WO2022201682A1 - Position detection system, position detection method, and program - Google Patents

Abstract

The purpose of this disclosure is to identify a user under positioning while carrying out positioning using the positioning accuracy of an imaging device. This position detection system (1) comprises a first positioning unit (421), a second positioning unit (422), and an association unit (423). The first positioning unit (421) uses a beacon signal to generate first data including user identification information and first position information for the user. The second positioning unit (422) uses image data to generate second data including second position information for the user. The association unit (423) makes a section corresponding to the first position information a first corresponding section corresponding to the first data and makes a section corresponding to the second position information a second corresponding section corresponding to the second data. The association unit (423) determines the association between the first data and second data on the basis of a rate of concordance between the first corresponding section and second corresponding section.

Description

POSITION DETECTION SYSTEM, POSITION DETECTION METHOD AND PROGRAM

TECHNICAL FIELD The present disclosure relates generally to location sensing systems, location sensing methods and programs, and more particularly to location sensing systems, location sensing methods and programs utilizing beacon signals and imaging devices.

A position calculation system (position detection system) described in Patent Document 1 includes a plurality of beacons (beacon terminals), a photographing device (imaging device), and an information processing device. The photographing device is connected to one of the plurality of beacons and photographs the space in which the moving object moves. The information processing device receives information on the position of the moving object calculated based on the image of the space captured by the imaging device.

Japanese Patent Application Laid-Open No. 2020-112441

An object of the present disclosure is to provide a position detection system, a position detection method, and a program capable of identifying a user to be positioned while performing positioning using the positioning accuracy of an imaging device.

A position detection system according to an aspect of the present disclosure includes a first positioning section, a second positioning section, and a linking section. A said 1st positioning part produces|generates 1st data based on the beacon signal containing the said user's identification information transmitted from the beacon terminal which a user has and received with the scanner. The first data includes the identification information of the user and first location information of the user. The second positioning unit generates second data based on the image data generated by an imaging device that captures a space in which the user stays and generates image data. The second data includes second location information of the user. The linking unit links the first data and the second data. The linking unit sets a section corresponding to the first position information among a plurality of sections obtained by dividing the space in which the user stays as a first corresponding section corresponding to the first data, and sets the section corresponding to the first data to the second position information. Let the corresponding section be a second corresponding section corresponding to the second data. The linking unit determines linking of the first data and the second data based on a match rate between the first corresponding section and the second corresponding section.

A position detection method according to an aspect of the present disclosure includes a first positioning process, a second positioning process, and a linking process. In the first positioning step, first data is generated based on a beacon signal including identification information of the user transmitted from a beacon terminal owned by the user and received by the scanner. The first data includes the identification information of the user and first location information of the user. In the second positioning step, second data is generated based on the image data generated by an imaging device that captures a space in which the user stays and generates image data. The second data includes second location information of the user. In the linking step, the first data and the second data are linked. In the linking step, among a plurality of sections obtained by dividing the space in which the user stays, the section corresponding to the first position information is set as the first corresponding section corresponding to the first data, and the second position information is set to the first corresponding section. Let the corresponding section be a second corresponding section corresponding to the second data. In the linking step, linking between the first data and the second data is determined based on the match rate between the first corresponding section and the second corresponding section.

A program according to one aspect of the present disclosure is a program for causing one or more processors to execute the position detection method.

FIG. 1 is a block diagram of a position detection system according to one embodiment. FIG. 2 is a schematic diagram showing an installation state of the position detection system same as the above. FIG. 3 is a flow chart showing a position detection method using the same position detection system. FIG. 4 is an explanatory diagram for explaining the process of obtaining the match rate, which is executed by the position detection system.

The position detection system according to the embodiment will be described below with reference to the drawings. However, the embodiment described below is but one of the various embodiments of the present disclosure. The embodiments described below can be modified in various ways according to design and the like as long as the objects of the present disclosure can be achieved. Each drawing described in the following embodiments is a schematic drawing, and the ratio of the size and thickness of each component in the drawing does not necessarily reflect the actual dimensional ratio. .

(Overview)
As shown in FIG. 1 , the position detection system 1 (LPS: Local Positioning System) of this embodiment includes a first positioning section 421 , a second positioning section 422 , and a linking section 423 . The first positioning unit 421 generates first data based on the beacon signal including the identification information of the user U1, which is transmitted from the beacon terminal 2 owned by the user U1 (see FIG. 2) and received by the scanner 3. The first data includes identification information of user U1 and first location information of user U1. The second positioning unit 422 generates second data based on the image data generated by the imaging device 5 that captures the space where the user U1 stays and generates image data. The second data includes second location information of user U1. The linking unit 423 links the first data and the second data. The linking unit 423 sets the section corresponding to the first position information among the plurality of sections D1 to D16 (see FIG. 4) obtained by dividing the space where the user U1 stays as the first corresponding section corresponding to the first data. Let the section corresponding to the second position information be the second corresponding section corresponding to the second data. The tying unit 423 determines tying between the first data and the second data based on the match rate between the first corresponding section and the second corresponding section.

According to this embodiment, the first data including the identification information of the user U1 can be associated with the second data. Therefore, even if the second data does not include the identification information of the user U1, the second data can be associated with the identification information of the user U1.

The first data includes first position information based on beacon signals, and the second data includes second position information based on image data captured by imaging device 5 . In many cases, positioning based on image data is more accurate than positioning based on beacon signals. That is, in many cases, the second location information more accurately represents the location of user U1 than the first location information. By associating the second data with the identification information of the user U1, it is possible to identify the user U1 to be positioned while performing highly accurate positioning using the positioning accuracy of the imaging device.

(detail)
(1) Overall Configuration Hereinafter, the position detection system 1 of this embodiment will be described in more detail.

As shown in FIG. 1 , the position detection system 1 includes multiple beacon terminals 2 , multiple scanners 3 , a positioning server 4 , and multiple imaging devices 5 .

Each of the plurality of beacon terminals 2, the plurality of scanners 3, the positioning server 4 and the plurality of imaging devices 5 includes a computer system having one or more processors and memory. At least part of the functions of each of the plurality of beacon terminals 2, the plurality of scanners 3, the positioning server 4, and the plurality of imaging devices 5 is performed by the processor of the computer system executing a program recorded in the memory of the computer system. Realized. The program may be recorded in a memory, provided through an electric communication line such as the Internet, or recorded in a non-temporary recording medium such as a memory card and provided.

The beacon terminal 2 is carried by the user U1 (see FIG. 2). A plurality of users U1 who use the facility carry beacon terminals 2, respectively. Identification information is assigned to each beacon terminal 2, and the position detection system 1 distinguishes between the plurality of beacon terminals 2 based on the identification information. The position detection system 1 measures the position of each of the multiple beacon terminals 2 in the facility, that is, the position of each of the multiple users U1.

"Facilities" referred to in this disclosure are, for example, office buildings, factories, commercial complexes, libraries, museums, museums, amusement facilities, theme parks, parks, airports, railway stations, ballparks, hotels, hospitals and residences. In addition, the "facility" may be, for example, a mobile object such as a ship or a railway vehicle.

A "beacon terminal" as used in the present disclosure is a mobile terminal carried by the user U1, for example, a communication terminal such as a smartphone. In addition, the “beacon terminal” referred to in the present disclosure is not limited to a smart phone, and may be a tablet-type mobile terminal or a terminal such as a tag that is dedicated to the position detection system 1 . Also, the "beacon terminal" may be owned by the user U1 or may be borrowed.

A plurality of scanners 3 are installed in the facility. In this embodiment, the multiple scanners 3 are installed on the ceiling of the building in the facility (see FIG. 2). The multiple scanners 3 receive beacon signals transmitted from the beacon terminals 2 and measure the received signal strength indication (RSSI) of the beacon signals.

The positioning server 4 obtains the distance between each of the multiple scanners 3 and the beacon terminal 2 based on the received signal strength of the beacon signal in each of the multiple scanners 3 . Then, the positioning server 4 obtains the position (first position information) of the beacon terminal 2 based on the distance. As an example, the positioning server 4 performs three-point positioning or the like using the position information of each of the plurality of scanners 3 and the distance between each of the plurality of scanners 3 and the beacon terminal 2, so that the beacon terminal Find the position of 2.

A plurality of imaging devices 5 are installed in the facility. In this embodiment, the plurality of imaging devices 5 are installed on the ceiling of the building in the facility (see FIG. 2). The positioning server 4 obtains the position (second position information) of each of the users U1 by processing the images captured by the plurality of imaging devices 5 .

(2) Beacon Terminal As shown in FIG. 1, the beacon terminal 2 includes a communication section 21, a processing section 22, and a storage section .

The communication unit 21 includes a communication interface device. The communication section 21 can communicate with the communication section 31 of the scanner 3 . “Communicable” as used in the present disclosure means that a signal can be sent and received directly or indirectly via a network, a repeater, or the like, by an appropriate communication method such as wired communication or wireless communication. The communication method between the communication unit 21 and the communication unit 31 is, for example, Bluetooth (registered trademark) Low Energy, WiFi (registered trademark), or the like.

The communication unit 21 transmits a beacon signal. The beacon signal includes identification information of user U1 registered in beacon terminal 2 . In addition, since the beacon terminal 2 is a terminal specific to the user U1, the identification information of the beacon terminal 2 may be used as the identification information of the user U1.

The processing unit 22 is mainly composed of a computer system. The processing unit 22 performs overall control of the beacon terminal 2 . In addition, the processing unit 22 controls the communication unit 21 and causes the communication unit 21 to transmit a beacon signal.

The storage unit 23 stores information about the beacon terminal 2. The storage unit 23 stores identification information of the user U1 who carries the beacon terminal 2 .

(3) Scanner As shown in FIG. 1 , the scanner 3 includes a communication section 31 , a processing section 32 and a storage section 33 .

The communication unit 31 includes a communication interface device. The communication section 31 has a function as the first communication section 311 and a function as the second communication section 312 . The first communication unit 311 can communicate with the communication unit 21 of the beacon terminal 2 . The second communication unit 312 can communicate with the communication unit 41 of the positioning server 4 .

The processing unit 32 is mainly composed of a computer system. The processing unit 32 performs overall control of the scanner 3 . Also, the processing unit 32 measures the received signal strength of the beacon signal received by the communication unit 31 .

The storage unit 33 stores information about the scanner 3. The storage unit 33 stores identification information of the scanner 3 .

(4) Imaging Device As shown in FIG. 1 , the imaging device 5 includes a communication section 51 , a processing section 52 , a storage section 53 and an imaging section 55 .

The communication unit 51 includes a communication interface device. The communication unit 51 can communicate with the communication unit 41 of the positioning server 4 .

The processing unit 52 is mainly composed of a computer system. The processing unit 52 performs overall control of the imaging device 5 .

The storage unit 53 stores information regarding the imaging device 5 . The storage unit 53 stores identification information of the imaging device 5 .

The imaging unit 55 is the subject that photographs the space where the user U1 stays. The imaging unit 55 includes a two-dimensional image sensor such as a CCD (Charge Coupled Devices) image sensor or a CMOS (Complementary Metal-Oxide Semiconductor) image sensor.

As shown in FIG. 2, the imaging device 5 is installed on the ceiling of the building. The imaging device 5 photographs the space below the imaging device 5 . The image captured by the imaging device 5 is an image of the user U1 taken from above. As a result, it becomes difficult to distinguish the face of the user U1, and the privacy of the user U1 is easily protected.

(5) Positioning Server As shown in FIG. 1 , the positioning server 4 includes a communication section 41 , a processing section 42 and a storage section 43 .

The communication unit 41 includes a communication interface device. The communication unit 41 can communicate with the communication unit 31 of each of the plurality of scanners 3 and the communication unit 51 of each of the plurality of imaging devices 5 .

The processing unit 42 is mainly composed of a computer system. The processing unit 42 has functions as a first positioning unit 421 , a second positioning unit 422 and a linking unit 423 .

The storage unit 43 stores identification information and position information for each of the multiple scanners 3 . Further, the storage unit 43 stores identification information and position information of each of the plurality of imaging devices 5 .

The positioning server 4 acquires received signal information from each of the multiple scanners 3 . The received signal information includes information regarding the received signal strength of the beacon signal. Further, the received signal information includes identification information of the user U1 and identification information of the scanner 3. FIG. The first positioning unit 421 obtains the distance between each of the plurality of scanners 3 and the beacon terminal 2 based on the received signal strength of the beacon signal in each of the plurality of scanners 3, and determines the distance between the beacon terminal 2 based on the distance. , that is, the first position information of the user U1.

Since the received signal information includes the identification information of the user U1, the first positioning unit 421 can distinguish between the multiple users U1 and individually measure the positions of the multiple users U1. The first positioning unit 421 measures the position of each of the multiple users U1 at predetermined time intervals (for example, every second).

The positioning server 4 acquires image data from each of the multiple imaging devices 5 . When the user U1 appears in the image data, the second positioning unit 422 obtains second position information of the user U1 based on the image data. More specifically, the positioning server 4 obtains the second position information of the user U1 based on the position and orientation of the imaging device 5 and the position of the user U1 in the image data.

The second positioning unit 422 does not identify who the user U1 is. However, the second positioning unit 422 distinguishes by giving a management ID to each user U1. Furthermore, the second positioning unit 422 tracks each user U1 by referring to temporally continuous image data. Thereby, the second positioning unit 422 distinguishes whether the user U1 whose position was measured at one point in time and the user U1 whose position was measured at another point in time are the same person or different persons.

The positioning accuracy of the second positioning unit 422 is higher than the positioning accuracy of the first positioning unit 421. Also, the time interval at which the second positioning unit 422 generates the second location information is shorter than the time interval at which the first positioning unit 421 generates the first location information.

(6) Position Detection Method The position detection method of this embodiment can be realized by the position detection system 1 . As shown in FIG. 3, the position detection method includes a first positioning process (steps ST1, ST2), a second positioning process (steps ST3, ST4), and a linking process (steps ST5 to ST8). In the first positioning step, the first data is generated based on the beacon signal including the identification information of the user U1, which is transmitted from the beacon terminal 2 owned by the user U1 and received by the scanner 3. The first data includes identification information of user U1 and first location information of user U1. In the second positioning step, the second data is generated based on the image data generated by the imaging device 5 that captures the space where the user U1 stays and generates the image data. The second data includes second location information of user U1. In the linking step, the first data and the second data are linked. In the linking step, among a plurality of sections obtained by dividing the space where the user U1 stays, the section corresponding to the first position information is set as the first corresponding section corresponding to the first data, and the section corresponding to the second position information is set as the first corresponding section. A second corresponding section corresponding to 2 data. In the linking step, linking between the first data and the second data is determined based on the matching rate between the first corresponding section and the second corresponding section.

A program according to one aspect is a program for causing one or more processors to execute the position detection method described above. The program may be recorded on a computer-readable non-transitory recording medium.

The position detection method will be described in more detail below with reference to FIGS. Note that the flowchart shown in FIG. 3 is merely an example of the position detection method according to the present disclosure, and the order of processing may be changed as appropriate, and processing may be added or omitted as appropriate.

There are a plurality of users U1, and each of the plurality of users U1 possesses a beacon terminal 2. Let N be the number of target users U1 whose positions are determined based on beacon signals using the beacon terminal 2 and the scanner 3 in a certain period. Let M be the number of target users U1 whose positions are measured based on the image data using the imaging device 5 during the same period as the certain period described above. N and M may or may not match.

The first positioning unit 421 performs positioning based on the beacon signal (step ST1). Thereby, the first positioning unit 421 generates the first data α1, α2, . . . , αN (step ST2). When i=1, 2, 3, . . . , N, the first data αi is the first data corresponding to the i-th user U1. The first data αi includes identification information of the i-th user U1 and first location information of the i-th user U1.

The second positioning unit 422 performs positioning based on image data (step ST3). Thereby, the second positioning unit 422 generates the second data βN+1, βN+2, . . . , βN+M (step ST4). If j=N+1, N+2, N+3, . The second data βj includes second location information of the j-th user U1.

Thus, the first positioning unit 421 generates a plurality of first data corresponding to a plurality of users U1. The second positioning unit 422 generates a plurality of second data corresponding to a plurality of users U1.

The first data αi and the second data βj are continuously generated. Therefore, steps ST1 and ST2 are actually executed in parallel with steps ST3 and ST4.

The linking unit 423 links the first data αi and the second data βj according to conditions. Here, as shown in FIG. 4, the space in which the user U1 stays is divided into a plurality of (16 in FIG. 4) sections D1 to D16 when viewed from above and below. The boundaries of each partition D1-D16 are virtual boundaries. The size of each partition D1-D16 is the same. Each of the sections D1 to D16 is included in a range in which at least one of the multiple scanners 3 can receive the beacon signal. Also, each of the sections D1 to D16 is included in the imaging range of at least one imaging device 5 out of the plurality of imaging devices 5 .

In FIG. 4, the first location information A1 of the first user U1 is illustrated. More specifically, the trajectory of movement of the first user U1 is obtained based on the beacon signal, and shown in FIG. 4 as first position information A1.

In FIG. 4, the second location information B1 of the N+1-th user U1 is illustrated. More specifically, the locus of movement of the N+1-th user U1 is obtained based on the image data, and is shown as second position information B1 in FIG.

Similarly, FIG. 4 shows the first location information A2 of the second user U1 and the second location information B2 of the (N+2)th user U1.

In the following, N=M=2. That is, hereinafter, the first location information A1 of the first user U1, the first location information A2 of the second user U1, the second location information B1 of the third user U1, and the fourth user U1 The description will focus on the 2-position information B2.

The linking unit 423 determines whether the first user U1 is the same person as the third user U1 or the fourth user U1. The linking unit 423 also determines whether or not the second user U1 is the same person as the third user U1 or the fourth user U1. If it is determined that they are the same person, the linking unit 423 links the first data and the second data of the corresponding user U1.

In FIG. 4, among the curves representing the first position information A1, A2 and the second position information B1, B2, the positions of the user U1 at each time point t1 to t6 are appended with the symbols t1 to t6. there is

The first position information A1 indicates that the first user U1 is in section D5 at times t1, t2, and t3. The first position information A1 indicates that the first user U1 is in section D2 at times t4, t5, and t6.

[Table 1] shows the relationship between each time point t1 to t6 and the position of each user U1 (sections D1 to D16) corresponding to the first position information A1, A2 and the second position information B1, B2.

Let the section corresponding to the first position information A1 of the first user U1 among the plurality of sections D1 to D16 be the first corresponding section of the first user U1. For example, from time t1 to t3, the first position information A1 indicates that the first user U1 is in section D5. is. The first corresponding section of the first user U1 at times t4 to t6 is section D2.

Let the section corresponding to the first position information A2 of the second user U1 be the first corresponding section of the second user U1. Let the section corresponding to the second position information B1 of the third user U1 be the second corresponding section of the third user U1. Let the section corresponding to the second position information B2 of the fourth user U1 be the second corresponding section of the fourth user U1.

The linking unit 423 obtains the rate of matching between each first corresponding section and each second corresponding section (step ST5). The tying unit 423 determines tying between the first data and the second data based on the match rate between the first corresponding section and the second corresponding section. More specifically, the tying unit 423 determines tying between the first data and the second data based on the matching rate between the first corresponding section and the second corresponding section over a predetermined period of time. More specifically, the tying unit 423 determines tying between the first data and the second data based on the integrated value of the matching rate between the first corresponding section and the second corresponding section over a predetermined period of time.

The linking unit 423 assumes that the matching rate is the maximum when the first corresponding section and the second corresponding section match. The linking unit 423 determines that the closer the first corresponding section and the second corresponding section are, the higher the matching rate is. [Table 2] shows an example of a correspondence table for obtaining the matching rate between the first corresponding section and the second corresponding section.

As an example, if the length of the period in which the first corresponding section matches the second corresponding section is 1 second or more and less than 3 seconds, the match rate is increased by 10. If the length of the period in which the first corresponding section matches the second corresponding section is 3 seconds or more and less than 5 seconds, 20 is added to the match rate. If the length of the period in which the first corresponding section matches the second corresponding section is 5 seconds or longer, 30 is added to the matching rate.

If the length of the period in which the first corresponding section is the section next to the second corresponding section is 1 second or more and less than 3 seconds, the match rate is increased by 5. If the first corresponding section is the section next to the second corresponding section for 3 seconds or more and less than 5 seconds, 3 is added to the matching rate. If the length of the period in which the first corresponding section is the section next to the second corresponding section is 5 seconds or longer, 1 is added to the matching rate.

If the length of the period in which the first corresponding section is the section next to the second corresponding section is 1 second or more and less than 3 seconds, the matching rate is increased by 3. If the length of the period in which the first corresponding section is the section next to the second corresponding section is 3 seconds or more and less than 5 seconds, 2 is added to the matching rate. If the length of the period in which the first corresponding section is the section next to the second corresponding section is 5 seconds or longer, the matching rate is not added.

Also, if the first corresponding section and the second corresponding section do not match, are not adjacent to each other, or are not in a relationship of being next to each other, the matching rate is not added.

The tying unit 423 determines tying between the first data and the second data based on the match rates obtained over a predetermined period in this way.

The associating unit 423 associates the target first data selected from the plurality of first data with the second data that satisfies a predetermined condition among the plurality of second data (steps ST6 to ST8). The predetermined condition preferably includes a condition that the matching rate between the first corresponding section and the second corresponding section is the highest. Moreover, it is preferable that the predetermined conditions further include a condition that the match rate between the first corresponding section and the second corresponding section is greater than a threshold. In the following description, the threshold is 18, and the linking unit 423 obtains the matching rate based on the relationship between the first corresponding section and the second corresponding section over 6 seconds. Time points 1 second, 2 seconds, 3 seconds, 4 seconds, and 5 seconds after time t1 are defined as time points t2, t3, t4, t5, and t6, respectively.

The first data including the first positional information A1 is set as the target first data, and the first corresponding section corresponding to the first positional information A1 (referred to as "A1" in the following description of this paragraph) and the second A second corresponding section (referred to as "B1" in the following description of this paragraph) corresponding to the position information B1 is compared. Since "A1" matches "B1" for two seconds corresponding to time points t5 and t6, 10 is added to the match rate. During the two seconds corresponding to time points t3 and t4, "A1" is adjacent to "B1", so 5 is added to the matching rate. Since "A1" is next to "B1" for one second corresponding to time t1, 3 is added to the coincidence rate. At time t2, "A1" is farther away than "B1"'s neighbor, so the match rate is not added. The total match rate is 18. Since the total match rate (integral value) is equal to the threshold value of 18, the predetermined condition is not satisfied, and the first data including the first location information A1 is not associated with the second data including the second location information B1 ( step ST8).

Next, the first data including the first position information A1 is set as the target first data, and the first corresponding section corresponding to the first position information A1 (hereinafter referred to as "A1" in this paragraph) , with a second corresponding section (referred to as “B2” in the following description of this paragraph) corresponding to the second position information B2. Since "A1" is adjacent to "B2" for three seconds corresponding to time points t1, t2, and t6, 3 is added to the coincidence rate. Since "A1" is next to "B2" for three seconds corresponding to time points t3, t4, and t5, 2 is added to the coincidence rate. The sum of match rates is 5. Since the total matching rate is smaller than the threshold value of 18, the predetermined condition is not satisfied, and the first data including the first location information A1 is not associated with the second data including the second location information B2 (step ST8). .

Next, the first data including the first position information A2 is set as the target first data, and the first corresponding section corresponding to the first position information A2 (hereinafter referred to as "A2" in this paragraph) , with a second corresponding section (referred to as “B1” in the following description of this paragraph) corresponding to the second position information B1. Since "A2" coincides with "B1" for one second corresponding to time t1, 10 is added to the coincidence rate. Since "A2" is next to "B1" for 1 second corresponding to time t4, 5 is added to the coincidence rate. Since "A2" is next to "B1" for four seconds corresponding to time points t2, t3, t5, and t6, 2 is added to the coincidence rate. The total match rate is 17. Since the total matching rate is smaller than the threshold value of 18, the predetermined condition is not satisfied, and the first data including the first location information A2 is not associated with the second data including the second location information B1 (step ST8). .

Next, the first data including the first position information A2 is set as the target first data, and the first corresponding section corresponding to the first position information A2 (hereinafter referred to as "A2" in this paragraph) , with a second corresponding section (referred to as “B2” in the following description of this paragraph) corresponding to the second position information B2. Since "A2" matches "B2" for three seconds corresponding to time points t2, t4, and t5, 20 is added to the match rate. Since "A2" is next to "B2" for 3 seconds corresponding to time points t1, t3, and t6, 3 is added to the coincidence rate. The total match rate is 23. The sum of match rates is greater than the threshold of 18. Also, the match rate between "A2" and "B2" is higher than the match rate between "A2" and "B1" (the second corresponding section corresponding to the second position information B1). That is, the matching rate for "A2" is the highest for "B2" among "B1" and "B2". Therefore, the predetermined condition is satisfied, and the first data including the first location information A2 is associated with the second data including the second location information B2 (step ST7).

As described above, the linking unit 423 links the first data including the first position information A2 with the second data including the second position information B2. In other words, the linking unit 423 determines that the user U1 corresponding to the first data including the first location information A2 and the user U1 corresponding to the second data including the second location information B2 are the same person. Further, the linking unit 423 links the first data including the first location information A1 with neither the second data including the second location information B1 nor the second data including the second location information B2. In other words, the linking unit 423 determines that the user U1 corresponding to the first data including the first location information A1 includes the user U1 corresponding to the second data including the second location information B1 and the second location information B2. It is determined that the user is different from any of the users U1 corresponding to the second data.

The positioning server 4 outputs the result of linking by the linking unit 423. In the above example, the first data including the first location information A2 and the second data including the second location information B2 are linked and output. For example, the first location information A2 and the second location information B2 are displayed on the display as shown in FIG. Display a label that represents identifying information. Accordingly, the administrator who sees the display can know that the first location information A2 and the second location information B2 are location information of the same user U1. Of the first position information A2 and the second position information B2, only the second position information B2 may be displayed.

The positioning accuracy of the second positioning unit 422 that generates the second position information B2 is higher than the positioning accuracy of the first positioning unit 421 that generates the first position information A2. Therefore, by referring to the second location information B2, the administrator can know the more accurate location of the user U1 than when referring to the first location information A2. Further, since the identification information of the user U1 is linked to the second location information B2 by the linking unit 423, the administrator can identify the user U1 corresponding to the second location information B2.

The dimensions of each of the plurality of sections D1 to D16 are determined in advance and stored in the storage unit 43 of the positioning server 4. The dimensions of each of the plurality of sections D1 to D16 are preferably determined based on the positioning accuracy of the first position information. For example, it is preferable that the dimension of each section is determined such that the absolute value of the difference between the maximum error of the first position information and the maximum length of each section is equal to or less than a predetermined value. According to this configuration, compared to the case where the dimension of each section is sufficiently large compared to the positioning accuracy of the first position information, the possibility of accurately linking the first data and the second data increases. In addition, the number of sections can be reduced compared to the case where the dimension of each section is sufficiently smaller than the positioning accuracy of the first position information.

(Modification of embodiment)
Modifications of the embodiment are listed below. The following modified examples may be implemented in combination as appropriate.

The imaging device 5 may include a stereo camera as the imaging unit 55. The second positioning unit 422 may calculate the distance from the imaging unit 55 to the user U1 based on the magnitude of parallax between the two lenses of the stereo camera.

The scanner 3 and imaging device 5 are not limited to being installed on the ceiling, and may be installed, for example, on the wall of the building or on a member other than the building.

The second positioning unit 422 may identify the user U1 appearing in the image data by performing image recognition processing (for example, face recognition processing) on the image data generated by the imaging device 5.

The linking unit 423 may perform the process of linking the first data and the second data only when the user U1 is moving. Thereby, the amount of processing can be reduced. The associating unit 423 performs processing for associating the first data and the second data, for example, when it is determined, based on the first data, that the user U1 has moved from the section where the user U1 has stayed until then to another section. may start.

At least one of the plurality of compartments D1 to D16 may have dimensions different from those of the other compartments.

After determining the association between the first data and the second data, the association unit 423 may cancel the association when the release condition is satisfied. The release condition is a condition that is stricter than the condition in which the associating unit 423 determines "not to associate the first data and the second data" when the first data and the second data are not originally associated. There may be. The cancellation condition may be, for example, a condition that the sum of matching rates obtained based on [Table 2] is smaller than a predetermined threshold.

A position detection system 1 in the present disclosure includes a computer system. A computer system is mainly composed of a processor and a memory as hardware. At least part of the function of the position detection system 1 in the present disclosure is realized by the processor executing a program recorded in the memory of the computer system. The program may be recorded in advance in the memory of the computer system, may be provided through an electric communication line, or may be recorded in a non-temporary recording medium such as a computer system-readable memory card, optical disk, or hard disk drive. may be provided. A processor in a computer system consists of one or more electronic circuits, including semiconductor integrated circuits (ICs) or large scale integrated circuits (LSIs). Integrated circuits such as ICs or LSIs are called differently depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). In addition, FPGAs (Field-Programmable Gate Arrays), which are programmed after the LSI is manufactured, or logic devices capable of reconfiguring the connection relationships inside the LSI or reconfiguring the circuit partitions inside the LSI, shall also be adopted as processors. can be done. A plurality of electronic circuits may be integrated into one chip, or may be distributed over a plurality of chips. A plurality of chips may be integrated in one device, or may be distributed in a plurality of devices. A computer system, as used herein, includes a microcontroller having one or more processors and one or more memories. Accordingly, the microcontroller also consists of one or more electronic circuits including semiconductor integrated circuits or large scale integrated circuits.

In addition, it is not an essential configuration of the position detection system 1 that a plurality of functions in the position detection system 1 are integrated into one device, and the components of the position detection system 1 are distributed and provided in a plurality of devices. may have been Furthermore, at least part of the functions of the position detection system 1, for example, part of the functions of the positioning server 4, may be realized by the cloud (cloud computing) or the like.

Conversely, in the embodiment, at least part of the functions of the position detection system 1 distributed among multiple devices may be integrated into one device.

In the comparison of two values in the present disclosure, "greater than or equal to" includes both the case where the two values are equal and the case where one of the two values exceeds the other. However, the term "greater than or equal to" as used herein may be synonymous with "greater than" which includes only the case where one of the two values exceeds the other. That is, whether the two values are equal can be arbitrarily changed depending on the setting of the reference value, etc., so there is no technical difference between "greater than" and "greater than". Similarly, "less than" may be synonymous with "less than".

(summary)
The following aspects are disclosed from the embodiments and the like described above.

A position detection system (1) according to the first aspect includes a first positioning section (421), a second positioning section (422), and a linking section (423). The first positioning unit (421) performs the first Generate data. The first data includes identification information of the user (U1) and first location information of the user (U1). A second positioning unit (422) generates second data based on image data generated by an imaging device (5) that captures the space in which the user (U1) stays and generates image data. The second data includes second location information of the user (U1). A linking unit (423) links the first data and the second data. A linking unit (423) defines a section corresponding to the first position information among a plurality of sections (D1 to D16) obtained by dividing the space where the user (U1) stays as a first corresponding section corresponding to the first data, Let the section corresponding to the second position information be the second corresponding section corresponding to the second data. A linking unit (423) determines linking between the first data and the second data based on the matching rate between the first corresponding section and the second corresponding section.

According to the above configuration, the first data including the identification information of the user (U1) can be associated with the second data. Therefore, even if the second data does not include the identification information of the user (U1), the second data can be associated with the identification information of the user (U1).

The first data includes first position information based on the beacon signal, and the second data includes second position information based on image data captured by the imaging device (5). In many cases, the second location information more accurately represents the location of the user (U1) than the first location information. By associating the second data with the identification information of the user (U1), the user (U1) to be positioned can be identified while performing positioning using the positioning accuracy of the imaging device.

In addition, in the position detection system (1) according to the second aspect, in the first aspect, the tying unit (423) performs a second A link between the first data and the second data is determined.

According to the above configuration, it is possible to improve the accuracy of tying.

Also, in the position detection system (1) according to the third aspect, there are a plurality of users (U1) in the first or second aspect. Each of the users (U1) possesses a beacon terminal (2). A first positioning unit (421) generates a plurality of first data corresponding to a plurality of users (U1). A second positioning unit (422) generates a plurality of second data corresponding to a plurality of users (U1). An associating unit (423) associates target first data selected from among the plurality of first data with second data satisfying a predetermined condition among the plurality of second data.

According to the above configuration, tying can be realized even when there are multiple users (U1).

Further, in the position detection system (1) according to the fourth aspect, in the third aspect, the predetermined condition includes the condition that the matching rate between the first corresponding section and the second corresponding section is the highest.

According to the above configuration, it is possible to increase the possibility that the user (U1) corresponding to the first target data and the user (U1) corresponding to the second data linked to the first target data match.

In addition, in the position detection system (1) according to the fifth aspect, in the fourth aspect, the predetermined condition further includes a condition that the matching rate between the first corresponding section and the second corresponding section is greater than a threshold.

According to the above configuration, it is possible to increase the possibility that the user (U1) corresponding to the first target data and the user (U1) corresponding to the second data linked to the first target data match.

Further, in the position detection system (1) according to the sixth aspect, in any one of the first to fifth aspects, the dimension of each of the plurality of sections (D1 to D16) is the positioning accuracy of the first position information determined based on

According to the above configuration, the possibility of accurately linking the first data and the second data increases compared to the case where the dimension of the section is sufficiently large compared to the positioning accuracy of the first position information. In addition, the number of sections can be reduced compared to the case where the dimensions of the sections are sufficiently smaller than the positioning accuracy of the first position information.

In addition, the position detection system (1) according to the seventh aspect further comprises a scanner (3) in any one of the first to sixth aspects.

In addition, the position detection system (1) according to the eighth aspect further comprises a beacon terminal (2) in any one of the first to seventh aspects.

Further, the position detection system (1) according to the ninth aspect further comprises an imaging device (5) in any one of the first to eighth aspects.

Configurations other than the first aspect are not essential configurations for the position detection system (1) and can be omitted as appropriate.

Also, the position detection method according to the tenth aspect includes a first positioning process, a second positioning process, and a linking process. In the first positioning step, first data is generated based on a beacon signal including identification information of the user (U1) transmitted from the beacon terminal (2) possessed by the user (U1) and received by the scanner (3). do. The first data includes identification information of the user (U1) and first location information of the user (U1). In the second positioning step, second data is generated based on image data generated by an imaging device (5) that captures the space where the user (U1) stays and generates image data. The second data includes second location information of the user (U1). In the linking step, the first data and the second data are linked. In the linking step, among a plurality of sections (D1 to D16) obtained by dividing the space where the user (U1) stays, the section corresponding to the first position information is set as the first corresponding section corresponding to the first data, and the second position Let the section corresponding to the information be the second corresponding section corresponding to the second data. In the linking step, linking between the first data and the second data is determined based on the matching rate between the first corresponding section and the second corresponding section.

According to the above configuration, it is possible to identify the user (U1) to be positioned while performing positioning using the positioning accuracy of the imaging device.

A program according to the eleventh aspect is a program for causing one or more processors to execute the position detection method according to the tenth aspect.

According to the above configuration, it is possible to identify the user (U1) to be positioned while performing positioning using the positioning accuracy of the imaging device.

Various configurations (including modifications) of the position detection system (1) according to the embodiment are not limited to the above aspects, and are embodied in a position detection method, a (computer) program, or a non-temporary recording medium recording the program. can be converted.

1 Position detection system 2 Beacon terminal 3 Scanner 5 Imaging device 421 First positioning unit 422 Second positioning unit 423 Linking units D1 to D16 Section U1 User

Claims (11)

First data including the identification information of the user and first location information of the user is generated based on a beacon signal including the identification information of the user, which is transmitted from a beacon terminal owned by the user and received by a scanner. a first positioning unit to
a second positioning unit that generates second data including second position information of the user based on the image data generated by an imaging device that captures a space in which the user stays and generates image data;
a linking unit that links the first data and the second data,
The linking unit sets a section corresponding to the first position information among a plurality of sections obtained by dividing the space in which the user stays as a first corresponding section corresponding to the first data, and sets the section corresponding to the first data to the second position information. Let the corresponding partition be a second corresponding partition corresponding to the second data,
The linking unit determines linking of the first data and the second data based on a match rate between the first corresponding section and the second corresponding section.
Position detection system. The linking unit determines the linking of the first data and the second data based on a match rate between the first corresponding section and the second corresponding section over a predetermined period of time.
The position sensing system according to claim 1. There are a plurality of users, and each of the plurality of users possesses the beacon terminal,
The first positioning unit generates a plurality of first data corresponding to the plurality of users,
The second positioning unit generates a plurality of second data corresponding to the plurality of users,
The associating unit associates target first data selected from among the plurality of first data with the second data that satisfies a predetermined condition among the plurality of second data.
The position sensing system according to claim 1 or 2. The predetermined condition includes a condition that the match rate between the first corresponding section and the second corresponding section is the highest,
The position detection system according to claim 3. The predetermined condition further includes a condition that a match rate between the first corresponding section and the second corresponding section is greater than a threshold,
The position detection system according to claim 4. the dimensions of each of the plurality of partitions are determined based on the positioning accuracy of the first position information;
The position detection system according to any one of claims 1-5. further comprising the scanner;
The position detection system according to any one of claims 1-6. further comprising the beacon terminal;
The position detection system according to any one of claims 1-7. further comprising the imaging device;
The position detection system according to any one of claims 1-8. First data including the identification information of the user and first location information of the user is generated based on a beacon signal including the identification information of the user, which is transmitted from a beacon terminal owned by the user and received by a scanner. a first positioning step to
a second positioning step of generating second data including second position information of the user based on the image data generated by an imaging device that captures a space in which the user stays and generates image data;
a linking step of linking the first data and the second data,
In the linking step, among a plurality of sections obtained by dividing the space in which the user stays, the section corresponding to the first position information is set as the first corresponding section corresponding to the first data, and the second position information is set to the first corresponding section. Let the corresponding partition be a second corresponding partition corresponding to the second data,
In the linking step, linking between the first data and the second data is determined based on a matching rate between the first corresponding section and the second corresponding section.
Position detection method. for causing one or more processors to perform the position sensing method of claim 10,
program.

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