the second remote device 2b that is set as the tag.

[0054] The management control unit 34 determines whether the positions of all connected remote devices 2 have been determined (step S105). If the positions of all remote devices 2 have not been determined (step S105; NO), the management control unit 34 adds 1 to the variable m (step S106). The management control unit 34 returns to step S102 and executes step S102 and subsequent steps.

[0055] In step S105, if the positions of all the remote devices 2 have been measured (step S105; YES), the management control unit 34 converts the positioning results into data and stores the data in the management storage unit 33 (step S107). For example, the management control unit 34 associates the data of the positioning results of the positions of the first remote device 2a to the sixth remote device 2f with asset information, status information, etc. of each remote device 2 and converts the data into data. The management control unit 34 stores the converted positioning results, that is, positioning information data, in the management storage unit 33.

[0056] 2 displays the spatial map 410 shown in Fig. 7 on the display screen 41 of the display device 4 based on the positioning information data (step S108). The management control unit 34 ends the positioning process.

[0057] As described above, according to the first embodiment, positioning can be performed by switching between using the positioning module 1 provided in the remote device 2 as an anchor that serves as a reference for positioning and as a tag that is the target of positioning, in response to an instruction signal from the management device 3. This allows the management device 3 to easily locate the position information of the remote device 2 that is manufacturing equipment on the wired network.

[0058] (Embodiment 2) In the above-described embodiment 1, the position of the remote device 2 on the wired network can be determined by switching the positioning module 1 provided in the remote device 2 between using it as an anchor that serves as a reference for positioning and a tag that is the target of positioning in response to an instruction signal from the management device 3. In this embodiment 2, the anchor that serves as a reference for positioning is dynamically determined in response to an instruction signal from the management device 3, thereby making it possible to determine the position of tags other than the remote device 2 that are in the vicinity of the remote device 2.

[0059] 9 is a diagram illustrating a positioning method for the mobile positioning module 6 in the management system 100A. In FIG. 9, a first mobile positioning module 6a is attached to a tool 61, a second mobile positioning module 6b is attached to a worker 62, and a third mobile positioning module 6c is attached to a workpiece 63 to be manufactured. The mobile positioning module 6 is a collective term for the first mobile positioning module 6a, the second mobile positioning module 6b, and the third mobile positioning module 6c.

[0060] When locating the position of the mobile positioning module 6, the management control unit 34 of the management device 3 performs positioning using the positioning modules 1 of three remote devices 2 that are in the vicinity of the mobile positioning module 6 to be located as anchors. To determine the nearby positioning modules 1, possible methods include, for example, determining the placement range of each mobile positioning module 6 in advance, or operating all remote devices 2 as anchors to perform an initial search.

[0061] For example, when positioning the first mobile positioning module 6a attached to the tool 61, the management control unit 34 of the management device 3 sets the first positioning module 1a of the first remote device 2a, the second positioning module 1b of the second remote device 2b, and the third positioning module 1c of the third remote device 2c as anchors. The first positioning module 1a, the second positioning module 1b, and the third positioning module 1c sequentially position the first mobile positioning module 6a. The management control unit 34 of the management device 3 determines the position calculated from each piece of positioning data as the current position of the first mobile positioning module 6a.

[0062] Similarly, when locating the second mobile positioning module 6b attached to the worker 62, the management control unit 34 of the management device 3 sets the second positioning module 1b of the second remote device 2b, the third positioning module 1c of the third remote device 2c, and the fourth positioning module 1d of the fourth remote device 2d as anchors, and performs positioning. Furthermore, when locating the third mobile positioning module 6c attached to the workpiece 63 to be manufactured, the management control unit 34 of the management device 3 sets the fourth positioning module 1d of the fourth remote device 2d, the fifth positioning module 1e of the fifth remote device 2e, and the sixth positioning module 1f of the sixth remote device 2f as anchors, and performs positioning.

[0063] The management control unit 34 of the management device 3 receives positioning data of the first mobile positioning module 6a to the third mobile positioning module 6c from the first positioning module 1a to the sixth positioning module 1f. The management control unit 34 of the management device 3 associates the position data calculated from the received positioning data of the first mobile positioning module 6a to the third mobile positioning module 6c and the previously positioned position data of the first remote device 2a to the sixth remote device 2f with asset information, status information, etc. of each mobile positioning module 6 and each remote device 2 to digitize the positioning result data. Hereinafter, the digitized positioning result data will be referred to as radio positioning information data. The management display processing unit 31 of the management device 3 shown in FIG. 2 displays the space map 410A shown in FIG. 10 on the display screen 41 of the display device 4 based on the radio positioning information data.

[0064] The spatial map 410A is displayed on the display screen 41 of the display device 4. In Fig. 10, for example, a management device 3, a router Ru, and a first remote device 2a to a ninth remote device 2i are arranged on a factory floor map 421. Each of the first remote device 2a to the ninth remote device 2i is equipped with a positioning module 1. The rectangular parallelepipeds indicated by dotted lines represent, for example, multiple devices and workbenches for manufacturing, inspecting, etc. products.

[0065] The white circles on the spatial map 410A indicate the locations of the management device 3, the router Ru, and the first remote device 2a to the ninth remote device 2i. The management device 3, the router Ru, and the first remote device 2a to the ninth remote device 2i are connected by wired cables to form a wired network. Therefore, the lines connecting the white circles indicate the wired network based on the locations of the management device 3, the router Ru, and the first remote device 2a to the ninth remote device 2i.

[0066] The black circles indicate the positions of the mobile positioning modules 6 attached to tools 61, workers 62, workpieces 63 to be manufactured, etc. Each mobile positioning module 6 is connected via wireless communication to the positioning module 1 of each remote device 2, forming a wireless network. Therefore, the lines connecting the black circles and white circles indicate the wireless network based on the positions of each mobile positioning module 6 and the positioning module 1 of each remote device 2.

[0067] The management control unit 34 of the management device 3 can form a mesh network 423 within the factory using a wireless network made up of black and white circles. This allows communication backup via the wireless network, for example, when the wired network malfunctions.

[0068] Next, a positioning method of the mobile positioning module 6 in the second embodiment will be described below with reference to the flowchart shown in Fig. 11. Fig. 11 is a flowchart showing the flow of processing in the dynamic positioning process. The dynamic positioning process is stored as a dynamic positioning process program in the management storage unit 33 of the management device 3 shown in Fig. 2. For example, when a user selects an icon associated with the dynamic positioning process program arranged on the display screen 41 of the display device 4 using the management input operation unit 35 of the management device 3, the processor 307 shown in Fig. 5 reads the dynamic positioning process program stored in the storage device 303 into the memory 306 and executes it.

[0069] The management control unit 34 of the management device 3 shown in Fig. 2 sets a tag to be positioned and an anchor that serves as a reference for positioning (step S201). For example, assume that the position of the first mobile positioning module 6a attached to the tool 61 shown in Fig. 9 is to be positioned. In this case, the management control unit 34 of the management device 3 sets the first mobile positioning module 6a as the tag. The management control unit 34 of the management device 3 sets the first positioning module 1a of the first remote device 2a, the second positioning module 1b of the second remote device 2b, and the third positioning module 1c of the third remote device 2c, which are located near the first mobile positioning module 6a, as anchors.

[0070] The management control unit 34 of the management device 3 determines the position of the first mobile positioning module 6a using the first remote device 2 (step S202). For example, the first remote device 2a. The management control unit 34 of the management device 3 causes the first positioning module 1a of the first remote device 2a to determine the position of the first mobile positioning module 6a.

[0071] The management control unit 34 of the management device 3 determines the position of the first mobile positioning module 6a using the second remote device 2 (step S203). For example, the second remote device 2b. The management control unit 34 of the management device 3 causes the second positioning module 1b of the second remote device 2b to determine the position of the first mobile positioning module 6a.

[0072] The management control unit 34 of the management device 3 determines the position of the first mobile positioning module 6a using the third remote device 2 (step S204). For example, the third remote device 2c is assumed to be the third remote device 2c. The management control unit 34 of the management device 3 causes the third positioning module 1c of the third remote device 2c to determine the position of the first mobile positioning module 6a.

[0073] The management control unit 34 of the management device 3 determines the position of the first mobile positioning module 6a (step S205). For example, the management control unit 34 of the management device 3 determines the position calculated from the positioning data measured in steps S202 to S204 as the current position of the first mobile positioning module 6a.

[0074] The management control unit 34 of the management device 3 determines whether there is a mobile positioning module 6 to be positioned (step S206). For example, assume that the second mobile positioning module 6b attached to the worker 62 and the third mobile positioning module 6c attached to the workpiece 63 to be manufactured shown in FIG. 9 are the targets of positioning. In this case, since there is a mobile positioning module 6 to be positioned (step S206; YES), the management control unit 34 of the management device 3 returns to step S201 and executes step S201 and subsequent steps.

[0075] Furthermore, if there is no mobile positioning module 6 to be positioned (step S206; NO), the management display processing unit 31 of the management device 3 shown in FIG. 2 displays the spatial map 410A shown in FIG. 10 on the display screen 41 of the display device 4 (step S207). For example, the management control unit 34 of the management device 3 associates the position data calculated from the received positioning results of the first mobile positioning module 6a to the third mobile positioning module 6c and the position data of the first remote device 2a to the sixth remote device 2f, which have been previously positioned, with asset information, status information, etc. of each mobile positioning module 6 and each remote device 2, and converts them into data to generate wireless positioning information data. The management display processing unit 31 of the management device 3 shown in FIG. 2 displays the spatial map 410A shown in FIG. 10 on the display screen 41 of the display device 4 based on the wireless positioning information data. The management display processing unit 31 of the management device 3 ends the dynamic positioning process.

[0076] As described above, according to the second embodiment, in addition to the effects of the first embodiment, an instruction signal from the management device 3 can be used to define a mobile positioning module 6 attached to a tool 61, a worker 62, etc. as a tag, and a remote device 2 in the vicinity of the tag as an anchor that serves as the reference for positioning. Therefore, by dynamically defining the anchor, it is possible to smoothly position tags other than the remote device 2.

[0077] Furthermore, a mesh network 423 can be formed within the factory by connecting points on the wired network of the remote device 2 with points on the wireless network of the mobile positioning module 6. This allows, for example, communication backup via the wireless network when the wired network malfunctions.

[0078] (Variation 1) In the above-described first and second embodiments, the positioning power supply unit 13 of the positioning module 1 is supplied with power from the remote power supply unit 23 of the remote device 2. This is not limiting, and for example, in the management system 100B shown in FIG. 12 , the positioning module 1A may be provided with an auxiliary power supply unit 16, which is a secondary battery, instead of the positioning power supply unit 13. If the remote power supply unit 23 of the remote device 2 is unable to supply power for some reason, power is supplied to the remote device 2 from the auxiliary power supply unit 16 of the positioning module 1A, thereby maintaining the positioning function and the communication function via the wired network. Alternatively, the positioning module 1A may be provided with both the positioning power supply unit 13 and the auxiliary power supply unit 16. Furthermore, the auxiliary power supply unit 16 may be a power supply that is removable from the positioning module 1A.

[0079] In the above-described first and second embodiments, the position of the positioning module 1 provided in the remote device 2 on the wired network is measured wirelessly, but there are cases where wireless positioning is not possible. Therefore, in the third embodiment, a method for measuring the position of a positioning target by combining wireless and wired communication will be described.

[0080] FIG. 13 shows an overview of a management system 100C according to a third embodiment. In the management system 100C, positioning is performed using a positioning device 7 and a network device 8 instead of the positioning module 1 and remote device 2 used in the first and second embodiments. The management system 100C can be used for asset management, detecting and recording the presence and location of manufacturing equipment 9 to be positioned and notifying workers when an abnormality occurs, an asset inventory is performed, or maintenance is performed. In this case, devices such as the positioning device 7 and the network device 8, as well as manufacturing equipment equipped with the positioning device 7, are referred to as assets to be managed, and are assigned asset numbers for identification purposes for asset management within the floor. Asset management primarily requires the following minimum functions: (1) confirming the existence of assets to be managed, and (2) acquiring location information for the assets to be managed.

[0081] When the management system 100C is used for asset management, the accuracy of the positioning of the target manufacturing equipment 9 is sufficient as long as it is within the field of view of the worker 62, and therefore typically, a field of view detectable by a human, for example, within several tens of centimeters, is sufficient. The management system 100C includes a management device 3A, which is a control device within the factory, a display device 4 that displays various information from the management device 3A, a positioning device 7 that performs positioning wirelessly, and a network device 8 that performs positioning via a wired connection. The positioning device 7 is used in conjunction with the network device 8, but may also be used alone. Similarly, the network device 8 is used in conjunction with the positioning device 7, but may also be used alone.

[0082] The management device 3A is a control device in a factory, such as a PLC, and uses multiple network devices 8 and positioning devices 7 to determine the position of the manufacturing equipment 9 to be determined. The display device 4 has a display screen 41 for displaying various information about the management device 3A. The display device 4 is connected to the management device 3A via a wired display cable 53. The network devices 8 include network devices 8a-8p. More specifically, the network devices 8a-8c are connected to the management device 3A via a field network 54 and each include positioning devices 7a-7c. The network devices 8a-8c and the positioning devices 7a-7c are located on the ceiling of the factory floor where the manufacturing equipment 9 to be determined is located. The three-dimensional coordinates of the positioning devices 7a-7c are known, and they function as reference anchors.

[0083] Network devices 8d-8f are connected to network device 8a and management device 3A via a first connection cable 55a branching off from field network 54. Network devices 8d-8f are equipped with positioning devices 7d-7f, respectively. Network devices 8g-8i are connected to network device 8d via a second connection cable 55b, and are equipped with positioning devices 7g-7i, respectively.

[0084] Network devices 8d-8i and positioning devices 7d-7i are arranged within the first manufacturing apparatus 9a. Positioning devices 7d-7f are positioned by positioning devices 7a-7c and function as intra-apparatus anchors based on the positioning coordinates. Positioning devices 7g-7i function as intra-apparatus tags within the first manufacturing apparatus 9a and are positioned by positioning devices 7d-7f.

[0085] Network device 8j is connected to network device 8f via a third connection cable 55c and to network device 8k via a fourth connection cable 55d. Network device 8j is an external network device 8 located on the network connecting first manufacturing apparatus 9a and second manufacturing apparatus 9b. Network device 8j does not include a positioning device 7 and therefore cannot perform wireless positioning by itself. Positioning device 7j is placed, for example, in a tool 61 or the breast pocket of worker 62, and functions as a tag whose position is measured by positioning devices 7a to 7c, which are reference anchors.

[0086] Network devices 8k-8m are connected to network device 8j via a fourth connection cable 55d. Network devices 8k-8m are equipped with positioning devices 7k-7m, respectively. Network devices 8n-8p are connected to network device 8k via a fifth connection cable 55e, and are equipped with positioning devices 7n-7p, respectively.

[0087] Network devices 8k-8p and positioning devices 7k-7p are arranged in second manufacturing apparatus 9b. Positioning devices 7k-7m are positioned by positioning devices 7a-7c and function as intra-apparatus anchors based on the positioned coordinates. Positioning devices 7n-7p function as intra-apparatus tags in second manufacturing apparatus 9b and are positioned by positioning devices 7k-7m.

[0088] On a factory floor, a line is formed by arranging multiple manufacturing machines 9. In FIG. 13 , positioning devices 7a-7c mounted on the ceiling form a reference anchor, positioning devices 7d-7f and 7k-7m form an intra-machine anchor, and positioning devices 7g-7i and 7n-7p form an intra-machine tag. These reference anchors, intra-machine anchors, and intra-machine tags form a three-layered positioning system, which can accommodate positioning of multiple manufacturing machines 9 and lines. It is also possible to operate a machine-only positioning system without using a reference anchor. In this case, the three-dimensional coordinates of the intra-machine anchors are known, and the intra-machine tags are positioned. Furthermore, for small floors, operation is possible using only the reference anchors, without using intra-machine anchors. Network devices 8a-8p are examples of the first network device and second network device in the claims, and positioning devices 7a-7p are examples of the first positioning device and second positioning device. The positioning device 7j is an example of a third positioning device.

[0089] 14A and 14B are block diagrams showing the configuration of a management system 100C according to the third embodiment, and FIG. 14A shows the configuration of a management device 3A. The management device 3A instructs the network devices 8 connected via a wired field network 54 whether to use the positioning devices 7 connected to the network devices 8 as positioning tags or anchors. The management device 3A also performs on / off control of the positioning functions of the network devices 8 and the positioning devices 7, association between the network devices 8 and the positioning devices 7, and positioning processing. The management device 3A includes a management display processing unit 31 that performs display processing, a management power supply unit 32 used as an operating power source, a management memory unit 33 that stores various data and programs, a management control unit 34 that performs various controls, a management input operation unit 35 that inputs various data, and a management communication unit 36 ​​that communicates with the network devices 8.

[0090] The management display processing unit 31 displays a map of the positioning results (described later) and various data on the display device 4 connected via the display cable 53. The management power supply unit 32 is a power source that supplies power for executing the operations of the management device 3A. The management memory unit 33 stores the positioning results acquired from the network devices 8, various data including connection information for each network device 8, programs, etc. The management control unit 34 performs various controls and calculations by executing the programs stored in the management memory unit 33. The management input operation unit 35 inputs various data, instructions from the user, etc. The management communication unit 36 ​​sends and receives various data, instruction signals, etc. by communicating with the network devices 8.

[0091] The positioning device 7 shown in FIG. 14B is a module with a wireless positioning function, for example, using UWB (ultra-wideband). The positioning device 7 includes an antenna unit 71 for performing positioning via wireless communication with other positioning devices 7, a device memory unit 72 for storing various data, a device power supply unit 73 for operation, a device control unit 74 for performing positioning, and a device connection unit 75 for connecting to a network device 8. The antenna unit 71 connects to other positioning devices 7 via wireless communication and functions as an antenna for a positioning tag or anchor. The device memory unit 72 stores the positioning results obtained by the antenna unit 71 and device control unit 74, as well as asset data for the positioning device 7. The device connection unit 75 connects to the network device 8 and transmits and receives various data, power, etc.

[0092] The network device 8 is a wired positioning device that is connected to a management device 3A used to control equipment in a factory via a field network 54. The network device 8 includes a network communication unit 81 that communicates with the management device 3A, a network storage unit 82 that stores various data, a network power supply unit 83 for operation, a network control unit 84 that executes various controls, and a network connection unit 85 that connects to the positioning device 7. The network communication unit 81 communicates with the management device 3A via the wired field network 54. When the network device 8 functions as the network device 8a, the network communication unit 81 connects to the network devices 8b and 8c, and also connects to the network device 8d of the first manufacturing apparatus 9a via a first connection cable 55a.

[0093] The network storage unit 82 stores various data and programs. The network storage unit 82 also synchronizes positioning results and asset data with the device storage unit 72 of the positioning device 7 via the network connection unit 85. The network power supply unit 83 functions as a power source for operating the network device 8. The network power supply unit 83 also supplies power to the device power supply unit 73 of the positioning device 7 via the network connection unit 85. The network control unit 84 executes each function executed by the network device 8. The network control unit 84 also executes various inputs and outputs to an external device 91, which is an external I / O device, via the network connection unit 85. The network connection unit 85 connects to the positioning device 7 and the external device 91, and transmits and receives various data in accordance with instructions from the network control unit 84.

[0094] The functions executed by the management device 3A, positioning device 7, and network device 8 described above are functions realized by software. Examples of hardware configurations for executing software programs that realize each function are shown in FIGS. 15 to 17. FIG. 15 shows an example of the hardware configuration of the management device 3A. The management device 3A includes a communication device 311 for communicating with the network device 8, an input device 312 for receiving input of various data, a storage device 313 for storing various programs and various data, a display controller 314 for generating display data to be displayed on the display device 4, a power supply device 315 for operation, and a processor 316 for executing various programs. The communication device 311, input device 312, storage device 313, display controller 314, power supply device 315, and processor 316 are interconnected via a bus 317.

[0095] The communication device 311 is connected to the network device 8 and transmits and receives various data. The communication device 311 can be configured using, for example, various industrial networks. The communication device 311 functions as the management communication unit 36 ​​of the management device 3A shown in FIG. 14A.

[0096] The input device 312 is an input unit through which a user inputs various data and instructions. The input device 312 can be configured using, for example, a keyboard, a mouse, a touch panel, etc. The input device 312 functions as the management input operation unit 35 of the management device 3A shown in FIG. 14A.

[0097] The storage device 313 stores various programs executed by the processor 316, display data such as images and characters to be displayed on the display device 4, asset data of the positioning device 7 and the network device 8, and various data for positioning. The storage device 313 can be configured using a storage device such as an HDD or SSD, for example. The storage device 313 also functions as the management storage unit 33 of the management device 3A shown in FIG. 14A.

[0098] The display controller 314 is a controller that outputs a video signal to the display device 4 to display display data including characters and images. The display device 4 can be configured using a display device such as an LCD or an organic EL monitor. The display controller 314 can be configured using a video signal output device such as a video card, GPU, or graphics board. The display controller 314 functions as the management display processing unit 31 of the management device 3A shown in FIG. 14A.

[0099] The power supply device 315 is a power source for operating the management device 3A. The power supply device 315 can be configured, for example, as a power port that can supply power from an external source. Power is supplied to the power supply device 315 by connecting, for example, a battery 320, a power cable, or the like. The power supply device 315 functions as the management power supply unit 32 of the management device 3A shown in FIG. 14A.

[0100] The processor 316 reads and executes various programs stored in the storage device 313. The processor 316 can be configured using, for example, a processing device such as a CPU or an MPU, and a memory such as a double-data-rate SDRAM (DDR) or a flash memory. The processor 316 functions as the management control unit 34 of the management device 3A shown in FIG. 14A.

[0101] 16 shows an example of the hardware configuration of the positioning device 7. The positioning device 7 includes a wireless communication device 701 for communicating with other positioning devices 7, a connection device 702 for connecting to a network device 8, a power supply device 703 for operation, a storage device 704 for storing various data and various programs, and a processor 705 for executing various programs. The wireless communication device 701, the connection device 702, the power supply device 703, the storage device 704, and the processor 705 are connected to each other via a bus 706.

[0102] The wireless communication device 701 performs positioning by communicating with other positioning devices 7. The wireless communication device 701 performs positioning and information communication through the antenna unit 71 using a communication method that allows data to be transmitted and received between positioning devices 7, such as UWB, Wi-Fi (registered trademark), Bluetooth (registered trademark), or infrared communication.

[0103] The connection device 702 connects to the network device 8, acquires power, and synchronizes asset data including positioning results. The connection device 702 can be configured using various ports and connectors that can transmit and receive power and data between devices, such as a wired USB port or serial bus port. The connection device 702 functions as the device connection unit 75 of the positioning device 7 shown in FIG. 14B. In the following description of the third embodiment, the connection device 702 is assumed to be a port and connector that performs serial communication with the network device 8.

[0104] The power supply device 703 is a power source for operating the positioning device 7. The power supply device 703 can be configured using, for example, a battery or cell capable of storing power supplied from the network device 8. Power for driving the positioning device 7 is basically supplied from the network device 8. However, if there is no power supply from the network device 8, the power supply device 703 supplies power to the positioning device 7. The power supply device 703 can also instruct the processor 705 to control the ON / OFF of the wireless communication device 701 based on a timer setting or startup time setting in asset data, or a serial signal or I / O signal from the network device 8. The power supply device 703 functions as the device power supply unit 73 of the positioning device 7 shown in FIG. 14B .

[0105] The storage device 704 stores asset data, which is various data related to device management of the positioning device 7. The asset data includes, for example, the ID (Identification) number of the positioning device 7, the anchor / tag mode flag of the positioning device 7, positioning control parameters such as timer settings and startup time settings that control the startup timing of the positioning device 7, and asset information synchronized from the network device 8 or stored in advance. The asset information includes various information related to the asset, such as the asset number, device attributes, model name, serial number, IP (Internet Protocol) address, firmware version, usage time, and replacement period. The storage device 704 functions as the device storage unit 72 of the positioning device 7 shown in FIG. 14B.

[0106] The processor 705 executes various programs stored in the storage device 704. The processor 705 can be configured using, for example, a processing device such as a CPU or an MPU and a memory such as a DDR or a flash memory. The processor 705 functions as the device control unit 74 of the positioning device 7 shown in FIG. 14B.

[0107] 17 shows an example of the hardware configuration of a network device 8. The network device 8 includes a connection device 801 that connects to the positioning device 7, a communication device 802 for communicating with other network devices 8 such as the management device 3A and network device 8b, an I / O connection device 803 that connects to an external device 91, a power supply device 804 for operation, a storage device 805 that stores various data and various programs, and a processor 806 that executes various programs. The connection device 801, communication device 802, I / O connection device 803, power supply device 804, storage device 805, and processor 806 are interconnected via a bus 807.

[0108] The connection device 801 connects to the positioning device 7, supplies power, synchronizes various data including distance measurement results with the positioning device 7, and controls the ON / OFF of the positioning device 7. The connection device 801 can be configured using various ports and connectors that allow devices to send and receive power and data to and from each other, such as a wired USB port or serial bus port. The connection device 801 functions as the network connection unit 85 of the network device 8 shown in FIG. 14B. In the following description of the third embodiment, the connection device 801 is assumed to be a port and connector that performs serial communication with the positioning device 7.

[0109] The communication device 802 is connected to the management device 3A via the field network 54, and is connected to other network devices 8, such as the network device 8d, via the first connection cable 55a, to send and receive various data. The I / O connection device 803 is connected to the external device 91, and performs various controls and acquires information in response to instructions from the processor 806. The communication device 802 and the I / O connection device 803 can be configured using various industrial networks. The communication device 802 and the I / O connection device 803 function as the network communication unit 81 of the network device 8 shown in FIG. 14B.

[0110] The power supply device 804 is a power source for operating the network device 8. The power supply device 804 supplies power to the power supply device 703 of the positioning device 7 shown in Fig. 16 through the connection device 801. The power supply device 804 can be configured using, for example, a connection port for connecting a battery 810 and a power port for receiving power from an external source. The power supply device 804 functions as the network power supply unit 83 of the network device 8 shown in Fig. 14B.

[0111] The storage device 805 stores asset data, which is various data related to device management of the network device 8. The asset data includes, for example, the ID number of the positioning device 7, the anchor / tag mode flag of the positioning device 7, positioning control parameters such as timer settings and startup time settings that control the startup timing of the network device 8, and asset information synchronized from the positioning device 7 or stored in advance. The asset information includes various information related to the asset, such as the asset number, device attributes, model name, serial number, IP (Internet Protocol) address, firmware version, usage time, and replacement period. The storage device 805 functions as the network storage unit 82 of the network device 8 shown in FIG. 14B.

[0112] The processor 806 reads and executes various programs stored in the storage device 805. The processor 806 can be configured using, for example, a processing device such as a CPU or MPU and a memory such as a DDR or flash memory. The processor 806 also functions as the network control unit 84 of the network device 8 shown in FIG. 14B.

[0113] Next, a positioning process technique in the management system 100C according to the third embodiment will be described. In principle, the network devices 8 are not stopped while in operation. Therefore, the positions of the network devices 8 are measured periodically, including during operation, or on demand in response to a request from the management apparatus 3A. First, the management control unit 34 of the management apparatus 3A shown in FIG. 14A acquires setting information that sets connection information, anchors, and tag operation modes for each network device 8 connected via the field network 54, and stores this information in the management storage unit 33 as a positioning management table 331.

[0114] 18 shows the table configuration of the positioning management table 331. The positioning management table 331 includes items such as a network device 8 that performs positioning, a positioning device 7 that operates as a tag, a positioning device 7 that operates as an anchor, the cable length between the network devices 8, attributes within the management system 100C, the placement position of the anchor, and a correction value for communication delay.

[0115] The network device 8 item stores identification information of the network device 8 performing positioning. The tag item stores identification information of the positioning device 7 operating as a tag. The anchor item stores identification information of the positioning device 7 operating as an anchor. The network device 8, tag, and anchor items are set in advance when the network is constructed to correspond to the network device 8 and the positioning device 7 operating as a tag and anchor. Alternatively, the positional relationship between the network device 8 and the positioning device 7 operating as a tag and anchor is established by a ranging process.

[0116] The cable length field stores estimated cable lengths between network devices 8. Estimated cable lengths are measured and stored when the management system 100C network is configured or modified. For example, the field network 54 connecting the management device 3A and the network device 8a uses IEEE 802.1AS as its time synchronization technology, connecting the management device 3A and the network device 8a via CC-Link IE TSN Class B. IEEE 802.1AS time synchronization allows for the measurement of propagation delay times between adjacent management devices 3A or other network devices 8. If the connection cable 55 between the network devices 8 is a CAT5e LAN cable, the propagation delay time is 1 m / 5 ns, allowing distances to be calculated based on the propagation delay time of data between the network devices 8. Therefore, the location of each network device 8 can be estimated from the estimated connection cable length based on the propagation delay time between the time-synchronized network devices 8.

[0117] The attribute item is the attribute of the positioning device 7 and the network device 8 within the network of the management system 100C. Examples of attributes include inside the device, outside the device, tag, anchor, person, tool, etc. The placement position item is the placement position of the anchor. Here, the placement position is stored as the type of inside or outside the manufacturing device 9. The correction value item stores a correction value for communication delays of the positioning device 7 and the network device 8 inside and outside the manufacturing device 9.

[0118] The correction value is a value statistically determined based on the size of the space where the distance measurement is performed and the delay profile, which is a delay characteristic caused by the multiplexing of reflected waves from metal objects placed within the space. If the environment of the distance measurement space is close to free space and there is no reflection, the delay correction value may be 0 (cm). Conversely, in a severe reflection environment, such as a narrow space surrounded by metal objects, the delay correction value tends to be large. For example, suppose that in distance measurement by the network device 8 within the manufacturing equipment 9, a delay (nsec) of 0.25 nsec is statistically measured due to the delayed waves reflected by metal objects placed within the manufacturing equipment 9. The distance corresponding to this delay result, for example, 15 cm, becomes the correction value (cm). In other words, the size of the space where the distance measurement is performed, the number of objects that reflect or block radio waves, such as metal objects and shields placed within the space, etc., constitute the installation information of the positioning device 7. The correction value field stores a value statistically determined based on the installation information of the positioning device 7. In addition, the height from the floor of the object to be measured and the relative position information of the space where the measurement is performed, for example, the upper, middle, or lower part of the space, may be used as the installation information of the positioning device 7, and a value measured in advance based on the installation information of the positioning device 7 may be stored in the correction value item.

[0119] 18, for example, the network device 8 field stores "8a" indicating network device 8a, the tag field stores "7a" indicating positioning device 7a, and the anchor field stores "-" indicating that no anchor is associated. The cable length field stores "8a-8b" indicating the length between network device 8a and network device 8b. The attribute field stores "external reference anchor," and the placement position field stores "outside" indicating that the device is outside manufacturing equipment 9. The correction value field stores "15" as the correction value.

[0120] In the third embodiment, when a network device 8 to be subjected to ranging processing includes a positioning device 7, wireless positioning is performed. The management device 3A searches the positioning device 7 set as a tag of the network device 8 to be subjected to ranging processing from the positioning management table 331 shown in FIG. 18 . The management device 3A activates the positioning device 7 set as the tag via the field network 54 and the network device 8. For example, when the network device 8 to be subjected to ranging processing is network device 8a, the management device 3A activates the positioning device 7a set as a tag in the positioning management table 331. Once activated, the positioning device 7a performs bidirectional UWB communication with other positioning devices 7 while the antenna unit 71 is activated, for example, using the UWB TWR (Two Way Ranging) method. The positioning device 7a communicates with the other positioning devices 7 and performs ranging processing to estimate the distance to the other positioning devices 7 from the round-trip propagation time.

[0121] For example, assume that the positioning device 7a communicates with the positioning device 7d in the first manufacturing apparatus 9a and executes a ranging process to estimate the distance. The positioning device 7a functions as a reference anchor installed on the factory floor, and therefore its coordinates are fixed. Therefore, the positioning device 7a calculates the coordinates of the positioning device 7d based on its own coordinates. There are various algorithms for positioning calculations, but the general three-dimensional Newton's method, for example, can be used. When the positioning device 7a obtains a ranging result, it transmits the ranging result to the management apparatus 3A via the network device 8a as the anchor positioning device 7.

[0122] More specifically, the positioning device 7 operates differently depending on whether or not it is connected via serial communication to the network device 8. First, when the positioning device 7 is connected via serial communication to the network device 8, it can communicate data with the network device 8. Therefore, when the positioning device 7 is started up in response to an instruction from the management apparatus 3A, it reads asset data from the network device 8 and synchronizes it with the asset data stored in the device storage unit 72.

[0123] When the positioning device 7 operates as an anchor, it performs TWR ranging using UWB with other positioning devices 7 operating as tags, and transmits the ranging results to the network device 8. When the positioning device 7 detects multiple tags, it transmits the ranging results for each tag to the network device 8. After that, the positioning device 7 turns off its power when the specified startup time is completed. The network device 8 transmits the ranging information obtained from the positioning device 7 and the asset data of each tag to the management device 3A.

[0124] Furthermore, when the positioning device 7 operates as a tag, it continues to operate as a tag for a period of time specified by the management device 3A. During this time, it performs UWB TWR ranging operations on separately activated anchors. Furthermore, when the positioning device 7 is not performing ranging operations, it turns off its power and waits to reduce power consumption.

[0125] On the other hand, if the positioning device 7 is not connected to the network device 8 via serial communication, it cannot acquire asset data from the network device 8. Therefore, asset data composed of physical items such as labels or stickers is directly affixed to the positioning device 7 by the worker 62, or the worker 62 sets it using a tool. In this case, the positioning device 7 is not connected to the field network 54 via the network device 8. Therefore, the management apparatus 3A cannot control the ON / OFF of the positioning device 7 via the network device 8, and the positioning device 7 turns its power ON / OFF independently. The positioning device 7 is activated, for example, periodically by a timer or by an external I / O switch. When locating the worker 62 holding the positioning device 7, the positioning device 7 can be activated continuously, but intermittently as needed to extend the power duration.

[0126] The management device 3A also obtains wireless distance measurement results from at least three anchors for each tag. This allows for distance correction to be performed to improve positioning accuracy. The distance correction method will be described with reference to FIGS. 19 to 21.

[0127] 19 , when the estimated cable lengths of the second connection cable 55b in the first manufacturing apparatus 9a and the fifth connection cable 55e in the second manufacturing apparatus 9b are known in advance, the estimated cable lengths are used to correct the wireless ranging results. The positioning device 7d provided in the network device 8d in the first manufacturing apparatus 9a operates as an intra-apparatus anchor. The positioning device 7g provided in the network device 8g operates as an intra-apparatus tag. The positioning device 7d measures distances between itself and the positioning device 7g. In this case, the wireless positioning path Pa transmitted from the positioning device 7d is blocked by the first conveyor 902a and does not reach the positioning device 7g directly; instead, the reflected wave reflected by the first robot 901a reaches the positioning device 7g. Therefore, the estimated cable length of the second connection cable 55b is closer to the true distance between the positioning device 7d and the positioning device 7g than the wireless ranging results.

[0128] Furthermore, the positioning device 7k provided in the network device 8k in the second manufacturing apparatus 9b operates as an intra-apparatus anchor, and the positioning device 7n provided in the network device 8n operates as an intra-apparatus tag. The positioning device 7k measures the distance to the positioning device 7n. In this case, the wireless positioning path Pb transmitted from the positioning device 7k is blocked by the second conveyor 902b and does not reach the positioning device 7n directly, and instead the reflected wave reflected by the second robot 901b reaches the positioning device 7n.

[0129] Within the second manufacturing apparatus 9b, a fifth connection cable 55e is connected from network device 8k to network device 8n, bypassing the second robot 901b. In this case, the estimated cable length of the fifth connection cable 55e is longer than the wireless ranging result between network device 8k and network device 8n. Therefore, the estimated cable length and the wireless ranging result are compared, and the shorter one is adopted as the distance between network device 8k and network device 8n. Note that in the ranging process, if there are multiple ranging results between the same anchor and tag, the shorter one is adopted.

[0130] 19 also shows an example in which the anchor and tag network devices 8 are connected by a direct connection cable 55. Therefore, the estimated cable length may be the cable length recorded in the positioning management table 331. If, unlike the case of FIG. 19, another network device 8 (hereinafter referred to as a transit network device 811) is connected between the anchor and tag, the estimated cable length may be calculated by adding up the cable length from the anchor to the transit network device 811 and the cable length from the transit network device 811 to the tag using the positioning management table 331. The same applies when there are multiple transit network devices 811.

[0131] 20A shows a side view of the first manufacturing apparatus 9a, and FIG. 20B shows a top view of the first manufacturing apparatus 9a. The positioning device 7d provided in the network device 8d in the first manufacturing apparatus 9a functions as an intra-apparatus anchor and also functions as an intra-apparatus tag relative to the positioning devices 7a-7c, which are reference anchors located on the ceiling of the factory floor. If the attribute of the positioning device 7d is an intra-apparatus anchor, the wireless positioning path Pc, which is the longest distance from the intra-apparatus anchor positioning device 7d to the other positioning devices 7, which are intra-apparatus tags, within the first manufacturing apparatus 9a, is known. The wireless positioning path Pc is included in the installation information of the positioning device 7, which is an intra-apparatus tag, as the longest distance from the anchor in the space in which the positioning device 7, which is an intra-apparatus tag, is placed. Wireless ranging results that exceed the distance of the wireless positioning path Pc are often due to incorrect positioning of reflected waves. Therefore, if the distance of the wireless positioning path Pc is exceeded, the wireless ranging result is discarded as an incorrect ranging result. The radio positioning path Pc is an example of the longest path in the claims.

[0132] FIG. 21 is a diagram illustrating a method for switching correction values ​​depending on the distance measurement environment. The network devices 8d-8f in the first manufacturing device 9a are both intra-device anchors and function as intra-device tags relative to the positioning devices 7a-7c, which are reference anchors located on the ceiling of a factory floor. The space between the network devices 8d-8f in the first manufacturing device 9a and the reference anchor positioning devices 7a-7c is relatively free of obstacles and reflected waves from metal objects. Furthermore, the first manufacturing device 9a is a narrow space with a relatively large number of metal objects. Therefore, if it is known before wireless positioning whether the tag to be positioned is located inside or outside the manufacturing device 9, the worker 62 calculates a delay correction value for each environment and stores it in the positioning management table 331. When the "attribute" in the positioning management table 331 is "internal device tag" as installation information for the tag's location, the management control unit 34 of the management device 3A corrects the distance measurement results using the "correction value" in the positioning management table 331. This allows for proper correction of delay due to the object to be measured.

[0133] 21, the positioning device 7x to be measured is held by the worker 62, and the positioning device 7y is placed on the tool 61, both of which are used as tags. The worker 62 and the tool 61 are usually not inside the manufacturing equipment 9, but are often outside the manufacturing equipment 9. For this reason, the distance measurement results of the positioning devices 7x and 7y are corrected using a correction value outside the manufacturing equipment 9. When the target of distance measurement is the positioning device 7x of the worker 62, the delay correction value may be statistically changed from the floor to the height of the worker 62's height to the upper part of the floor. In this case, the management control unit 34 has setting information such as "height from the floor" and "upper part of the floor" as installation information about the location where the positioning device 7x of the worker 62, which is the tag, is placed.

[0134] Furthermore, in the third embodiment, if the network device 8 does not have a positioning device 7, the network device 8 alone is the target of positioning. In this case, wired positioning is performed. The management control unit 34 of the management apparatus 3A obtains the cable length to another network device 8, which is the connection destination of the network device 8 to be positioned, from the positioning management table 331 stored in the management memory unit 33. Furthermore, if there is location information for the other network device 8, which is the connection destination, the cable length is treated as the distance measurement result when the connection destination is used as the anchor.

[0135] Wired positioning will now be described with reference to Fig. 22. In Fig. 22, network device 8j does not include positioning device 7. Therefore, the position of network device 8j can be determined from the wireless ranging results of surrounding positioning devices 7f and 7k, the cable length of third connection cable 55c connecting network device 8f, and the cable length of fourth connection cable 55d connecting network device 8k.

[0136] For example, assume that the third connection cable 55c and the fourth connection cable 55d are CAT5e LAN cables with a propagation delay time of 1 m / 5 nsec. In this case, if the propagation delay time between network device 8j and network device 8f is 25 nsec, the cable length of third connection cable 55c will be 5 m. Also, if the propagation delay time between network device 8j and network device 8k is 15 nsec, the cable length of fourth connection cable 55d will be 3 m. The cable lengths of third connection cable 55c and fourth connection cable 55d may be stored in advance in the positioning management table 331.

[0137] Therefore, the position of network device 8j can be estimated to be within position Ra within 5 m of network device 8f and within position Rb within 3 m of network device 8k. The position of network device 8f is known from distance measurement by the provided positioning device 7f, and the position of network device 8k is known from distance measurement by the provided positioning device 7k. Therefore, the position of network device 8j can be estimated from the positions of network device 8f and network device 8k. Note that in this case, the position of network device 8j is expressed as two-dimensional XY coordinates, which are the positioning results on the XY plane, and the Z direction is unknown. Therefore, although the position of network device 8j has a large error because the height is unknown, it is still useful information for managing asset data.

[0138] Furthermore, the positioning management table 331 also sets whether the network device 8 that is the target of priority positioning is located inside the manufacturing equipment 9 or outside the manufacturing equipment 9. Typically, a network device 8 outside the manufacturing equipment 9 is connected to a connection cable 55 via the ceiling of a floor in a factory. For this reason, the cable length of the connection cable 55 that connects to the network device 8 outside the manufacturing equipment 9 is corrected by shortening the cable length by twice the height to the ceiling of the floor. Note that if the target network device 8 is inside the manufacturing equipment 9, the cable length is not corrected.

[0139] In FIG. 23 , network device 8j is located outside the manufacturing equipment 9. Network device 8f is located within the first manufacturing equipment 9a, and network device 8k is located within the second manufacturing equipment 9b. Network device 8f and network device 8j are connected by a third connection cable 55c via the ceiling Tu of the factory floor. Network device 8j and network device 8k are connected by a fourth connection cable 55d via the ceiling Tu. If the height from the factory floor to the ceiling Tu is Fh, the estimated cable length of third connection cable 55c is the cable length of third connection cable 55c in the positioning management table 331 minus the length of Fh×2. Similarly, the estimated cable length of fourth connection cable 55d is the cable length of fourth connection cable 55d in the positioning management table 331 minus the length of Fh×2. This allows the corrected estimated cable length to be used as the estimated cable length of the third connection cable 55c and the fourth connection cable 55d, thereby improving the positioning accuracy.

[0140] If the estimated cable lengths of the third connection cable 55c and the fourth connection cable 55d are shorter than Fh×2, it can also be determined that the network device 8j is located inside the manufacturing equipment 9. If the network device 8j is located inside the manufacturing equipment 9, the connection cable 55 does not connect to other network devices 8 via the ceiling Tu. Therefore, the estimated cable length of the connection cable 55 is not corrected. In this case, the attribute item in the positioning management table 331 is changed to "inside the device."

[0141] Furthermore, by estimating the cable length of the connection cable 55, it is also possible to determine whether multiple network devices 8 are installed closely together. Generally, wiring within a manufacturing device 9 is often not straight, making it difficult to use the cable length for positioning within the manufacturing device 9. However, if the cable length of the connection cable 55 within the manufacturing device 9 is within several tens of centimeters, it is assumed that the network devices 8 are adjacent to each other. In this case, the cable length of the connection cable 55 can be used for positioning the adjacent network devices 8.

[0142] Furthermore, if the network device 8 has two connection destinations, two cable lengths will be obtained. In this case, the positioning results are limited to positions on the XY plane. When the worker 62 wants to know the location of the network device 8 during asset management, as long as the planar position within the floor is known, the location can be displayed on a floor map displayed on the display screen 41 of the display device 4. Therefore, even if the positioning results are limited to positions on the XY plane, the positioning results are still sufficiently useful. Note that if the network device 8 has three connection destinations, three cable lengths will be obtained. In this case, the positioning results can be displayed on the XYZ plane, making three-dimensional positioning possible.

[0143] Furthermore, if wireless positioning of the positioning device 7 fails to obtain distance measurement results for the tag positioning device 7 between three anchors, the missing distance measurement results may be obtained by wired positioning using the network device 8 to which the tag positioning device 7 is connected. The network device 8 can supplement the distance measurement results of the tag positioning device 7 using the cable length determined between the tag and other connected network devices 8 and the location information of the other connected network devices 8 to perform positioning calculations. For example, in FIG. 23 , when the position of positioning device 7f is determined using positioning devices 7a-7c as anchors, assume that only distance measurement results for positioning devices 7a and 7b are obtained during positioning. In this case, the cable length of the third connection cable 55c connecting network device 8f to network device 8j, to which the positioning device 7f is connected, is used as the third distance measurement result for positioning calculations. Note that if only two distance measurement results are obtained, including wireless ranging and cable length, the positioning results on the XY plane can also be used. In this case, the absence of Z information makes it impossible to determine the height direction, resulting in a large error. However, it is still useful data for asset management.

[0144] When the management control unit 34 of the management device 3A completes ranging of the positioning device 7 and network device 8 that are the targets of ranging, the management control unit 34 records the ranging results in the asset management table 332. The asset management table 332 is stored in the management memory unit 33 of the management device 3A. The table configuration of the asset management table 332 is shown in Figures 24A and 24B. The asset management table 332 includes items such as an asset number assigned to each device, a network device ID of the network device 8, presence confirmation during ranging processing, presence confirmation time when the presence confirmation was performed, the position of the positioning, the positioning time when the positioning was performed, the positioning device ID of the positioning device 7, an asset type which is the type of device, the model name of the device, the serial number of the device, the assigned IP address, the firmware version of the device, the usage time of the device, and the replacement time of the device.

[0145] The asset number is a unique identification number assigned to each piece of equipment that is an asset, including the positioning device 7 and the network device 8. The network device ID stores the identification information of the network device 8 stored in the positioning management table 331. The presence confirmation stores information on whether communication with the network device 8 assigned to the network device ID was possible during the distance measurement process. For example, if communication was possible, a circle is stored, and if communication was not possible, an x ​​is stored.

[0146] The presence confirmation time stores the time when communication with the network device 8 assigned to the network device ID was established during the distance measurement process. The position stores the position of the network device 8. Here, the position is assumed to be a three-dimensional coordinate system of XYZ. The position measurement time is the time when the position of the network device 8 was measured. The positioning device ID stores identification information of the positioning device 7. The positioning device ID stores identification information of the positioning device 7 connected to the network device 8, or of the positioning device 7 used alone.

[0147] The asset type is the type of equipment, worker 62, tool 61, etc. in which the positioning device 7 or network device 8 is placed. The model name is the name of the equipment, worker 62, tool 61, etc. stored in the asset type. The serial number is a unique number assigned to the equipment, worker 62, tool 61, etc. stored in the asset type. The IP address is a unique communication address assigned to the positioning device 7 or network device 8 placed in the equipment, worker 62, tool 61, etc. The firmware version is the version of the equipment, tool 61, etc. The usage time is the continuous operating time of the equipment, worker 62, tool 61, etc. The replacement time is the number of hours until the equipment, worker 62, tool 61, etc. is replaced. The usage time and replacement time are stored in seconds here.

[0148] For example, for asset number "A501," "8a" is associated in the network device ID as identification information indicating network device 8a. "◯" is stored in the presence confirmation, indicating that communication with network device 8a was successful during the ranging process. "2024.7.11 13:00" is stored in the presence confirmation time, and "reference anchor (700, 550, 300)" is stored in the position. "7a," indicating the identification information of positioning device 7a connected to network device 8a, is stored in the positioning device ID.

[0149] The asset type stores "hub" as the type of equipment in which the positioning device 7a and network device 8a are located. The model name stores "HUB-01" as the name of the hub, the serial number stores "SN10011", and the IP address stores "197.168.0.1", which is the address assigned to the positioning device 7a and network device 8a. The firmware version stores "1.01", which is the version of the hub. "31536023" is stored as the usage time, and "157680000" is stored as the replacement time.

[0150] The management display processing unit 31 of the management device 3A generates a space map 410B shown in Fig. 25 based on the contents of the asset management table 332. The space map 410B is displayed on the display screen 41 of the display device 4. For example, the management device 3A, router Ru, network devices 8a to 8f, positioning device 7j, and external device 91 are arranged on a factory floor map 421 in Fig. 25. The rectangular parallelepipeds indicated by dotted lines represent, for example, multiple devices and workbenches for manufacturing, inspecting, etc. products.

[0151] White squares on the spatial map 410B represent the management device 3A and the manufacturing device 9. White circles represent reference anchors placed on the ceiling Tu of the floor, such as network devices 8a to 8c. Black circles represent individual positioning devices 7, such as positioning device 7j. The management device 3A, the manufacturing device 9, and the network devices 8a to 8c are connected by wired cables to form a wired network. Network devices 8d to 8f are also placed within the manufacturing device 9 and are connected to the network device 8a by wired cables to form a wired network. An external device 91 is connected to the reference anchor by a wired cable via router Ru. The positioning device 7j is connected wirelessly to the positioning devices 7a to 7c provided in the network devices 8a to 8c.

[0152] The worker inputs the asset number, serial number, IP address, etc. of the positioning device 7, network device 8, etc. that he or she is looking for from the management input operation unit 35 of the management device 3A. This causes the corresponding positioning device 7, network device 8, etc. to be highlighted on the spatial map 410B. By checking the highlighted position, the worker 62 can know the location of the corresponding positioning device 7, network device 8, etc. on the factory floor. This allows the worker 62 to quickly replace parts or check for defects in the positioning device 7, network device 8, etc.

[0153] Furthermore, the worker 62 inputs a positioning instruction from the management input operation unit 35 of the management device 3A. The management control unit 34 of the management device 3A causes the positioning device 7 and the network device 8 to perform positioning. This makes it possible to update the data stored in the asset management table 332. The management display processing unit 31 of the management device 3A then generates a spatial map 410B based on the contents of the updated asset management table 332 and displays it on the display screen 41 of the display device 4. This makes it possible to update information on the positioning device 7, the network device 8, etc. in real time, and to confirm the existence and latest location of assets, which can be used for asset inventory.

[0154] Furthermore, the worker 62 can select only the independently operating positioning device 7j from the management input operation unit 35 of the management device 3A and have it perform distance measurement processing. In this case, the positioning device 7j performs distance measurement processing at preset intervals, and the position data is periodically updated. This allows for safety management and movement management of the worker 62 carrying the positioning device 7j. For example, danger areas can be set on the spatial map 410B, and an alarm can be sounded when the worker 62 enters the danger area. The work history of the worker 62 can be recorded based on the movement of the worker 62 and used for work analysis.

[0155] Next, a positioning method using the positioning device 7 and the network device 8 in combination according to the third embodiment will be described below with reference to the flowcharts shown in FIGS. 26 to 28. FIG. 26 is a flowchart showing the flow of processing in the combined ranging process. The combined ranging process is stored as a combined ranging process program in the management storage unit 33 of the management device 3A shown in FIG. 14A. For example, when the worker 62 selects an icon associated with the combined ranging process program on the display screen 41 of the display device 4 using the management input operation unit 35 of the management device 3A, the processor 316 shown in FIG. 15 reads and executes the combined ranging process program stored in the storage device 313. Alternatively, after the management device 3A is started, the management control unit 34 periodically causes the processor 316 to read and execute the combined ranging process program stored in the storage device 313.

[0156] The management control unit 34 of the management apparatus 3A selects a network device 8 to be measured (step S301). The management control unit 34 determines whether the network device 8 to be measured is equipped with a positioning device 7 (step S302). If a positioning device 7 is equipped (step S302; YES), the management control unit 34 starts the positioning device 7 set as the corresponding tag and anchor from the positioning management table 331 shown in FIG. 18 via the field network 54 and the network device 8 to perform wireless positioning (step S303). The management control unit 34 causes the positioning device 7 to perform wireless ranging processing (step S304). The wireless ranging processing will be described with reference to the flowchart shown in FIG. 27.

[0157] 14B determines whether or not the network device 8 is connected to the positioning device 7 via serial communication (step S401). If the network device 8 is connected via serial communication (step S401; YES), the positioning device 7 can communicate data with the network device 8, and is therefore started up in response to an instruction from the management apparatus 3A (step S402). The positioning device 7 reads asset data from the network device 8 and synchronizes it with the asset data stored in the device storage unit 72 (step S403).

[0158] The network device 8 determines whether the positioning device 7 operates as an anchor (step S404). If the positioning device 7 operates as an anchor (step S404; YES), the network device 8 causes the positioning device 7 to measure distances between itself and other positioning devices 7 operating as tags (step S405). The positioning device 7 stores the distance measurement results and asset data acquired from each tag in the device storage unit 72 shown in FIG. 14B (step S406). The positioning device 7 transmits the distance measurement results and asset data of each tag stored in the device storage unit 72 to the network device 8 (step S407). The network device 8 turns off the power of the positioning device 7 when the specified startup time is complete (step S408).

[0159] Also, in step S401, if the network control unit 84 is not connected to the positioning device 7 via serial communication (step S401; NO), the positioning device 7 cannot communicate data with the network device 8 and therefore cannot be activated by instructions from the management device 3A. Therefore, the positioning device 7 is periodically activated by a preset timer or by an external I / O switch (step S409). The positioning device 7 operates as a tag and performs distance measurement with another positioning device 7 operating as an anchor (step S410). Also, in step S404, if the positioning device 7 does not operate as an anchor (step S404; NO), the positioning device 7 operates as a tag and performs distance measurement with another positioning device 7 operating as an anchor (step S410). The positioning device 7 turns off its power after the specified activation time has been completed (step S408).

[0160] The network device 8 ends the wireless ranging process. Now, returning to FIG. 26 , the network device 8 transmits the ranging results and asset data of each tag received from the positioning device 7 in step S407 of the wireless ranging process to the management device 3A (step S305). The management control unit 34 executes ranging correction processing (step S306). The ranging correction processing will be described with reference to the flowchart shown in FIG. 28 .

[0161] The management control unit 34 determines whether the distance measured is less than a predetermined maximum value (step S501). For example, as shown in FIGS. 20A and 20B, if the measured distance is equal to or greater than the maximum distance of the wireless positioning path Pc within the first manufacturing device 9a, the reflected wave is likely to have been mismeasured. Therefore, if the measured distance exceeds the predetermined maximum value (step S501; NO), the management control unit 34 discards the measured distance (step S502). If the measured distance is less than the predetermined maximum value (step S501; YES), the management control unit 34 subtracts the correction value stored in the positioning management table 331 from the measured distance (step S503). The management control unit 34 then terminates the distance measurement correction process.

[0162] Now, let's return to FIG. 26. The management device 3A obtains wireless distance measurement results from at least three anchors for each tag. Therefore, the management control unit 34 of the management device 3A determines whether the necessary distance measurement results have been collected from each tag (step S307). If the necessary distance measurement results have not been collected from each tag (step S307; NO), the management control unit 34 returns to step S303 and executes the steps from step S303 onwards. If the necessary distance measurement results have been collected from each tag (step S307; YES), the management control unit 34 uses the distance measurement results corrected in the distance measurement correction process of step S306 to calculate the position of the tag being measured (step S308). This obtains the XYZ coordinates of the tag.

[0163] The management control unit 34 records the calculation result and the asset data of the positioning device 7 in the asset management table 332 and stores them in the management storage unit 33 (step S309). The management control unit 34 determines whether an end instruction has been received (step S310). For example, if the ranging process is to be ended by timer management, or if the operator 62 has issued an end instruction from the management input operation unit 35 of the management device 3A (step S310; YES), the management control unit 34 ends the combined ranging process. On the other hand, if an end instruction has not been received (step S310; NO), the management control unit 34 returns to step S301 and executes the steps from step S301 onwards.

[0164] Furthermore, in step S302, if the network device 8 to be measured is not equipped with a positioning device 7 (step S302; NO), the management control unit 34 executes wired positioning. The management control unit 34 acquires the cable length of the connection cable 55 to the other network device 8 to which the network device 8 to be measured is connected, from the positioning management table 331 stored in the management storage unit 33 (step S311).

[0165] The management control unit 34 determines from the positioning management table 331 whether the network device 8 to be positioned is outside the manufacturing equipment 9 (step S312). If the network device 8 to be positioned is outside the manufacturing equipment 9 (step S312; YES), the management control unit 34 corrects the cable length of the connection cable 55 (step S313). For example, a network device 8 outside the manufacturing equipment 9 is connected to the connection cable 55 via the ceiling of a floor in the factory. Therefore, the cable length of the connection cable 55 connecting to the network device 8 outside the manufacturing equipment 9 is corrected by shortening the cable length by twice the height to the ceiling of the floor.

[0166] If the network device 8 to be positioned is located inside the manufacturing equipment 9 (step S312; NO), the management control unit 34 does not correct the cable length of the connection cable 55. The management control unit 34 uses the cable length to calculate the position of the network device 8 to be positioned (step S314). This obtains the XY coordinates of the network device 8 to be positioned. The management control unit 34 records the calculation result, along with the asset data of the network device 8, in the asset management table 332 and stores it in the management storage unit 33 (step S309). The management control unit 34 determines whether an end instruction has been received (step S310). If an end instruction has been received (step S310; YES), the management control unit 34 ends the combined ranging process. If an end instruction has not been received (step S310; NO), the management control unit 34 returns to step S301 and executes the steps from step S301 onwards.

[0167] As described above, according to the third embodiment, the position of the positioning target can be determined by combining wireless and wired connections. This allows the position of the network device 8 to be determined even if the network device 8 to be determined is not equipped with the positioning device 7. Furthermore, if wireless ranging is not possible with the positioning device 7, the positioning result can be supplemented by utilizing the cable length between the network device 8 and another network. Furthermore, by combining wireless and wired connections, it becomes possible to easily determine the position of the positioning target even if it is difficult to determine the position of the target, such as when the network device 8 to be determined is not equipped with the positioning device 7 or when wireless ranging is not possible with the positioning device 7.

[0168] Furthermore, according to the third embodiment, the cable length between the tag and the anchor is compared with the result of radio ranging, and the shorter length is used for positioning, thereby preventing erroneous radio ranging due to reflected waves.

[0169] Furthermore, according to the third embodiment, the estimated cable length can be corrected based on the installation information of the tag and anchor set in the positioning management table 331. For example, when a tag and an anchor straddle multiple manufacturing devices 9, the estimated cable length of the connection cable 55 connecting the multiple manufacturing devices 9 is set to a length obtained by subtracting Fh×2, which is twice the height Fh from the floor to the ceiling, from the cable length set in the positioning management table 331. This not only prevents erroneous ranging in wireless ranging due to reflected waves but also improves the accuracy of ranging on the XY plane, even when a network device 8 inside a manufacturing device 9 and a network device 8 outside the manufacturing device 9 are connected by wire via the ceiling of the factory.

[0170] (Embodiment 4) The positioning device 7 shown in embodiment 3 may have a hardware configuration shown in Fig. 29. The positioning device 7 transmits and receives data via serial communication with a connection device 801 of a network device 8 connected thereto, and is supplied with power from the connection device 801. However, there may be cases where not all network devices 8 are equipped with connection devices 801 that are compatible with serial communication.

[0171] If the connection device 801 of the network device 8 does not support serial communication, an I / O connection device 808 is added to the network device 8. The I / O connection device 808 is an input / output control device that connects external control devices and sensors and can send and receive various data and perform various controls, including turning on and off, on devices to be controlled. The I / O connection device 808 is also connected to the power supply device 703 of the positioning device 7. The I / O connection device 808 is an example of a first input / output control device and a second input / output control device in the claims.

[0172] In this case, in response to an instruction from the management device 3A, the I / O connection device 808 of the network device 8 controls the ON / OFF of the power supply device 703 of the positioning device 7. This allows the positioning device 7 to be started up and operated as a tag.

[0173] The positioning device 7 can also be configured in a card size, so that it can be built into the network device 8. When the positioning device 7 is used alone, a small battery 710 is attached to the outside, so that the positioning device 7 can operate without being supplied with power from the network device 8.

[0174] Furthermore, when used alone, the positioning device 7 can be carried as a wearable device by the worker 62 working on the floor. By setting the positioning frequency high, the movements of the worker 62 can be grasped in real time, which can be used for flow line management, work progress management, etc. Furthermore, by the worker 62 turning the switch SW of the positioning device 7 on and off, consumption of the battery 810 can be reduced compared to intermittent activation by setting an internal timer.

[0175] As described above, the positioning device 7 in the fourth embodiment can start up by itself and operate as a tag when the network device 8 is not provided with the connection device 801 that performs serial communication.

[0176] Fifth Embodiment In a fifth embodiment, some of the network devices 8 arranged in the manufacturing equipment 9 are installed in a control panel 92 .

[0177] The control panel 92 is typically a narrow space surrounded by metal plates. Therefore, it is difficult for external electromagnetic waves to penetrate the control panel 92, and it is less susceptible to external noise. However, the electromagnetic waves are reflected inside, creating a poor communication environment. For example, if the control panel 92 is approximately 60 cm in length and width, even if a short-duration UWB burst signal is used, the reflected waves will be multiplexed inside the control panel 92, generating standing waves. Therefore, the strength of the waves will vary depending on the location inside the control panel 92, making it difficult to separate the direct waves. Therefore, it is virtually impossible to measure the distance between the anchor and the tag.

[0178] However, because communication is possible between the tag placed inside the control panel 92 and the network device 8, the presence of the tag can be confirmed to a limited extent within the control panel 92. For example, the control panel 92 shown in Fig. 30 is equipped with a network device 8g and a network device 8h, which are respectively equipped with a positioning device 7g and a positioning device 7h. The control panel 92 is equipped with a positioning device 7i that operates independently as a tag, and an RFID (Radio Frequency Identification) tag 720, which is a contactless communication tag that can send and receive information contactlessly.

[0179] The management device 3A instructs the network device 8g, acting as an anchor, to locate the positions of the positioning device 7i and the RFID tag 720. The network device 8g executes normal wireless ranging processing to locate the positions of the positioning device 7i and the RFID tag 720. At this time, the network device 8g is unable to obtain a positioning result due to the reflection of electromagnetic waves within the control panel 92. However, the network device 8g is able to communicate with the positioning device 7i and the RFID tag 720, and is therefore able to confirm the presence of the positioning device 7i and the RFID tag 720.

[0180] Furthermore, if the positioning device 7i has an RFID reader function, the RFID reader reads the RFID tag 720 and executes presence confirmation.

[0181] Furthermore, if the control panel 92 contains a positioning device 7i, an RFID tag 720, etc., and the like, being able to confirm their presence will enable asset management, inventory, etc. Furthermore, the location of the control panel 92 is often known from the beginning within the manufacturing apparatus 9. Therefore, if the location of the control panel 92 is known, the locations of the positioning device 7i, the RFID tag 720, etc. can be ascertained by indicating the control panel 92 where the positioning device 7i, the RFID tag 720, etc. are located, instead of indicating the locations of the positioning device 7i, the RFID tag 720, etc.

[0182] As described above, the management device 3A in the fifth embodiment can grasp the positions of the positioning device 7i, RFID tag 720, and the like arranged on the control panel 92 by using the positioning device 7.

[0183] Sixth Embodiment In a sixth embodiment, the inside of the manufacturing apparatus 9 is divided into three layers, an upper layer, a middle layer, and a lower layer, and correction is performed using different correction values ​​for each layer. This allows for more accurate distance measurement correction.

[0184] 31 shows a side view of the first manufacturing apparatus 9a. A network device 8d in the first manufacturing apparatus 9a is equipped with a positioning device 7d. The positioning device 7d operates as an intra-apparatus anchor and also functions as an intra-apparatus tag for the positioning devices 7a to 7c, which are reference anchors installed on the ceiling of the factory floor.

[0185] In Figure 31, the first manufacturing equipment 9a is divided into three layers: an upper layer, a middle layer, and a lower layer. Within the first manufacturing equipment 9a, due to metal objects such as the first robot 901a and shielding objects such as the first conveyor 902a, the density of reflected waves and the amount of delay of reflected waves differ in each of the upper, middle, and lower layers. In particular, the density of delayed waves usually increases and the amount of delay increases as you move toward the lower layers. This often results in the measured distance being farther than the actual position.

[0186] Therefore, in the sixth embodiment, the upper, middle, and lower layers have different delay correction values. The different delay correction values ​​for the upper, middle, and lower layers are stored in the correction value field of the positioning management table 331 stored in the management storage unit 33 of the management device 3A shown in FIG. 14A. Whether the position of the positioning device 7, which is the tag to be positioned, is located in the upper, middle, or lower layer is determined from the positioning results of the wireless positioning. By storing different delay correction values ​​for the upper, middle, and lower layers in the positioning management table 331 in advance, the management device 3A can correct the position of the positioning device 7, which is the tag to be positioned. The different delay correction values ​​for the upper, middle, and lower layers are an example of the first correction value and the second correction value in the claims.

[0187] When the network device 8d in the first manufacturing apparatus 9a performs wireless positioning using the positioning device 7d in response to an instruction from the management device 3A, it determines whether the positioning device 7, the tag being positioned, is located on the upper, middle, or lower floor based on the Z coordinate of the tag obtained in the initial positioning. The network device 8d obtains a delay correction value corresponding to the determined position from the positioning management table 331 stored in the management memory unit 33 of the management device 3A and corrects the positioning result of the positioning device 7, the tag. The network device 8d then performs positioning again using the corrected positioning result. This improves the positioning accuracy.

[0188] For example, in FIG. 31 , assume that the network device 8d has located the position of point P1 outside the first manufacturing apparatus 9a in the lower layer. Because the lower layer contains many metal objects, such as the first robot 901a and the first parts tray 903a, delays within the first manufacturing apparatus 9a are larger than average. As a result, the positioning device 7d ends up locating the position of point P1 outside the first manufacturing apparatus 9a. To remedy this, the network device 8d corrects the position of point P1 using the delay correction value for the lower layer. The network device 8d then uses the corrected position to have the positioning device 7d perform positioning again. As a result, the positioning device 7d can locate point P2 within the first manufacturing apparatus 9a shown in FIG. 31 .

[0189] The method for correcting positioning results in the sixth embodiment is stored as a position determination-included correction processing program in the management storage unit 33 of the management device 3A shown in Fig. 14A. The position determination-included correction processing program is read out from the storage device 313 and executed by the processor 316 of the management device 3A at any timing. The position determination-included correction processing program can be used, for example, in place of the distance measurement correction processing executed in step S306 of the flowchart of the combined distance measurement processing in Fig. 26.

[0190] The flow of the correction process with position determination will be described below with reference to the flowchart shown in FIG. 32. The network device 8d in the first manufacturing equipment 9a performs wireless positioning using the positioning device 7d in response to an instruction from the management device 3A. The network device 8d determines its position within the first manufacturing equipment 9a based on the Z coordinate obtained in the initial positioning (step S601). The network device 8d determines whether the determined position is in the upper floors (step S602). If the determined position is in the upper floors (step S602; YES), the network device 8d obtains a delay correction value corresponding to the upper floors from the positioning management table 331 stored in the management storage unit 33 of the management device 3A and corrects the positioning result (step S603).

[0191] If the location determined in step S602 is not an upper floor (step S602; NO), the network device 8d determines whether the determined location is a middle floor (step S604). If the determined location is a middle floor (step S604; YES), the network device 8d acquires a delay correction value corresponding to the middle floor from the positioning management table 331 stored in the management storage unit 33 of the management apparatus 3A, and corrects the positioning result (step S605).

[0192] If the location determined in step S604 is not the middle floor (step S604; NO), the network device 8d acquires a delay correction value corresponding to the lower floor from the positioning management table 331 stored in the management storage unit 33 of the management apparatus 3A, and corrects the positioning result (step S606).The network device 8d performs positioning again using the corrected positioning result (step S607).

[0193] The network device 8d calculates the X, Y, and Z coordinates of the measured position (step S608). Thereafter, the network device 8d transmits the X, Y, and Z coordinates of the position calculated in step S608 to the management device 3A. The management device 3A stores the coordinates in the asset management table 332 stored in the management storage unit 33 of the management device 3A. The network device 8d ends the position determination and correction process.

[0194] As described above, in the method for correcting the positioning results in the sixth embodiment, the inside of the manufacturing apparatus 9 is divided into three layers, namely, the upper layer, the middle layer, and the lower layer, and correction is performed using different correction values ​​for each layer. This allows for more accurate distance measurement correction.

[0195] (Modification 2) In the above-described first to sixth embodiments, the management device 3, 3A and the display device 4 are separate entities. However, the present invention is not limited to this, and the management device 3, 3A may include the display device 4.

[0196] (Variation 3) In the above-described first and second embodiments, the position of the positioning object is measured using the positioning module 1 and the remote device 2, and in the above-described third to sixth embodiments, the position is measured using the positioning device 7 and the network device 8. However, this is not limiting, and the positioning module 1 may have the functions of the positioning device 7, and the remote device 2 may have the functions of the network device 8, so that the position of the positioning object can be measured using a combination of wireless and wired connections. Furthermore, the positioning device 7 may have the functions of the positioning module 1, and the network device 8 may have the functions of the remote device 2, so that the position of the positioning object can be measured wirelessly.

[0197] In addition, in the embodiments of the present disclosure, the management devices 3, 3A and the management systems 100, 100A, 100B, and 100C including the management devices 3, 3A can be realized as dedicated systems. However, they can also be realized using ordinary computer systems without using dedicated systems. For example, a program for implementing each function of the management devices 3, 3A and the management systems 100, 100A, 100B, and 100C including the management devices 3, 3A may be stored and distributed on a computer-readable recording medium such as a CD-ROM (Compact Disc Read Only Memory) or a DVD-ROM (Digital Versatile Disc Read Only Memory), and a computer may be configured to implement each of the above-mentioned functions by installing this program on the computer. Furthermore, if each function is realized by sharing the work between an operating system (OS) and an application, or by collaboration between an OS and an application, only the application may be stored on the recording medium.

[0198] The present disclosure allows various embodiments and modifications without departing from the broad spirit and scope of the present disclosure. Furthermore, the above-described embodiments are intended to illustrate the present disclosure and do not limit the scope of the present disclosure. That is, the scope of the present disclosure is defined by the claims, not the embodiments. Various modifications made within the scope of the claims and the meaning of equivalent disclosures are considered to be within the scope of the present disclosure.

[0199] This application is based on International Patent Application PCT / JP2024 / 025114 filed on July 11, 2024. The entire specification, claims and drawings of International Patent Application PCT / JP2024 / 025114 are incorporated herein by reference.

[0200] The present disclosure can be suitably used in a management device system.

[0201] Ru: Router, Ra, Rb: Position, Tu: Ceiling, Fh: Height, SW: Switch, P1, P2: Point, Pa, Pb, Pc: Wireless positioning path, 1, 1A: Positioning module, 1a: First positioning module, 1b: Second positioning module, 1c: Third positioning module, 1d: Fourth positioning module, 1e: Fifth positioning module, 1f: Sixth positioning module, 1n: nth positioning module, 2: Remote device, 2a: First remote device, 2b: Second remote device, 2c: Third remote device, 2d: Fourth remote device, 2e: Fifth remote device, 2f: Sixth remote device, 2g: Seventh remote device, 2h: Eighth remote device, 2i: Ninth remote device, 2k: (n-1)th remote device, 2n: nth remote device, 3, 3A: Management device, 4: Display device, 6: Mobile positioning module, 6a: First mobile positioning module, 6b: Second mobile positioning module, 6c Third mobile positioning module, 7, 7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h, 7i, 7j, 7k, 7l, 7m, 7n, 7o, 7p, 7x, 7y Positioning device, 8, 8a, 8b, 8c, 8d, 8e, 8f, 8g, 8h, 8i, 8j, 8k, 8l, 8m, 8n, 8o, 8p Network device, 9 Manufacturing apparatus, 9a First manufacturing apparatus, 9b Second manufacturing apparatus, 11, 71 Antenna unit, 12 Positioning memory unit, 13 Positioning power supply unit, 14 Positioning control unit, 74 Device control unit, 15 Positioning connection unit, 16 Auxiliary power supply unit, 21 Remote communication unit, 22 Remote memory unit, 23 Remote power supply unit, 24 Remote control unit, 25 Remote connection unit, 31 Management display processing unit, 32 Management power supply unit, 33 Management storage unit, 34 Management control unit, 35 Management input operation unit, 36 Management communication unit, 41 Display screen, 51 Device connection cable, 51a First device connection cable, 51b Second device connection cable, 51c Third device connection cable, 51d Fourth device connection cable, 51e Fifth device connection cable, 51f Sixth device connection cable, 51n Nth device connection cable, 52 Device connection cable, 53 Display cable, 54 Field network, 55 Connection cable, 55a First connection cable, 55b Second connection cable, 55c Third connection cable, 55d Fourth connection cable, 55e Fifth connection cable, 61 Tool, 62 Worker, 63 Work, 72 Device storage unit,73 Device power supply unit, 75 Device connection unit, 81 Network communication unit, 82 Network storage unit, 83 Network power supply unit, 84 Network control unit, 85 Network connection unit, 91 External device, 92 Control panel, 100, 100A, 100B, 100C Management system, 101, 701 Wireless communication device, 102, 201, 702, 801 Connected device, 103, 203, 305, 315, 703, 804 Power supply device, 104, 204, 303, 313, 704, 805 Storage device, 105, 205, 306 Memory, 106, 206, 307, 316, 705, 806 Processor, 107, 207, 308, 317, 706, 807 Bus, 202, 301, 311, 802 Communication device, 302, 312 Input device, 304, 314 Display controller, 320, 710, 810 Battery, 331 Positioning management table, 332 Asset management table, 410, 410A, 410B Space map, 421 Floor map, 422 Information presentation unit, 423 Mesh network, 720 RFID tag, 803, 808 I / O connection device, 811 Route network device, 901a First robot, 901b Second robot, 902a First conveyor, 902b Second conveyor, 903a First parts tray.

Claims

1. A management system comprising: a first network device arranged on a wired network and performing positioning of a positioning object; a first positioning device provided on the first network device and wirelessly locating the position of the positioning object; a second network device connected to the first network device via a wired connection cable and provided with a second positioning device that wirelessly locates the position of the positioning object; and a management apparatus including a management control unit that sets the first positioning device as an anchor that serves as a reference for positioning, sets the second positioning device as a tag that is to be positioned, and causes the first positioning device to locate the position of the second positioning device, wherein the management control unit of the management apparatus determines the position of the second positioning device based on the positioning result of the position of the second positioning device determined by the first positioning device and the cable length of the connection cable between the first network device and the second network device.

2. The management system described in claim 1, wherein the management control unit of the management device compares the cable length of the connection cable with the distance between the first positioning device and the second positioning device measured by the first positioning device, and uses the shorter one to determine the position of the second positioning device.

3. The management system according to claim 1 or 2, wherein the first network device estimates the cable length of the connection cable between the first network device and the second network device based on a propagation delay time of the connection cable.

4. A management system as described in any one of claims 1 to 3, wherein the management control unit of the management device corrects the position of the second positioning device using a first correction value, which is a correction value for communication delay determined by installation information based on the space in which the second positioning device is installed.

5. The management system described in claim 4, wherein the management control unit of the management device corrects the positioning result of the second positioning device measured by the first positioning device using a second correction value different from the first correction value, and causes the first positioning device to again measure the position of the second positioning device using the corrected positioning result.

6. The management system described in claim 4, wherein the installation information includes the size of the space in which the second positioning device is placed and the number of items placed in the space, and the correction value for the communication delay is a value statistically determined based on the installation information.

7. A management system as described in any one of claims 4 to 6, wherein the first network device and the second network device are placed within a manufacturing device that manufactures a product, the installation information includes a longest path that is the longest distance within the manufacturing device, and the management control unit of the management device discards the distance measurement result measured by the first positioning device if the distance between the first positioning device and the second positioning device measured by the first positioning device exceeds the distance of the longest path.

8. A management system as described in any one of claims 4 to 7, further comprising a third positioning device not provided in the network device, or a contactless communication tag capable of transmitting and receiving information contactlessly, and the management control unit of the management device confirms the presence of the third positioning device or the contactless communication tag by causing the first positioning device to communicate with the third positioning device or the contactless communication tag.

9. A management system according to any one of claims 1 to 8, wherein the first network device further comprises a first input / output control device that controls the ON / OFF of the first positioning device in response to instructions from the management device, or the second network device further comprises a second input / output control device that controls the ON / OFF of the second positioning device in response to instructions from the management device.

10. A management device comprising: a management control unit provided in a first network device arranged on a wired network, which sets a first positioning device that performs wireless positioning of a positioning object as an anchor that serves as a reference for positioning; a management control unit provided in a second network device connected to the first network device via a wired connection cable, which sets a second positioning device that performs wireless positioning of a positioning object as a tag that is to be positioned; and which causes the first positioning device to position the second positioning device; wherein the management control unit determines the position of the second positioning device based on the positioning result of the second positioning device measured by the first positioning device and the cable length of the connection cable between the first network device and the second network device.

11. A method executed by a management system including a first positioning device provided in a first network device arranged on a wired network and performing positioning of a positioning object, and a second positioning device provided in a second network device connected to the first network device via a wired connection cable, the method determining the position of the second positioning device based on the positioning result of the second positioning device determined by the first positioning device and the cable length of the connection cable between the first network device and the second network device.

12. A program for causing a computer to execute a process of determining the position of a second positioning device provided in a second network device connected to a first network device via a wired connection cable, the second positioning device being wirelessly positioned by a first positioning device provided in the first network device that is placed on a wired network and performs positioning of a positioning target, based on the positioning result of the second positioning device and the cable length of the connection cable between the first network device and the second network device.

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