JP2011096174A - Mobile object tracking system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mobile object tracking system for correctly detecting a facility area, where a mobile object exists and preparing an accurate flow-line (movement history). <P>SOLUTION: A receiving portion 31 of a tracking server 30 receives mobile object detection information 21 transmitted by a receiver 20 which has detected a mobile object. A movement determining part 32 obtains a connection distance along a facility route from a received moving point generated from the mobile object detection information 21, to the latest moving point contained in flow-line information held by a flow-line information holding part 40, from receiver arrangement information defining a connection relation between receivers along the route of a facility, and determines whether the same mobile object is movable between both the moving points from the connection distance and the detection time difference between both moving points. A flow-line preparing part 33 adds the received moving point for which it is determined that the mobile object is movable, to the flow-line information. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a moving body tracking system that tracks the position of a moving body using a plurality of receivers installed in a facility and a transmitter carried by the moving body.

  In a conventional mobile body tracking system, a plurality of receivers installed in a facility receive signals from transmitters (carried by the mobile body) present in each reception area, and detect the mobile body. Send detection information to the tracking server. Based on the moving body detection information sent from the receiver, the tracking server generates a movement history (flow line) by arranging the position where the receiver is installed for each transmitter and the detection time in time series (for example, Patent Literature 1).

  In the mobile tracking system having such a configuration, when a reception area overlaps between receivers installed in the vicinity, a plurality of receivers may simultaneously detect the same transmitter. In this case, in the moving body tracking system according to Patent Document 1, it is described in the movement history that a moving body exists in a plurality of receiving areas at the same time, or one receiving area is defined based on the attributes of the receiving area. It was supposed to be selected as an existing area. In another conventional system, the tracking server checks the radio field intensity received by the receiver, and if it is below the threshold, it is not detected as a mobile object, or the reception area of the receiver that has received the maximum radio field intensity is set as a mobile object. In other words, the determination is made by using the radio wave intensity, for example, as the existence region of the signal (for example, see Patent Document 2).

Japanese Unexamined Patent Publication No. 2004-5511 (paragraphs 0036, 0184, etc.) JP 2008-175734 A

  Since the conventional mobile body tracking system is configured as described above, if the reception areas overlap between the receivers installed in the vicinity, if the reception area is an open space, a plurality of neighboring areas can be simultaneously used as in Patent Document 1. Even if it is determined that there is a moving object, there is no practical problem. However, if there is a false detection in which the receiver receives the signal from the transmitter across walls, floors, etc., it will be judged and recorded that it actually exists in the facility area where there is no moving object. Is a problem. For example, a mobile object carrying a transmitter is walking in a corridor, but a receiver installed in a room that does not permit entry / exit facing the corridor has detected a mistake over the wall, and entry / exit is permitted. A problem arises when it is determined that a room is not present.

  The determination method using the radio field intensity of Patent Document 2 can reduce the probability of erroneous detection received over walls, floors, etc., but errors such as erroneous detection when the door is open. The problem of detection cannot be solved completely. Further, when the radio wave environment changes due to the re-layout of the building and the use of interfering wireless devices, it is necessary to change the determination method including the threshold value for detecting the moving body, and the operation becomes complicated.

  In addition, in the conventional mobile body tracking system, there are cases where the mobile body cannot be detected correctly if the detection capacity of the receiver is exceeded, for example, the mobile body moves faster than expected or there are many transmitters in the reception area. It was. Since the tracking server cannot determine this detection error by the receiver, the flow line recorded in the movement history is not continuous along the facility route, and a correct movement history cannot be extracted.

  Furthermore, when the mobile unit identification information of the transmitter is tampered with and used illegally by another transmitter, the tracking server is a single mobile unit even if there are multiple transmitters having the same mobile unit identification information in the facility at the same time. Therefore, there is a problem that unauthorized use cannot be detected on the spot or cannot be displayed separately as another movement history.

  The present invention has been made to solve the above-described problems. It is an object of the present invention to obtain a moving body tracking system that correctly detects a facility area where a moving body exists and creates an accurate flow line (movement history). Objective.

  The mobile body tracking system according to the present invention is a transmitter that is carried by a mobile body and wirelessly transmits mobile body information including mobile body identification information that identifies the mobile body, and is installed in a facility and transmitted by the transmitter. A receiver that receives mobile object information, detects a mobile object, and transmits receiver identification information that identifies the receiver and mobile object detection information including detection time information of the mobile object, and a movement that is transmitted by a plurality of receivers. Each time the body detection information is received, a moving point composed of the moving body identification information, the detection position based on the receiver identification information and the detection time information is generated, and the moving points are arranged in time series based on the detection time for each moving body. A tracking system for creating a flow line, and a tracking system for storing a receiver that stores receiver arrangement information that defines a connection relationship between receivers along a facility path. And the receiver sends Of a facility from a new moving point generated from the moving body detection information newly received by the receiving unit to the latest moving point included in the flow line information of the same moving body Is obtained from the receiver arrangement information, the detection time difference between the two moving points is obtained from each detection time information, and the same moving body can move between the two moving points from the connection distance and the detection time difference. A movement determination unit that determines whether the movement is determined, and a flow line creation unit that adds a new movement point determined to be movable by the movement determination unit to the flow line information.

  According to the present invention, the receiver arrangement of the connection distance along the route of the facility from the new moving point generated from the newly received moving body detection information to the latest moving point included in the flow line information of the same moving body Obtained from the information, the detection time difference between the two moving points was obtained from each detection time information, and it was determined from the connection distance and the detection time difference whether the same moving body was movable between the two moving points, and was determined to be movable. Since a new moving point is added to the flow line information, it is possible to obtain a moving body tracking system that correctly detects a facility area where a moving body exists and creates an accurate moving line.

It is a block diagram which shows the structure of the mobile body tracking system which concerns on Embodiment 1 of this invention. It is a figure which shows the example of arrangement | positioning in the facility of the receiver shown in FIG. It is a block diagram which shows the internal structure of the tracking server shown in FIG. It is a figure explaining the receiver arrangement | positioning information which the receiver arrangement | positioning information holding part of the tracking server shown in FIG. 3 hold | maintains. It is a figure explaining the mobile body detection information which the tracking server shown in FIG. 1 receives from a receiver. It is a figure explaining the flow line information which the tracking server shown in FIG. 3 produces | generates and hold | maintains in a flow line information holding part. It is a figure explaining the holding | maintenance moving point list which the holding | maintenance moving point list holding | maintenance part of the tracking server shown in FIG. 3 hold | maintains. 4 is a flowchart showing an operation of the tracking server according to the first embodiment. It is a figure explaining the movement determination process of a movement determination part. It is a figure explaining the movement determination process of the movement determination part when a receiver makes a detection mistake. It is a figure explaining the movement determination process of the movement determination part when a receiver misdetects. It is a figure explaining the movement determination process of the movement determination part when the some transmitter which has the same mobile body ID exists simultaneously, or when a some receiver detects continuously erroneously over a wide range. It is a block diagram which shows the internal structure of the tracking server of the mobile tracking system which concerns on Embodiment 2 of this invention. It is a figure explaining the statistical information which the statistical information holding part of the tracking server shown in FIG. 13 hold | maintains.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a mobile tracking system according to Embodiment 1 of the present invention. The transmitter 10 is carried by a mobile object such as a person or an article to be tracked. The transmitter 10 holds therein mobile body identification information (hereinafter referred to as a mobile body ID) for identifying the mobile bodies O1 and O2 carrying the mobile unit, and transmits mobile body information including the mobile body ID at a predetermined timing. Send by radio. In the system configuration example of FIG. 1, there are a transmitter 10-O1 in which the mobile body ID of the mobile body O1 is set and a transmitter 10-O2 in which the mobile body ID of the mobile body O2 is set. In the following description, when it is not necessary to distinguish between the transmitters 10-O1 and 10-O2, they are simply referred to as transmitters 10.

  The plurality of receivers 20 are installed in the facility so that the reception areas do not overlap or partially overlap each other between nearby receivers. Each receiver 20 holds therein receiver identification information (hereinafter referred to as receiver ID) for identifying the own apparatus. When receiving the mobile body information from the transmitter 10 existing in the reception area of the receiver 20, the receiver 20 determines that the mobile body carrying the transmitter 10 has been detected, and the detection time, which is the reception time, the mobile body The mobile body detection information including the ID and the receiver ID is transmitted to a network 60 such as a LAN (Local Area Network).

  Since the position detection technique by the transmitter 10 and the receiver 20 is well known, detailed description is omitted. However, as the position detection method, a large number of receivers 20 having a narrow reception area are installed, and the transmitter 10 An active method for transmitting mobile body information at a fixed period, or a semi-active system for installing a small number of receivers 20 having a wide reception area and a number of trigger antennas for transmitting signals for prompting the mobile body 10 to transmit mobile body information, etc. Various schemes can be used. In the first embodiment, the case where the active method is used as the position detection method of the transmitter 10 and the receiver 20 will be described as an example. However, the present invention is not limited to this, and other methods such as a semi-active method are used. May be used.

  The tracking server 30 receives the moving body detection information from the receiver 20 via the network 60, and creates flow line information indicating when the moving body is present in the vicinity of the receiver 20 by tracking processing described later. , The flow line information holding unit 40 holds it. In addition, the tracking server 30 performs a spatiotemporal search using the moving body, time, place, and the like as search keys with respect to the flow line information holding unit 40 to obtain corresponding flow line information.

  The flow line information holding unit 40 holds the flow line information created by the tracking server 30. The display device 50 presents the latest or past flow line information acquired from the flow line information holding unit 40 by the space-time search by the tracking server 30 as a screen such as a moving body moving on the floor drawing.

  FIG. 2 is a diagram illustrating an in-facility arrangement example of the receiver 20 illustrated in FIG. 1. In FIG. 2, a thick solid line represents a wall of the facility, and this facility includes four entrances, an entrance hall Z1, a passage Z2 extending vertically and horizontally, and a plurality of rooms Z3 to Z8. The receivers R1 to R10 and R20 to R40 shown in FIG. 2 correspond to the receiver 20 shown in FIG. 1, and R1 to R10 and R20 to R40 are the respective receiver IDs. However, the receivers R1 to R10 represented by squares □ are installed at the entrance of the facility and the entrances of the rooms Z3 to Z8, and detect the moving direction of entry or exit in addition to the detection of the moving body. On the other hand, the receivers R20 to R40 indicated by circles ○ do not have a function of detecting the moving direction, and simply detect the moving body.

  Thin solid lines connecting the receivers R1 to R10 and R20 to R40 indicate the connection relationship between the receivers according to the facility route. Since the moving body can move only along the route, basically, adjacent receivers sequentially detect the moving body as the moving body moves. For example, the receiver R24 installed in the passage Z2 and the receiver R32 installed in the room Z4 are close in distance, but there is a wall between them, so that the moving body moves directly from the receiver R24 to R32. It is not possible to move, and the route of the receiver R24 → R21 → R3 → R32 is moved.

  In FIG. 2, the reception area of each receiver is not shown. However, when the reception areas partially overlap between adjacent receivers, the two receivers simultaneously use the same mobile unit as described above. May be detected. In addition, if the radio wave blocking capability of the facility walls and floors is insufficient, or the doors and windows at the entrances and exits are open, it will falsely detect moving objects that should not be detected beyond the walls and floors. There is. In addition, when the moving body moves at a higher speed than expected, or when there are more moving bodies than expected, the receiver's receiving capability (moving body detection capability) is exceeded, or the same frequency band is used. When the receiving wireless device operates and the receiver receives radio wave interference, the mobile body cannot be detected correctly, and the detection fails and a detection error occurs. Furthermore, even if it is designed and installed in advance so that such false detections and detection errors do not occur, there is a possibility that false detections or detection errors may occur during system operation due to facility re-layout and building renovation work, etc. is there.

  Therefore, the tracking server 30 according to the first embodiment is configured to correctly track the moving object even when such erroneous detection and detection error occur. Details of the tracking server 30 will be described below.

  FIG. 3 is a block diagram showing an internal configuration of the tracking server 30 shown in FIG. The tracking server 30 shown in FIG. 3 receives the mobile unit detection information 21 from the receiver 20 via the network 60, and whether the mobile unit can move to the movement point indicated by the mobile unit detection information 21. A movement determining unit 32 for determining, a flow line generating unit 33 for generating a flow line using a moving point determined to be movable, and a reserved movement that has not been determined to be movable yet and has been held at a previously received moving point A moving point management unit 34 for managing points, a receiver arrangement information holding unit 35 for holding information on the receiver 20, and a holding moving point list holding unit 36 for holding information on holding moving points are provided.

  FIG. 4 is a diagram for explaining the receiver arrangement information held by the receiver arrangement information holding unit 35 of the tracking server 30. The receiver arrangement information is composed of information registered in the receiver management table 35a and the inter-receiver distance table 35b. The receiver management table 35a includes “receiver ID”, “installation position”, “adjacent receiver”, and “other” information useful for tracking processing, and defines information for managing each receiver 20. It is a table. As the installation position, a floor where the receiver 20 is installed, position coordinates (X, Y) in the floor, and zones such as a passage and a room are described. As the adjacent receiver, the receiver ID of the adjacent receiver 20 is defined. As other information, supplemental information such as a function of detecting a moving direction of a moving object installed at an entrance is described. From this receiver management table 35a, for example, the receiver R1 is installed at the position (X1, Y1) of the entrance hall Z1 on the 1st floor, the adjacent receiver IDs are R2, R20, R21, and are arranged at the entrance of the building. It can be seen that it has a moving direction detection function.

The inter-receiver distance table 35b is a table that defines the connection distance between two receivers. The connection distance is a distance when the moving body moves from one receiver to another along the path. The connection distance between the receivers Ra and Rb is expressed as L (Ra, Rb). For example, the connection distance between the receivers R24 and R32 is L (R24, R32) = L ₁ (R24, R21) + L ₂ ( R21, R3) + L ₃ (R3, R32). This connection distance L (Ra, Rb) may be defined by an actual physical distance (for example, 10 m) between the receivers Ra and Rb, and is arranged so that the physical distance between adjacent receivers is substantially the same. If so, the distance between adjacent receivers may be defined as one hop.
Moreover, the case where directionality is added to the connection distance is also conceivable. For example, a one-way flapper gate is arranged between the receivers Ra and Rb and can move from the receiver Ra to the receiver Rb. On the contrary, the receiver Rb to the receiver Ra must once exit from the facility and enter again. In the case where it is configured to be necessary, the connection distance is defined as L (Ra, Rb) = 10 m and L (Rb, Ra) = “impossible to move”.
Based on the information in the receiver management table 35a and the inter-receiver distance table 35b, the connection relationship between the receivers is defined along the facility route.

  FIG. 5 is a diagram for explaining the moving body detection information 21 that the tracking server 30 receives from the receiver 20. The mobile body detection information 21 includes the “mobile body ID” described in the mobile body information transmitted from the transmitter 10, the “receiver ID” of the received receiver 20, and the receiver 20 that has received the mobile body information. It includes at least “detection time” that is time. In addition to these pieces of information, depending on the function of the receiver 20, information useful for tracking processing, such as including the detected moving direction of the moving body or including the radio wave intensity when receiving the moving body information, is included. It may be configured.

  FIG. 6 is a diagram for explaining the flow line information generated by the tracking server 30 and held in the flow line information holding unit 40. The moving object management table 40a includes “moving object ID”, “moving object attribute” information indicating related information of the moving object, the number of all flow lines, the number of extracted moving lines, and the flow line information for each moving object. It consists of “flow line reference” information including an address pointer indicating the recording position of 40b. The flow line information 40b includes a “moving body ID”, a “flow line number” corresponding to the flow line, an “extraction state” of the flow line, a “number of movement points” that is the number of movement points constituting the flow line, And movement point information (movement history) of “movement points 1, 2,...”. In each moving point information, “detection time” described in the moving body detection information 21, “receiver ID”, and “detection position” that is the installation position of the receiver defined in the receiver management table 35a are described. To do. The extraction status includes normal termination and abnormal termination during extraction. If the receivers R1 to R10 installed at the facility entrance detect the exit of the moving object, the extraction flow line in which the moving point is determined to be movable ends normally. In addition, when there are a plurality of extraction flow lines for the same moving body and one of the extraction flow lines ends normally, the other extraction flow lines end abnormally.

  FIG. 7 is a diagram for explaining the holding movement point list 36 a held by the holding movement point list holding unit 36 of the tracking server 30. The movement point determined to be unmovable by the movement determination unit 32 is registered in the reserved movement point list 36a by the movement point management unit 34. As registered contents, “receiver ID”, “detection time”, and “other” information useful for tracking processing in the moving body detection information 21 are registered together for each moving body. In addition, the reserved moving point that has reached a given condition such as being extracted as a flow line or not extracted as a flow line even after a certain period of time is deleted from the reserved moving point list holding unit 36 by the moving point management unit 34. The

Next, the operation of the tracking server 30 will be described. FIG. 8 is a flowchart showing the operation of the tracking server 30 according to the first embodiment.
When the tracking process of the tracking server 30 is started, the receiving unit 31 starts receiving the moving body detection information 21 in step ST1 (step ST1). When the receiving unit 31 receives the moving body detection information 21 (step ST1 “YES”), the flow proceeds to a flow line creation process after step ST2.

  In step ST <b> 2, the movement determination unit 32 refers to the moving body management table 40 a of the flow line information holding unit 40, and the moving line ID that the moving body detection information 21 indicates has not ended normally or abnormally ( Hereinafter, it is checked whether or not there is a flow line during extraction). If there is a movement line during extraction ("YES" in step ST2), the movement determination unit 32 extracts the movement point information from the moving body detection information 21 in the subsequent step ST3, and this movement point (hereinafter referred to as a reception movement point). The connection distance L between the detection point of the movement line during extraction and the latest movement point (hereinafter referred to as the latest movement point) with reference to the inter-receiver distance table 35b of the receiver arrangement information holding unit 35, and The detection time difference T between the reception movement point and the latest movement point is calculated. In step ST4, the movement determination unit 32 determines whether or not the moving body can move from the connection distance L and the detection time difference T.

FIG. 9 is a diagram for explaining the movement determination process of the movement determination unit 32. The moving body O1 carrying the transmitter 10 is moving in the zone where the receivers R1, R2, and R3 are installed, and the flow line indicated by the solid line arrow is the extraction-moving flow line (R1 → R2 → R3). . Of the movement lines during extraction, the movement point detected by the receiver R3 is the latest movement point. After the moving body O1 is detected by the receiver R3, and the moving body O1 having the same moving body ID is detected by the receiver R6, the movement determination unit 32 starts from the receiver R3 (latest moving point) to the receiver R6 (receiving moving point). The connection distance L36 to and the detection time difference T (= T2−T1) are obtained. The movement determination unit 32 determines that the movement is possible if L36 / (T2-T1) ≦ C with respect to the threshold C given in advance (step ST4 “YES”), and if L36 / (T2-T1)> C. If not, it is determined that the movement is impossible (step ST4 “NO”).
If it is determined that the movement is possible (step ST4 “YES”), in the subsequent step ST5, the flow line creation unit 33 adds the received movement point to the flow line information 40b as the latest movement point of the movement line during extraction.

  FIG. 10 is a diagram for explaining the movement determination process of the movement determination unit 32 when the receiver makes a detection error. Similarly to FIG. 9, the movement line during extraction of the mobile body O1 carrying the transmitter 10 is R1 → R2 → R3. After the mobile body O1 is detected by the receiver R3, the same mobile body O1 is received by the receiver R9. Is detected. The movement determination unit 32 calculates the connection distance L (= L36 + L69) and the detection time difference T (= T2−T1) from the receiver R3 (latest movement point) to the receiver R9 (reception movement point), and is given in advance. If (L36 + L69) / (T2−T1) ≦ C with respect to the threshold C, it is determined that movement is possible (step ST4 “YES”), and if (L36 + L69) / (T2−T1)> C, it is determined that movement is impossible. (Step ST4 “NO”).

  Furthermore, the movement determination unit 32 refers to the receiver management table 35a of the receiver arrangement information holding unit 35 in the movement determination of step ST4 and confirms that the receiver R6 is located in the middle of the path of the receivers R3 and R9. Confirming that the moving body detection information 21 of the receiver R6 has not been received, it is estimated that a detection error has occurred in the receiver R6.

  If it is determined by the movement determination unit 32 that the movement is possible (step ST4 “YES”), the flow line creation unit 33 sets the received movement point as the latest movement point of the extraction movement line in the subsequent step ST5. Add to 40b. In addition, the flow line creation unit 33 adds the receiver ID of the receiver R6 estimated to be a detection error and the arrangement position as the detection position to the flow line information 40b as a complementary movement point for complementing the extraction line. To do. In order to distinguish the complementary movement point from other movement points, a value that is not used as the operation time is substituted for the detection time of the flow line information 40b.

  In step ST6, the flow line creation unit 33 checks whether or not the reception moving point is detected when the facility leaves the facility. Specifically, the receiver 20 having the moving direction detection function installed at the facility entrance describes the information indicating the facility exit in the moving body detection information 21, and the flow line creation unit 33 confirms this information. If this reception movement point indicates the facility exit (step ST6 “YES”), in step ST7, the flow line creation unit 33 sets the extraction state of the flow line information 40b to which this reception movement point has been added as a normal end, and the mobile object If there is another extraction flow line in O1, those extraction states are abnormally terminated. Further, the flow line creation unit 33 instructs the movement point management unit 34 to delete the reserved movement point corresponding to the movement point O1 from the reserved movement point list holding unit 36. The reserved moving point to be deleted is the moving body detection information that has not been correctly detected due to erroneous detection or the like, and may be held or output in the form of an error log or the like as necessary.

  After the process of step ST7 is completed, or when the moving object does not leave the facility (step ST6 “NO”), the tracking server 30 checks whether or not the tracking process end is instructed from the outside in step ST8, and ends. If there is no (step ST8 “NO”), the process returns to step ST1, and if there is an end instruction (step ST8 “YES”), the tracking process is terminated.

  When there is no movement line during extraction of the moving body O1 (step ST2 “NO”), or when it is determined that movement from the latest movement point to the reception movement point is impossible (step ST4 “NO”), the process proceeds to step ST9. Then, the movement determination unit 32 checks whether there is a holding movement point in the holding movement point list 36a of the holding movement point list holding unit 36. If there is a holding movement point (step ST9 “YES”), the movement determination unit 32 determines the connection distance L and the detection time difference T between the reception movement point and the holding movement point in the subsequent step ST10 in the same manner as in step ST3. In step ST11, it is determined whether or not the movement from the holding movement point to the reception movement point is a movement in the same manner as in step ST4.

  If it is determined that the movement from the holding movement point to the reception movement point is possible (step ST11 “YES”), the flow line creation unit 33 creates a new movement line from the holding movement point and the reception movement point in the next step ST12. And registered in the flow line information 40b. The moving point management unit 34 deletes this reserved moving point registered as a new flow line from the reserved moving point list 36a.

  In addition, when there are a plurality of reserved moving points that can be moved in step ST11, the flow line creation unit 33 is most likely to have a small detection time difference T, a small connection distance L, or a combination thereof. Is estimated as the holding movement point. Since there is a selection method suitable for the situation and purpose, it is desirable to configure the flow line creation unit 33 so as to switch between a plurality of selection methods or to be able to additionally register the selection method.

  On the other hand, when there is no holding movement point in the holding movement point list holding unit 36 (step ST9 “NO”), or when there is no holding movement point that can move with respect to the reception movement point (step ST11 “NO”). In the subsequent step ST13, the moving point management unit 34 registers the received moving point as a reserved moving point in the reserved moving point list 36a.

  When the process of step ST12 or step ST13 is completed, the process of the subsequent step ST6 is performed. Although not shown in FIG. 8, the moving point management unit 34 checks the reserved moving point registered in the reserved moving point list holding unit 36 at a predetermined timing, and a predetermined condition such as a predetermined time has passed. The pending moving point that has reached is deleted, and stored or output as an error log as necessary.

FIG. 11 is a diagram for explaining the movement determination process of the movement determination unit 32 when the receiver 20 erroneously detects. Since a series of tracking processes of the tracking server 30 has already been described, the operation of the tracking server 30 in the case of erroneous detection will be briefly described here.
In the case of FIG. 11, the latest movement point of the extraction line is the movement point detected by the receiver R1. When the moving body O1 passes through the receiver R1 and moves to the vicinity of the receiver R2, the receiver R2 detects the moving body O1 at the detection time T2, and at this time, the receiver R6 detects a wall at the detection time T3. It is assumed that the moving object O1 is erroneously detected. If the detection time T3 <T2, determination processing by the movement determination unit 32 is performed between the reception movement point detected by the receiver R6 and the latest movement point of the movement line being extracted (step ST3). The determination in this case is (L12 + L24 + L46) / (T3−T1) <C because the connection distance L (= L12 + L24 + L46) is large, and the movement determination unit 32 determines that the movement is impossible. The received movement point is registered in the holding movement point list holding unit 36.

  On the other hand, if the detection time T3 ≧ T2, a determination process is performed between the reception movement point detected by the receiver R2 and the latest movement point, and the connection determination unit 32 determines that the movement is possible because the connection distance L12 is small. Therefore, the correct reception movement point detected by the receiver R2 is added to the flow line information 40b. Thereby, the erroneous detection of detecting the moving body O1 across the wall and floor is not extracted as a flow line.

  FIG. 12 is a diagram for explaining the movement determination process of the movement determination unit 32 when a plurality of transmitters 10 having the same moving body ID are present in the facility at the same time, and when a plurality of receivers 20 erroneously detect a wide range. It is.

First, a case will be described in which a plurality of transmitters 10 having the same mobile ID are present in the facility at the same time. In FIG. 12, the mobile body ID of the transmitter 10-O2 carried by the mobile body O2 and the transmitter 10-O1 carried by the mobile body O1 due to the mobile body ID alteration of the transmitter 10-O2 carried by the mobile body O2. It is assumed that the mobile object ID is the same.
First, it is assumed that the moving object O1 moves from the left side in FIG. 12 and is detected by the receivers R1 and R2, and is extracted as a flow line with the latest moving point as R2 and the previous moving point as R1. . At this time, when the mobile object O2 appears on the right side of FIG. 12 and is detected by the receiver R11, the mobile object ID is the same as that of the mobile object O1. Detection time difference T is calculated as connection distance L (R2, R11) = L (R2, R3) + L (R3, R6) + L (R6, R9) + L (R9, R10) + L (R10, R11). Since L (R2, R11) is large, it is determined that L (R2, R11) / T> C and movement is impossible, and the reception movement point R11 is held in the movement reservation point list as a movement reservation point. Thereafter, when the moving body O2 approaches and is detected by the receiver R10, the connection distance L (R2, R10) = L (R2, R3) + L (R3, R2) with respect to R2, which is the latest movement point of the extraction line. The detection time difference T is calculated from (R6) + L (R6, R9) + L (R9, R10), and since L (R2, R10) is large, it is determined that L (R2, R10) / T> C and the movement is impossible. Is done. Next, the connection distance L (R10, R11) and the detection time difference T are calculated with respect to the holding movement point R11 in the movement holding point list, and it is determined that the movement is possible because L (R10, R11) / T <C. A new flow line (R11, R10) is extracted separately from the extracted middle flow line composed of the movement points R1 and R2.

Next, a case where a plurality of receivers 20 erroneously detect a wide range will be described.
In FIG. 12, when receivers R1, R2, R12, and R13 are installed at similar positions across the wall or floor in the facility, the walls or floors that separate the receivers R1, R2, R12, and R13. It is assumed that the transmitter 10-O1 carried by the moving body O1 is erroneously detected continuously over a wide range over a plurality of receivers R1, R2, R12, and R13.
First, it is assumed that the moving body O1 moves from the left side in FIG. 12, is detected by the receiver R1, and is extracted as a flow line having the latest moving point as R1. When detected by the receiver R12 immediately after being detected by the receiver R1, the connection distance L (R1, R12) = L (R1, R2) + L ( R2, R3) + L (R3, R6) + L (R6, R9) + L (R9, R8) + L (R8, R1) + L (R1, R12) and the detection time difference T are calculated, and L (R1, R12) is Since it is large, it is determined that L (R1, R12) / T> C and the movement is impossible, and the reception movement point R12 is held in the movement reservation point list as a movement reservation point. After that, when the moving body O1 is detected by approaching the receiver R2, the connection distance L (R1, R2) and the detection time difference T are calculated, and it is determined that the mobile body O1 can move at L (R1, R2) / T <C. Thus, the reception movement point R2 is registered in the extraction line. After that, when the moving body O1 is detected by the receiver R13, the connection distance L (R2, R13) = L (R2, R3) + L (R3, R6) with respect to R2, which is the latest movement point of the extraction line. The detection time difference T is calculated from + L (R6, R9) + L (R9, R8) + L (R8, R1) + L (R1, R13). Since L (R2, R13) is large, L (R2, R13) / T > C and it is determined that the movement is impossible. Next, the connection distance L (R12, R13) and the detection time difference T are calculated with respect to the holding movement point R12 in the movement holding point list, and it is determined that the movement is possible because L (R12, R13) / T <C. A new flow line (R12, R13) is extracted separately from the extracted middle flow line composed of the movement points R1 and R2.
As described above, if a plurality of transmitters 10 having the same moving body ID exist at a certain distance, they are extracted as different flow lines.

  As described above, according to the first embodiment, the mobile body tracking system is installed in the facility, and the transmitter 10 that is carried by the mobile body and wirelessly transmits the mobile body information including the mobile body ID that identifies the mobile body. The receiver 20 that receives the mobile body information transmitted by the transmitter 10 to detect the mobile body and transmits the mobile body detection information 21 including the receiver ID for identifying the receiver 20 and the detection time of the mobile body; Each time the mobile body detection information 21 transmitted by the plurality of receivers 20 is received, a mobile point including a mobile body ID, a detection position based on the receiver ID and a detection time is generated, and the mobile point is detected for each mobile body. And a tracking server 30 for creating the flow line information 40b arranged in time series based on the above. Then, the tracking server 30 includes a receiver arrangement information holding unit 35 that holds receiver arrangement information that defines a connection relationship between the receivers along the facility route, and a moving body detection information 21 that the receiver 20 transmits. Along the facility path from the receiving moving point generated from the receiving unit 31 receiving and the moving body detection information 21 newly received by the receiving unit 31 to the latest moving point included in the flow line information 40b of the same moving body ID The connection distance L is obtained from the receiver arrangement information, the detection time difference T between the two movement points is obtained from each detection time, and the same moving body can move between the two movement points from the connection distance L and the detection time difference T. The movement determination unit 32 for determining whether or not the movement determination unit 32 adds a movement line creation unit 33 for adding the received movement point determined to be movable to the flow line information 40b. Therefore, in response to the erroneous detection of the receiver 20 such as receiving the signal of the transmitter 10 across the walls and floors of the facility, the facility area where the moving body is present is correctly detected to create accurate flow line information 40b. can do.

  Further, according to the first embodiment, the flow line creation unit 33 determines whether the movement determination unit starts from the latest movement point included in the flow line information 40b based on the connection relationship between the receivers defined by the receiver arrangement information. The receiver unit 31 searches the path to the reception movement point determined that the mobile unit 32 is movable to determine whether or not the receiver 20 that has not received the moving body detection information 21 exists. If there is, the flow line information 40b Information of the receiver 20 that did not receive the moving body detection information 21 is added between the latest movement point and the reception movement point. For this reason, in response to a detection error of the receiver 20 such that the mobile body information transmitted from the transmitter 10 cannot be received, the movement point on the path where the detection error has occurred is complemented to the flow line information 40b, and along the facility path. The correct flow line information 40b can be created.

  Further, according to the first embodiment, when the movement determination unit 32 determines that the reception movement point created from the moving body detection information 21 newly received by the reception unit 31 is not movable, the movement determination unit 32 further in the past. A connection distance L between the holding movement point registered in the holding movement point list 36a and the receiving movement point is referred to with reference to the holding movement point list 36a in which the movement points received and determined to be unmovable in the past are registered as holding movement points. And the detection time difference T to determine whether or not the same moving body can move between the two moving points, and the movement line creating unit 33 determines that the movement determining unit 32 can move the holding moving point and the receiving moving point. Newer flow line information 40b is created. For this reason, even if there is a plurality of transmitters 10 having the same moving body ID in the facility by falsifying and using the moving body ID of the transmitter 10, the flow line information 40b is created for each moving body. can do. In addition, even when erroneous detection of the receiver 20 such as receiving the signal of the transmitter 10 across the floor and walls of the facility occurs over a wide range over a plurality of receivers 20, the detection of a moving body with continuous erroneous detection is performed. The flow line information 40b can be created from the information 21 and recorded.

Embodiment 2. FIG.
FIG. 13 is a block diagram showing the configuration of the tracking server 30 according to the second embodiment of the present invention. The same or corresponding parts as those in FIG. The tracking server 30 shown in FIG. 13 has a configuration in which a statistical processing unit 37, a statistical information holding unit 38, and a processing change unit 39 are newly added to the tracking server 30 of the first embodiment shown in FIG. The statistical processing unit 37 calculates desired statistical information based on the movement determination result determined by the movement determination unit 32 and the flow line information 40 b generated by the flow line generation unit 33. The statistical information holding unit 38 holds the statistical information calculated by the statistical processing unit 37. The process change unit 39 changes each process content and setting information of the movement determination process of the movement determination unit 32 and the moving object detection process of the receiver 20 based on the statistical information. In addition, since the structure of the mobile body tracking system of this Embodiment 2 is a structure similar to the mobile body tracking system shown in FIG. 1, below, FIG. 1 is used and demonstrated.

Hereinafter, the contents of the processing by the newly added statistical processing unit 37, statistical information holding unit 38, and processing change unit 39 will be mainly described.
FIG. 14 is a diagram for explaining the statistical information held by the statistical information holding unit 38 of the tracking server 30. The statistical information is composed of statistical information 38a regarding a moving body detection error and statistical information 38b regarding a traffic flow. The statistical information 38a regarding the moving object detection error is calculated for each “receiver ID” of the receiver 20, and the occurrence frequency of the “detection error” error, the movement pattern and the radio wave intensity at the time of occurrence, and “false detection”. It is statistical information useful for error analysis, such as the frequency of error occurrence, the movement pattern at the time of occurrence, and the radio wave intensity. In the movement determination process of the movement determination unit 32 and the flow line generation process of the flow line generation unit 33, when there is a false detection and a detection error of the receiver as shown in FIGS. The statistical processing unit 37 calculates the online information using the determination result of the movement determination unit 32 and the flow line information 40b of the flow line generation unit 33 to generate statistical information 38a regarding the moving object detection error.

  Further, the statistical information 38b relating to the traffic flow is “traffic flow” relating to the number, moving direction, and moving speed of the moving bodies passing through the vicinity of the receiver 20, calculated for each “receiver ID” or each adjacent receiver group. It is statistical information. Similar to the statistical information 38a regarding the moving body detection error, the statistical processing unit 37 calculates the statistical information 38b regarding the traffic flow by calculating online using the determination result of the movement determination unit 32 and the flow line information 40b of the flow line generation unit 33. create.

  Such statistical information can be created by reading and calculating the flow line information 40b including the complementary movement point and the error log (information such as the holding movement point) offline, as in the second embodiment. By creating online statistical information when determining movement or creating a flow line, it is possible to obtain statistical information in real time and with a small amount of computation by using online data in the course of the flow line creation process. it can.

  As statistical information calculated by the statistical processing unit 37, in addition to the statistical information 38a relating to the moving object detection error and the statistical information 38b relating to the traffic flow, the adjacent receiver 20 has substantially the same moving object detection information 21 having the same moving object ID. Statistical information on detection patterns such as detection at time, statistical information on mobile body detection frequency such as mobile body ID detected at high frequency in the receiver 20 or a nearby receiver group, and various statistical information depending on facilities and applications Can be considered.

  The statistical processing unit 37 stores the created statistical information in the statistical information holding unit 38 and outputs the statistical information to the processing change unit 39. The statistical information holding unit 38 holds the statistical information created by the statistical processing unit 37. The display device 50 acquires and presents current or past statistical information from the statistical information holding unit 38 inside the tracking server 30.

  The process changing unit 39 automatically changes the processing contents and setting information related to the movement determination process of the movement determination unit 32 and the moving object detection process of the receiver 20 based on the statistical information 38a regarding the moving object detection error. Alternatively, the processing change unit 39 has an interactive function necessary for presentation of statistical information and change of processing content, and the movement determination unit 32 and the receiver are in accordance with the processing content change instruction input by the user using the display device 50 and the input device. The processing contents and setting information related to 20 are interactively changed.

  For example, when the frequency at which the adjacent receivers 20 detect the mobile body detection information 21 with the same mobile body ID at approximately the same time has increased, The connection distance L between the receivers in the receiver arrangement information held by the machine arrangement information holding unit 35 is increased. In addition, for the receiver 20 with many detection errors, the threshold value of the radio wave intensity is set again low to increase the detection sensitivity or expand the detection area. In addition, for the receiver 20 with many erroneous detections, the threshold value of the radio wave intensity is set high again to lower the detection sensitivity or narrow the detection area. Furthermore, if the receiver arrangement information held by the receiver arrangement information holding unit 35 is not updated even though a new passage is generated due to construction or relayout of the facility and the path is changed, a false detection occurs in the vicinity. Will increase. In such a case, the process changing unit 39 detects a part with many false detections and displays it on the floor plan, and the user confirms the site and interactively changes the setting of the receiver arrangement information.

  As described above, according to the second embodiment, the tracking server 30 performs the statistical processing using the determination result of the movement determination unit 32 and the flow line information 40b generated by the flow line generation unit 33, and the moving body of the receiver 20 A statistical processing unit 37 for creating statistical information related to detection is provided. For this reason, it is possible to obtain statistical information useful for grasping the occurrence status of detection errors of the receiver 20 such as erroneous detection and detection error, and the traffic flow between the receivers 20.

  Further, according to the second embodiment, the tracking server 30 is set in the movement determination unit 32, and receiver arrangement information used for determining whether or not the same moving object can move between movement points is obtained. The statistical processing unit 37 is configured to include a processing change unit 39 that changes based on the statistical information created. Further, the process changing unit 39 is configured to change the threshold setting of the radio wave intensity used for detecting the moving body set in the receiver 20 based on the statistical information created by the statistical processing unit 37. did. Therefore, in response to a change in the radio wave environment that affects the detection sensitivity of the receiver 20 determined from the statistical information, a change in the installation position, etc., the processing content and setting information of the movement determination unit 32 and the receiver 20 are automatically or interactively communicated. Therefore, it is possible to track the moving object more appropriately.

  In the first and second embodiments, the transmitter 10 is configured to hold and transmit the moving body ID of the moving body that carries the own apparatus. However, the present invention is not limited to this. A mobile ID is tracked by holding and transmitting a transmitter ID for identifying its own device and managing information that associates the transmitter ID with the mobile body ID of the mobile body carrying the transmitter 10 by the tracking server 30 or the like. You may make it do.

  In the first and second embodiments, the receiver 20 that detects the moving direction of the moving body is installed at the entrance of the facility and the room, and the receiver 20 that detects the moving body is installed at other places. However, the present invention is not limited to this, and a configuration in which a receiver 20 having a moving direction detection function or a receiver 20 not having a moving direction detection function is installed in all locations may be adopted.

Further, in the movement determination unit 32 of the first and second embodiments, the movement determination that compares the value obtained by dividing the connection distance L by the detection time difference T with respect to the two movement points of the latest movement point and the reception movement point with a threshold value. However, the present invention is not limited to this. For example, when the connection distance L and the detection time difference T are provided with thresholds, respectively, the connection distance L and the detection time difference T exceed the respective thresholds. The configuration may be such that the process for determining that the movement is impossible is first executed, and then the above-described movement determination is executed.
Further, the movement determination unit 32 is configured to perform movement determination based on the connection distance L and the detection time difference T. However, the movement determination unit 32 may be configured to combine determination using other information such as radio wave intensity included in the moving body detection information. Good.

In the flow line creation unit 33 of the first and second embodiments, the reception movement points determined to be movable by the movement determination unit 32 are all registered in the flow line information 40b of the extraction flow line. However, the present invention is not limited to this. For the moving points received continuously in time from the same receiver 20, only the first registered moving point and the latest moving point are registered, and information on intermediate moving points is stored. The amount of data stored in the flow line information holding unit 40 may be reduced by deleting the data.
Furthermore, although the flow line creation unit 33 is configured to check the exit from the facility, it is not limited to this, and it is detected when the moving point enters the facility by checking the entrance in addition to the exit. If so, the extraction state of the flow line information 40b may be set as a normal start, and the other cases may be set as an abnormal start.
Further, when the flow line creation unit 33 creates a new flow line for the same moving body ID when there is a moving flow line during extraction, or when it is determined to be abnormal in the entrance / exit check, the display device 50 It may be configured to instruct and present a warning.

  When the tracking server 30 is configured by a computer, the processing contents of the reception unit 31, the movement determination unit 32, the flow line creation unit 33, the movement point management unit 34, the statistical processing unit 37, and the processing change unit 39 are described. The tracking processing program is stored in the memory of the computer, and the CPU of the computer executes the tracking processing program stored in the memory. The storage medium such as the HDD is stored in the receiver arrangement information holding unit 35, the pending movement point list holding unit 36. The statistical information holding unit 38 and the flow line information holding unit 40 may be used.

  10-O1, 10-O2 transmitter, 20 receiver, 21 moving body detection information, 30 tracking server, 31 receiving unit, 32 movement determination unit, 33 flow line creation unit, 34 moving point management unit, 35 receiver arrangement information Holding unit, 35a Receiver management table, 35b Inter-receiver distance table, 36 reserved moving point list holding unit, 36a reserved moving point list, 37 statistical processing unit, 38 statistical information holding unit, 38a statistical information on moving object detection error, 38b Statistical information on traffic flow, 39 processing change unit, 40 flow line information holding unit, 40a moving body management table, 40b flow line information, 50 display device, 60 network.

Claims (7)

A transmitter that is carried by a mobile body and wirelessly transmits mobile body information including mobile body identification information that identifies the mobile body;
Mobile body detection information including receiver identification information for detecting the mobile body by receiving the mobile body information transmitted by the transmitter and detecting the mobile body and identifying a receiver and detection time information of the mobile body is installed in a facility. A receiver to transmit,
Each time the mobile body detection information transmitted by a plurality of receivers is received, a mobile point including the mobile body identification information, a detection position based on the receiver identification information, and the detection time information is generated. A moving body tracking system comprising a tracking server that creates flow line information arranged in time series based on detection time for each moving body,
The tracking server
A receiver arrangement information holding unit for holding receiver arrangement information defining a connection relationship between the receivers along the path of the facility;
A receiving unit for receiving the moving object detection information transmitted by the receiver;
The connection distance along the route of the facility from the new moving point generated from the moving body detection information newly received by the receiving unit to the latest moving point included in the flow line information of the same moving body is received. Whether or not the same moving body can move between the two moving points based on the connection distance and the detection time difference. A movement determination unit for determining;
A moving body tracking system comprising: a flow line creation unit that adds a new movement point determined to be movable by the movement determination unit to the flow line information.   Based on the connection relationship between the receivers defined in the receiver arrangement information, the flow line creation unit starts from the latest movement point included in the flow line information to a new movement point that the movement determination unit determines to be movable. It is searched whether there is a receiver that has not received the moving body detection information on the route. If there is a receiver, the moving body detection is performed between the latest moving point and the new moving point of the flow line information. 2. The mobile tracking system according to claim 1, wherein information of a receiver that has not received the information is added. When the movement determination unit determines that a new movement point generated from the moving body detection information newly received by the reception unit is not movable, the movement determination unit further determines the movement point received in the past and determined to be unmovable in the past. With reference to the reserved moving point list registered as the reserved moving point, the same moving object is obtained by obtaining the connection distance and the detection time difference between the reserved moving point registered in the reserved moving point list and the new moving point. Determine whether it is possible to move between the two movement points,
2. The moving body tracking system according to claim 1, wherein the flow line creation unit creates new flow line information from the reserved movement point determined by the movement determination unit to be movable and the new movement point. The tracking server
As a result of the determination by the movement determination unit using the latest movement point included in the flow line information and the reserved movement point registered in the reserved movement point list, the new movement point determined to be unmovable is set as the reserved movement point. A moving point management unit that registers in the reserved moving point list and deletes the reserved moving point from which the movement determining unit determines that movement is possible and the flow line generating unit generates new flow line information from the reserved moving point list; 4. The moving body tracking system according to claim 3, further comprising: The tracking server
2. A statistical processing unit that performs statistical processing using the determination result of the movement determination unit and the flow line information generated by the flow line generation unit, and generates statistical information related to moving body detection of the receiver. The mobile tracking system described. The tracking server
It has a processing change unit that changes a determination condition set in the movement determination unit to determine whether or not the same moving object can move between moving points based on statistical information created by the statistical processing unit. The moving body tracking system according to claim 5. The tracking server
6. The moving body tracking system according to claim 5, further comprising a process changing unit that changes a detection condition for detecting a moving body set in the receiver based on statistical information created by the statistical processing unit.

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