JP6636268B2 - Communication system and communication method between mobile station and fixed station - Google Patents

Description

  The present invention relates to a communication system and a communication method between a mobile station and a fixed station, and more particularly to a communication system between a mobile station and a fixed station suitable for accurately associating a mobile unit with a fixed station by wireless communication immediately after installation of equipment. And a communication method.

  A system for exchanging information between a mobile unit and its fixed station is used in various industries. For example, communication between a base station in a railway car and a base station via a slave unit provided on a rail, communication from a slave terminal of a landing terminal in an elevator car to a master unit in an elevator control panel, or In a general home, there is communication between a notebook personal computer and a communication terminal provided in the home. In the past, wired communication was mainly used for these communications, but in recent years, wireless communication has been used in various industries in consideration of the necessity of wiring work and usability of equipment management. . In the following description example, the technology and problems will be described taking wired communication of an elevator as an example.

  The elevator operates mainly based on information of a hall call button installed at the landing on each floor and a destination registration button installed in the car. These pieces of information are collected by a control device of an elevator system that controls the elevator, and the dispatch of the elevator is controlled. In addition, the hall call button installed at the landing on each floor and the destination registration button inside the car are connected to the hall terminal and car terminal provided on each floor and car, respectively, and the state of each button is sequentially Is transmitted from each terminal (hall terminal, car terminal) to the control device mainly by using communication. That is, the control device is configured to be a communication host terminal.

  Conventionally, a connection between a host terminal and a hall terminal or between a host terminal and a car terminal is connected by a cable for transmitting an electric signal, and information is transmitted by wire communication. In the technique of connecting the host terminal, the car terminal, and the hall terminal with a cable, the cable becomes long in proportion to the height of the building where the elevator is installed, so that the installation of the cable is a difficult task. In addition, when the floor of the building is high, a relay station must be installed or a plurality of transmission systems must be provided due to insufficient transmission capacity. Further, since the cable between the host terminal and the car terminal always moves up and down as the car moves up and down, there is a possibility of disconnection due to bending, and periodic inspection is also required.

  As a method for solving the above-described problem caused by the wired communication, there is a method using wireless communication. By the way, in the method using wireless communication, it is necessary to establish a unique communication relationship between the mobile station on the elevator side and the fixed station on each floor immediately after the installation of the elevator equipment. Specifically, it is necessary to set the floor number in the hall terminal of each floor as the first work.

  In this regard, Patent Literature 1 discloses a method of automatically setting a floor number in a hall terminal attached to each floor. Patent Document 1 discloses a method of setting floor numbers in the order in which hall terminals (fixed stations) come within the communication range, based on the communication range of the car terminals (mobile stations). I have.

JP 2003-146546 A

  However, according to the method disclosed in Patent Document 1, wireless communication reflects radio waves in a closed space such as a hoistway where an elevator is usually installed. There are situations where the distance is not proportional. In addition, since the structure in the hoistway differs depending on the building, the reflection of the radio wave differs depending on the building, and wireless communication may not be performed. Further, the strength of the radio wave changes depending on the individual difference of the wireless terminal. For this reason, there is a problem that the order in which the hall wireless terminals enter the communication range of the car wireless terminal does not always match the floor number.

  When the floor number is automatically set in the hall wireless terminal, it is necessary to check whether the setting has been correctly performed. Particularly in a high-rise building, the number of floors to be stopped is large, and it takes a lot of time for the worker to perform the installation work to check that the wireless terminal for the hall has been set correctly.

  As described above, in general, regarding the position of the mobile unit, which is a car, and the identification information of the fixed station, which is a hall wireless terminal, in order to identify the fixed station, the fixed station detected by the mobile unit by radio wave diffraction and interference is used. There was a problem that the order and position did not always match. In particular, when a plurality of fixed stations are provided, there is a problem that it takes a lot of work time to confirm that the identification numbers of the fixed stations are correctly set according to the positions.

  Also, if the radio wave is temporarily interrupted due to a disaster or the like, the position of the mobile object may not be able to be detected, especially if the radio wave is used in a safety system. The inability to detect the position of the system lowers the reliability of the system. Also, when using the radio wave in the control system, if the position of the moving object cannot be detected, the device that can detect the absolute position of the moving object is used to detect the absolute position reference of the moving object again. There was a problem to be reworked.

  In view of the above, an object of the present invention is to solve the problems of the above technology, and in particular, it is possible to accurately associate a mobile station with a fixed station by reducing the effects of radio wave reflection and diffraction in radio waves. A communication system and a communication method between a mobile station and a fixed station are provided.

  In order to solve the above problems, the present invention is a mobile station that has a wireless communication function and can move to a two-dimensional or three-dimensional position, and has a wireless communication function and is fixed at a predetermined two-dimensional or three-dimensional position. Having a plurality of fixed stations, measuring the strength of radio wave intensity of wireless communication between the mobile station and the fixed station, determining the station based on the result, and adding related information. And

  The present invention also provides a mobile station having a wireless communication function and capable of moving to a two-dimensional or three-dimensional position, and a plurality of fixed stations having a wireless communication function and fixed at predetermined two-dimensional or three-dimensional positions. A communication method between the mobile station and the fixed station to determine the correspondence between the fixed station, the strength of the radio field strength is measured on the fixed station side according to the transmission from the mobile station, and transmitted to the mobile station, The mobile station determines the closest fixed station based on the strength of the radio wave intensity received from the plurality of fixed stations and receives information related to the determined fixed station.

  According to the present invention, the communication system measures the radio field intensity between the mobile station and the radio station installed in the fixed terminal, and estimates the distance between the stations from the magnitude of the value, thereby obtaining the position information of the mobile terminal. Thus, the identification information of the fixed terminal can be given to the fixed terminal, and the location information of the mobile terminal can be grasped from the position information of the fixed terminal.

The figure which shows the example of application of this invention system to the building which has three stories and three floors. The figure which put together the linear distance between the mobile station 1 and each fixed station 1F1-3F1 when the mobile station 1 exists in the vicinity of the fixed station 1F1. The figure which showed the result of having measured the radio field intensity when moving a mobile station in the vertical direction sequentially from the vicinity of a fixed station. FIG. 5 is a flowchart showing processing performed by the mobile station 1 and the fixed station for assigning an ID number. The figure showing the procedure of “an estimation algorithm for estimating a fixed station to which an ID number is to be assigned”. FIG. 9 is a flowchart showing an alternative example of processing performed by the mobile station 1 and the fixed station to assign ID numbers. FIG. 3 is a diagram for explaining the concept of a position estimation algorithm of the mobile station 1. FIG. 3 is a diagram for explaining the concept of a position estimation algorithm of the mobile station 1. FIG. 3 is a diagram for explaining the concept of a position estimation algorithm of the mobile station 1. FIG. 3 is a diagram for explaining the concept of a position estimation algorithm of the mobile station 1. The figure which shows the example which increased the fixed station from four to nine about the two-dimensional plane of the first floor.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows an embodiment of the present invention. In the figure, the gist of the present invention will be described by taking as an example the application of the system to a building having three floors from the first floor 1F to the third floor 3F and having three floors. FIG. 1 shows a fixed station, a mobile station, and a moving state in a three-dimensional manner with the horizontal axis of the paper as the X axis, the vertical axis of the paper as the Y axis, and the vertical axis as the Z axis. Also, the coordinates of the X axis, Y axis, and Z axis are represented by (x, y, z), and the locations of the mobile station and the fixed station are represented by these coordinates. Further, to simplify the description, the floor surface of one floor is a square having a side of 10 (m) on each of the X-axis and the Y-axis, and the distance between the floors in the Z-axis direction is also 10 (m). And

  Although a driving method for moving the moving body is omitted, it is assumed that the mobile station 1 mounted on the moving body can move in three axial directions of the X axis, the Y axis, and the Z axis. Then, assuming that the position is expressed as (x, y, z), it is assumed that the mobile station 1 can always grasp its own coordinates by the coordinate detector 2. The coordinate detector 2 is mounted on a mobile together with the mobile station 1.

  The fixed stations are located at the four corners of each floor (1F, 2F, 3F). The name is the first two letters are the floor name (1F, 2F, 3F), and the third letter is the number (1, 2, 3, 4), and their coordinates (x, y, z) are shown together. That is, the fixed station 1F1 is located at the origin (0, 0, 0) on the first floor, the fixed station 1F2 is located at the coordinates (10, 0, 0), the fixed station 1F3 is located at the coordinates (10, 10, 0), 1F4 is located at coordinates (0, 10, 0). Similarly, on the second floor, the fixed station 2F1 has coordinates (0, 0, 10), the fixed station 2F2 has coordinates (10, 0, 10), and the fixed station 2F3 has coordinates (10, 10, 10). Are arranged at coordinates (0, 10, 10). On the third floor, the fixed station 3F1 has coordinates (0, 0, 20), the fixed station 3F2 has coordinates (10, 0, 20), the fixed station 3F3 has coordinates (10, 10, 20), and 3F4 has coordinates. They are arranged at coordinates (0, 10, 20). The arrangement coordinates of the fixed stations are known to the mobile station 1, and the self-identification numbers (ID) of the fixed stations are initially undetermined for the fixed stations 1F1 to 3F4.

  With respect to the arrangement of the fixed stations 1F1 to 3F4 and the mobile station 1 in the building, the mobile station 1 moves so as to pass in the vicinity of each of the fixed stations 1F1 to 3F4. For example, a route from the vicinity of the fixed station 1F1 to the vicinity of the fixed station 1F2 is defined as R1F12. Here, with respect to the “route R1F12”, the first R represents the route, the next 1F is expressed as a plane on the first floor, and the last 12 is expressed as a route from 1F1 to 1F2 as a moving direction. According to the same rule, the route from the vicinity of the fixed station 1F2 to the fixed station 1F3 is R1F23, the route from the vicinity of the fixed station 1F3 to the fixed station 1F4 is R1F34, and the route from the vicinity of the fixed station 1F4 to the fixed station 1F1 is R1F41.

  The promise of the expression of the route R is similarly applied to the route expression on a plane on the second and third floors. In addition, the route when moving between floors is described according to the same convention. Here, with respect to the “route R12F11”, the first R represents the route, the next 12F is between the first floor and the second floor, and the last 11 is a route from 1F1 to 2F1 as a moving direction. I have. In the example illustrated in FIG. 1, the mobile station 1 starts moving from the fixed station 1F1, passes through the vicinity of four fixed stations on the same floor, and therefore on the same plane, and returns to the first fixed station 1F1. The route follows the route of moving from the position to the second floor. That is, an example is shown in which the difference in the height position direction is performed near the fixed station.

  Along with this movement, the mobile station 1 performs an operation of transmitting radio waves to a plurality of fixed stations, the fixed station having received the radio waves measures its strength, and sends the strength data and a chip of the fixed station side to the mobile station. The mobile station 1 receiving the ID number and receiving the ID number performs an operation of transmitting the system ID number to the fixed station having the strongest radio wave intensity. Here, the system ID number is an operation of retrieving the ID number associated with the coordinates (x, y, z) of the mobile station 1 by using the coordinates, and assigning this to the predetermined fixed station from the mobile station 1. Do.

  The moving body initially moves in the XY plane, that is, in the horizontal plane, and behaves like an elevator moving in the plane. In addition, the coordinate detector 2 performs polarity integration of the number of pulses generated by a pulse generator attached to a tire or roller shaft that is frictionally driven with movement in the X-axis and Y-axis directions. Update the axis value, that is, the coordinates of the moving object.

  Here, to simplify the explanation, the number of fixed stations per floor is four, but of course there is no problem if the number of fixed stations is more than four.

  Next, since the exploration of the first floor has been completed, the moving object moves to the second floor through the route R12F11. When moving, the coordinate detector 2 arrives near the fixed station 2F1 near the origin on the second floor while detecting the amount of movement in the Z-axis direction. This operation is comparable to the operation of a conventional vertically moving elevator.

  Also on the second floor, the mobile station 1 broadcasts radio waves while moving near the fixed station in the order of route R2F12 → R2F23 → R2F34 → R2F41, and assigns an ID number to the fixed station in the same manner as performed on the first floor. Perform the operation.

  When the ID number assignment on the second floor is completed, the mobile unit moves to the third floor via route R23F11, and performs an ID number assignment operation to the fixed station also on the third floor as in the first and second floors.

  According to the present embodiment, the ID numbers associated with the existing coordinates (x, y, z) can be automatically assigned to the fixed stations 1F1 to 3F4 without human intervention. This has the effect of preventing incorrect settings. Further, in the case where the number of fixed stations per floor is large, or in a high-rise building where the number of floors is extremely large, the effects of labor saving and ID setting error prevention are further increased.

  In the present embodiment, an example is shown in which movement in the vertical direction, which is the Z-axis direction, is performed with respect to the same X- and Y-axis coordinates. However, the present invention is not limited to this. Using different X- and Y-axis coordinates has another effect of reducing the restriction on the degree of freedom of arrangement of the building.

  Furthermore, if the location of the fixed stations in the X and Y planes and the movement route can be searched along a route passing in the vicinity of the fixed stations, there is no restriction on the assignment of ID numbers, and the floor area is equal to all floors. The present invention is applicable even if the buildings are not the same, and there is an effect that there is no restriction on the building shape.

  FIG. 2 is a diagram summarizing the linear distances between the mobile station 1 and each of the fixed stations 1F1 to 3F1 when the mobile station 1 is near the fixed station 1F1. Here, even when the fixed station is different, the case where the distance from the mobile station is the same is classified into a plurality of cases and summarized.

  Case 1 is a case where the mobile station 1 exists near the fixed station 1F1, and case 2 is a case where the mobile station 1 exists near the fixed station 1F1 and the fixed stations (1F2, 2F1, 1F4) adjacent to the fixed station 1F1. Case 3 shows the relationship between the mobile station 1 located near the fixed station 1F1 and the fixed stations (1F3, 2F2, 2F4) located diagonally to the fixed station 1F1. Reference numeral 4 denotes a case showing the relationship between the mobile station 1 existing in the vicinity of the fixed station 1F1 and the fixed station (2F3) located on the first floor at a diagonal position on the same plane with respect to the fixed station 1F1. This is a case showing the relationship between the mobile station 1 existing near the station 1F1 and the fixed station (3F1) located on the second floor above the fixed station 1F1. FIG. 2 shows the distance between the stations in each of these cases by a mathematical expression.

  On the other hand, it is known that the intensity of radio waves exchanged between two wireless transmitting and receiving stations attenuates in proportion to the square of the distance between the stations. Therefore, when the mobile station 1 is located near the fixed station 1F1 (case 1) as shown in FIG. 2, the radio wave intensity between the mobile station 1 and the fixed station 1F1 becomes lower than that between the other stations. The fixed station is overwhelmingly larger than the strength, and the fixed station to which the mobile station 1 should assign the ID number is determined to be 1F1 by the algorithm described later. However, the reinforcing steel in the side walls and floor / ceiling walls of the building, and the metal corrugated sheet in the floor reflect radio waves, and when measuring transmission / reception strength, besides the direct wave, the phase difference with the reflected wave Since the received signal may be attenuated or amplified due to the above, the radio field intensity measurement is performed a plurality of times by changing the position of the mobile station 1 and the reliability is increased by performing a process such as taking a majority decision. Good.

  FIG. 3 shows the result of actual measurement of the radio field intensity when the mobile station 1 is sequentially moved in the vertical direction Z from the vicinity of the fixed station 1F1. The horizontal axis in FIG. 3 represents the moving distance in the vertical direction Z, and the vertical axis represents the actually measured radio field intensity.

  In this figure, the radio wave intensity between the mobile station 1 and the fixed station 1F1 is indicated by a black diamond, the radio wave intensity between the mobile station 1 and the fixed station 2F1 is indicated by a black rectangle, and the radio wave intensity between the mobile station 1 and the fixed station 3F1 is indicated. Are indicated by black triangles. According to FIG. 3, in the vicinity of 0 m where the mobile station 1 exists near the fixed station 1F1, many rhombuses are located at the top, many squares are located at the middle, and many triangles are located at the bottom. . As described above, near 0 m where the mobile station 1 exists near the fixed station 1F1, the magnitude of the radio wave intensity with the fixed station 1F1 is the largest, and the next is the radio wave intensity with the fixed station 2F1. What is small is the radio field intensity between the fixed station 3F1.

  Similarly, in the vicinity of 10 m where the mobile station 1 exists near the fixed station 2F1, most of the squares are located at the upper part, the rhombus and the triangle are located in the middle level almost equally, and are hardly located in the lower level. As described above, in the vicinity of 10 m where the mobile station 1 is located near the fixed station 2F1, the magnitude of the radio wave intensity between the fixed station 2F1 and the fixed station 2F1 is the largest, followed by the radio wave between the fixed station 1F1 and the fixed station 3F1. The intensity is almost the same radio wave intensity.

  Similarly, in the vicinity of 20 m where the mobile station 1 exists near the fixed station 3F1, most of the triangles are located at the top, many of the squares are located at the middle, and many of the diamonds are located at the bottom. As described above, in the vicinity of 20 m where the mobile station 1 exists near the fixed station 3F1, the magnitude of the radio wave intensity with the fixed station 3F1 is the largest, and the next is the radio wave intensity with the fixed station 2F1. What is small is the strength of the radio wave with the fixed station 1F1.

  These results support that the distance between the mobile station and the fixed station can be estimated based on the radio wave intensity between the mobile station 1 and each fixed station. At the distance between the mobile station 1 and the fixed station shown on the horizontal axis in FIG. 3, the fixed station 1F1 exists near the value 0 m, the fixed station 2F1 exists near the value 10 m, and the fixed station 3F1 exists near the value 20 m. You can think that you are doing.

  In addition, according to FIG. 3, in the vicinity of 5 m or 15 m, the triangular, quadrangular, and rhombic graphic displays are almost interrupted and displayed in a confusing manner, and the area cannot be clearly divided. For this reason, it may be considered that the vicinity of 5 m or 15 m is a switching point of the judgment of the fixed station, and the exploration of the fixed station is efficiently performed near the fixed station such as 0 m, 10 m, or 20 m. It turns out that it is effective also in the sense of avoiding failure.

  In the embodiment shown in FIG. 1, the mobile station 1 knows the coordinates of the fixed station in advance, and the mobile station 1 is configured so that the coordinate detector 2 grasps and updates the position coordinates where the mobile station 1 is located as it moves. Therefore, radio waves can be transmitted in the vicinity of the fixed station, and the effect of efficiently grasping the radio wave intensity is exhibited.

  In the experiment of FIG. 3, the fixed stations 2F1 and 3F1 were installed on the second floor and the third floor, respectively. However, the fixed stations were installed at positions where the mobile station 1 can transmit and receive radio waves via a hoistway that can move vertically. Therefore, it can be said that it is not affected by the strong reflection by the iron plate in each floor, and the radio wave intensity linked to a certain distance is obtained.

  FIG. 4 is a flowchart showing a process performed by the mobile station 1 and the fixed station to assign an ID number. In FIG. 4, the processing on the left side shows a schematic procedure of the processing of the mobile station 1, and the processing on the right side shows a schematic procedure of the processing of the fixed station. In this processing, the procedure in which the other acts in response to the signal transmission from one and returns the result is repeated. Therefore, each processing will be sequentially described here as time elapses.

  Regarding the processing of the fixed station on the right side, this processing is performed in all the fixed stations that can receive radio waves from the mobile station 1, and therefore, in the mobile station 1 that has received the transmission from the fixed station, The transmission contents from all fixed stations will be processed.

  In FIG. 4, when the mobile station 1 first starts the ID number assigning process by a management program (not shown), a series of processing tasks is started, and the first processing step S100 starts. At about the same time, the task on the fixed station side is also started, and the processing step S200 starts.

  First, in the processing step S110, the mobile station 1 prepares an ID number x to be set in the fixed station. Assuming that processing is started near the fixed station 1F1, an ID (1F1) is first prepared for the ID number x to be set in the fixed station. Next, in processing step S120, the broadcast radius is set to 1 as a transmission definition. This defines that the receiving destination of the data for measuring the radio wave intensity is not defined, but is transmitted to everyone, and that the received fixed station does not transfer the data to another station again.

  This is a preparation process for transmitting data from the mobile station 1 to a plurality of fixed stations capable of receiving data, and measuring the reception strength of the data at the fixed station that has received the data. At this time, if the received fixed station performs the transfer processing, it becomes impossible to measure the radio field intensity using the data from the mobile station 1. Therefore, the broadcast radius is defined as 1 to prohibit the transfer processing of the fixed station. Is transmitted. In addition, the same transmission processing is performed a plurality of times to prepare for performing majority decision or averaging processing of the radio field intensity.

  Therefore, in the processing step S120, a loop processing is performed N times with the processing step S130, and in the processing step S140, a reply from the fixed station is waited. Furthermore, when performing N times of radio wave transmission, if the position of the mobile station 1 is not fixed and the position of the mobile station 1 is slightly moved and the transmission process is performed, the relationship between the phase difference between the direct wave and the reflected wave is obtained. This has the effect of reducing the adverse effects of singularities where the radio wave strength is strengthened or weakened. This coordinate movement may be performed continuously while moving the mobile station 1 at a low speed.

  On the other hand, when the task is started, the fixed station waits for reception of radio wave intensity measurement data from the mobile station in processing step S210. In this case, the fixed stations are a plurality of fixed stations capable of receiving from the mobile station, and each of them similarly performs the following processing.

  In processing step S220, it is checked whether or not an ID number has been assigned to its own fixed station. The fixed station to which the ID number is assigned loops in processing step S220 and equivalently skips the ID assigning process. However, the fixed station to which the ID number has not been assigned ends from the mobile station in processing step S230. Receiving the data, and first storing the unique address of the mobile station to which the radio field intensity data is returned, measuring the radio field intensity, receiving the data a plurality of times in processing step S240, and averaging the radio field intensity data measured N times Find the value. Then, the radio wave intensity data is returned to the mobile station 1 in the processing step S250, and the ID number data selectively transmitted to the specific fixed station is waited in the processing step S260.

  The mobile station 1 receives the contents of transmission from the plurality of fixed stations, and specifies one fixed station to which the ID number is to be transmitted in step S150 using the radio field intensity data from the plurality of fixed stations. This estimation algorithm will be described later in detail with reference to FIG.

  If the mobile station 1 side determines an address unique to the fixed station to which the ID number is to be assigned in the processing step S150, the processing proceeds to the processing step S160, instead of broadcasting, the fixed station having the unique address uses the ID number as transmission data. Perform transmission processing.

  The movement of the fixed station corresponding to this transmission processing on the mobile station will be described. Among the fixed stations, the fixed station that is selectively designated to receive from the mobile station 1 receives the ID number data from the mobile station 1 and assigns the ID number data to the address where the data in the own station can be stored in the processing step S270. Save the ID number.

  In all the fixed stations that have transmitted the radio wave intensity in the processing step S250 in the fixed station, for example, after a lapse of a predetermined time from the transmission, it is determined whether the ID numbering for the own station is completed in the processing step S280. The fixed station of Yes ends the process related to the reception of the ID number in the processing step S290, and the fixed station of No returns to the processing step S210 and continues the ID number assigning process for the own station.

  After sending the ID number to the fixed station having the unique address, the mobile station 1 moves greatly to the coordinates of the next adjacent fixed station in processing step S170, increments the ID number, and performs the next radio wave intensity measurement. Prepare for the work of radio wave transmission. Then, in processing step S180, it is determined whether or not ID numbers have been assigned to all the fixed stations. If Yes, the ID number assignment processing ends in processing step S190; The process loops to processing step S110 to repeat a series of processes.

  FIG. 5 shows a procedure of an “estimation algorithm” which is a subroutine for estimating a fixed station to which an ID number is to be assigned. When the processing step S150 is activated, first, in step S1501, radio field intensity data returned from each fixed station is received.

  Since data is sequentially sent from a plurality of fixed stations, in processing step S1502, the radio wave intensity data from the fixed stations 1F1, 1F2, and 3F4 are sequentially received. When data is received wirelessly, data collision may occur. In such a case, the fixed station retransmits the data after a lapse of a short time. Need to keep waiting. In this loop processing step S1503, the termination may be determined based on the elapsed time, or may be determined based on the relationship between the number of receptions and the number of existing fixed stations.

  Then, in processing step S1504, it is determined whether the data (RSSI1F1) of the fixed station 1F1 is the strongest among the radio field intensity data (RSSI) collected from each fixed station by comparing it with data from another station.

  Assuming that the search by the mobile station 1 is started near the fixed station 1F1, the result is assumed to be Yes in the initial processing step S1504, and if yes, the fixed station to which the ID number should be assigned in the processing step S1505 is 1F1, The unique address AD-1F1 corresponding to the station is passed as return information to the return destination of the subroutine.

  If the coordinates of the mobile station 1 are close to the fixed station 1F2, the radio field intensity is determined in the processing step S1506, and the data (RSSI1F2) between the mobile station 1 and the fixed station 1F2 becomes the largest, and is fixed via the processing step S1507. When the unique address AD-1F2 corresponding to the station 1F2 is delivered and the mobile unit 1 approaches the last fixed station 3F4 on the third floor, which is the top floor in the embodiment of the present invention, the magnitude relation of the radio wave intensity is determined in the processing step S1508. Then, the return address indicates the unique address AD-3F4 of the fixed station 3F4 as delivery data. If there is a logical inconsistency in the radio wave intensity in the processing step S1508, the address “0X00” indicating the occurrence of the estimation failure is returned to the return destination in the processing step S1510.

  Thus, according to one embodiment of the present invention, a plurality of known fixed stations arranged one-dimensionally on a vertical line, or a plurality of known coordinates arranged two-dimensionally in the same plane. For a fixed station or a plurality of fixed stations whose coordinates are known three-dimensionally arranged in a space, the mobile station recognizing the current coordinates is determined by the radio field intensity between the fixed station and each fixed station. , And a unique ID number can be automatically assigned to each fixed station, so that there is an industrial effect of saving labor in assigning ID numbers to many fixed stations.

  FIG. 6 shows another embodiment of the present invention in which the mobile station 1 and the fixed station implement ID numbers. Here, an example in which a two-dimensional plane on the first floor is cut out will be described. However, it is assumed that the coordinates of the fixed stations 1F1 to 1F4 are known and are arranged at four corners. The mobile station 1 and the fixed stations 1F1 to 1F1 do not have a specific moving route as in the embodiment of FIG. 1, and it is not known at which coordinates they exist. An example in which the area where the mobile station 1 is located is obtained based on the radio field intensity data between 1F4 and 1F4 will be described.

  The left side of FIG. 6 shows the processing of the mobile station 1, and the right side shows the schematic procedure of the processing of the fixed station. First, when the mobile station 1 starts the location search processing of the mobile station 1 by a management program (not shown), a task is started, and the processing step S300 starts. At about the same time, the task on the fixed station side is also started, and the processing step S400 starts.

  First, on the fixed station side, the broadcast radius is set to 1 as a transmission definition in processing step S310. This is a transfer prohibition process similar to the process described with reference to FIG. In steps S310 and S320, the same transmission process is performed a plurality of times to prepare for performing majority decision or averaging of the radio wave intensity. Then, in step S330, the process waits for a reply from the fixed station. Furthermore, when performing N times of radio wave transmission, if the position of the mobile station 1 is not fixed and the position of the mobile station 1 is slightly moved and the transmission process is performed, the relationship between the phase difference between the direct wave and the reflected wave is obtained. This has the effect of reducing the adverse effects of singularities where the radio wave strength is strengthened or weakened. This minute coordinate movement may be performed continuously while moving the mobile station 1 at a low speed.

  On the other hand, when the task is started, the fixed station waits for reception of data for measuring radio field intensity from the mobile station in processing step S410. The fixed station receives the data from the mobile station 1 in the processing step S420, first saves the unique address of the mobile station 1 to which the radio field intensity data is returned, measures the radio field intensity, And the average value of the radio field intensity data measured N times is obtained. Then, the radio wave intensity data is returned to the mobile station 1 in the processing step S440, and the processing ends in the processing step S450.

  On the other hand, on the mobile station 1 side, in the processing step S340, the area where the mobile station 1 is located is specified using the radio field intensity data sent from the four fixed stations. This estimation algorithm will be described later with reference to the schematic diagram of FIG. Then, the mobile station 1 performs processing for transmitting the area information where the mobile station 1 is present to the host terminal (not shown) in processing step S350, and ends the processing in processing step S360.

  FIG. 7 is a conceptual diagram of the location estimation algorithm of the mobile station 1. FIG. 7 shows four sets of states from FIG. 7A to FIG. 7D. In these figures, the two-dimensional plane of the first floor is divided into area 1, area 2, area 3, and area 4 and considered. I have. Area 1, area 2, area 3, and area 4 are areas including fixed stations 1F1, 1F2, 1F3, and 1F4, respectively.

  According to the concept of the position estimation algorithm, first, as shown in FIG. 7D, a distance D-1-1F1 between the mobile station 1 and the fixed station 1F1, and a distance D-1-1 between the mobile station 1 and the fixed station 1F2. -Compares the size with 1-1-1F2. If the distance D-1-1F1 <the distance D-1-1F2, it is understood that the mobile station 1 exists in the area 1 or the area 4. When this relationship is further expanded, similarly, a magnitude comparison between a distance D-1-1F4 between the mobile station 1 and the fixed station 1F4 and a distance D-1-1F3 between the mobile station 1 and the fixed station 1F3 are similarly performed. Is performed, and if distance D-1-1F4 <distance D-1-1F3, it can be understood that mobile station 1 exists in area 1 or area 4.

  Next, as shown in FIG. 7B, a magnitude comparison between a distance D-1-1F1 between the mobile station 1 and the fixed station 1F1 and a distance D-1-1F4 between the mobile station 1 and the fixed station 1F4 are performed. If the distance D-1-1F1 <the distance D-1-1F4, the mobile station 1 is found to be in the area 1 or the area 2. Similarly, the distance D-1-1F2 between the mobile station 1 and the fixed station 1F2 is compared with the distance D-1-1F3 between the mobile station 1 and the fixed station 1F3, and the distance D-1--1 is calculated. If 1F2 <distance D-1-1F3, it is understood that the mobile station 1 exists in the area 1 or the area 2.

  Further, as shown in FIG. 7C, a magnitude comparison is made between a distance D-1-1F2 between the mobile station 1 and the fixed station 1F2 and a distance D-1-1F4 between the mobile station 1 and the fixed station 1F4. If the distance D-1-1F2 <the distance D-1-1F4, it is understood that the mobile station 1 exists diagonally below and to the right of area 2 or area 1, or diagonally below and to the right of area 3. Similarly, the distance D-1-1F1 between the mobile station 1 and the fixed station 1F1 is compared with the distance D-1-1F3 between the mobile station 1 and the fixed station 1F3, and the distance D-1--1 is calculated. If 1F1 <distance D-1-1F3, it is understood that the mobile station 1 exists diagonally to the left of area 1 or area 2 or diagonally below and to the left of area 4.

  7A to 7C, the existence area of the moving object 1 can be estimated up to an area of 1/8 of the entire area as shown in FIG. 7D. In the example of FIG. 7D, the existence area of the moving body 1 can specify the right diagonal side or the left diagonal side of the area 1.

  In another embodiment, the strength of communication radio waves between a fixed station whose installation coordinates are known and a mobile body whose position is unknown is recognized, and this is used to determine the distance between the mobile station and the fixed station. By converting the information into information, it is possible to calculate rough area information where the mobile station exists, so that it is possible to grasp the position of a self-propelled mobile robot or a human having a wireless communication function in which the moving route is not determined. There is another effect. Further, in the present embodiment, since the existence coordinate estimation is downgraded to an area instead of a point, the estimation can be performed by a simple operation such as a mere size comparison and a logical product. Another advantage is that it is possible to construct a system even with a low-function microcomputer mounted in accordance with a short-range wireless chip. Further, for the sake of explanation, the case where the mobile station 1 exists inside the area surrounded by the four fixed stations is taken as an example. There is another effect that the area determination can be made.

  FIG. 8 shows another embodiment of the present invention. Increasing the number of fixed stations from four to nine in the two-dimensional plane on the first floor makes it possible to estimate the existence area for 88 areas as shown in the figure, and has the effect of narrowing the area easily. In this case, the installation of the fixed station is not limited to the inside of a building such as a building.For example, if the fixed station is incorporated in an outdoor street light, the moving object is like an elevator car that moves vertically and horizontally in the building. In addition to objects, it has another industrial effect that can be applied to position tracking of transport robots and humans and pets.

  According to the system of the present invention described in detail above, as shown in FIG. 1, a mobile station 1 having a wireless communication function and capable of moving to a two-dimensional or three-dimensional position, Alternatively, it has a plurality of fixed stations 1F1 to 3F4 fixed at predetermined three-dimensional positions. Then, the system of the present invention measures the strength of the radio wave intensity of the wireless communication between the mobile station 1 and the fixed stations 1F1 to 3F4 (processing step S230 in FIG. 4), and determines the station based on the strength. And related information. Here, the station is a mobile station and a fixed station located closest to the position of the mobile unit.

  In the case of the examples of FIGS. 4 and 6, the related information assigned to the fixed stations 1F1 to 3F4 by the determination processing at the mobile station is identification information (ID number) unique to the fixed station. Further, as described in the example of FIG. 7, the related information is area information indicating an area where the mobile station exists.

1: mobile station 2: mobile station coordinate detector 1F1 to 3F4: fixed station AD-1F1 to AD-3F4: fixed address D1-1F1 to D1-1F4: between mobile station and fixed station Distance ID-1F1 to ID-3F4: ID number of fixed station R1F12 to R3F41: Moving route of mobile station RSSI1F1 to RSSI3F4: Intensity of radio wave emitted from mobile station to fixed station S100 to S190: Processing of mobile station S150 to S1511 : Fixed station estimation subroutines S200 to S290: Fixed station processing

Claims (6)

Has a mobile station which is movable in two-dimensional or three-dimensional position has a wireless communication function, a plurality of which is fixed to a predetermined position in two-dimensional or three-dimensional having a wireless communication function of the fixed station, identification A communication system between a mobile station and a fixed station that provides an identification number using a mobile station for a plurality of fixed stations that are not assigned a number ,
The mobile station having coordinate information of a plurality of fixed stations performs a first transmission, receives replies from the plurality of fixed stations after the first transmission, and receives a plurality of the fixed stations based on a reception result of the replies. A second transmission that determines the station from among the stations, and adds the relevant information including the identification number of the station to the determined station;
The plurality of fixed stations measure the radio field intensity in the first transmission of the mobile station, return a measurement result, and set their own identification numbers using the relevant information in the second transmission of the mobile station, ,
The mobile station moves to the position of the fixed station using the coordinate information of the fixed station, and repeatedly executes a series of processes from the first transmission to the second transmission for all of the plurality of fixed stations,
A communication system between a mobile station and a fixed station, wherein the measurement of the radio field intensity is performed a plurality of times by the mobile station changing its position near the fixed station. A communication system between a mobile station and a fixed station according to claim 1, wherein
A communication system between a mobile station and a fixed station, wherein the related information is identification information unique to the fixed station that is the station. A communication system between a mobile station and a fixed station according to claim 1, wherein
Said associated information communication system between mobile stations and a fixed station, characterized in that the area information indicating the presence area of the fixed station is said the station. Has a mobile station which is movable in two-dimensional or three-dimensional position has a wireless communication function, a plurality of which is fixed to a predetermined position in two-dimensional or three-dimensional having a wireless communication function of the fixed station, identification Number
A communication method between a mobile station and a fixed station that provides an identification number using a mobile station for a plurality of fixed stations that are not provided ,
The mobile station having coordinate information of a plurality of fixed stations performs a first transmission, receives replies from the plurality of fixed stations after the first transmission, and receives a plurality of the fixed stations based on a reception result of the replies. A second transmission that determines the station from among the stations, and adds the relevant information including the identification number of the station to the determined station;
The plurality of fixed stations measure the radio wave strength in the first transmission of the mobile station, return a measurement result, and set their own identification numbers using the related information in the second transmission of the mobile station, ,
The mobile station moves to the position of the fixed station using the coordinate information of the fixed station, and repeatedly executes a series of processes from the first transmission to the second transmission for all of the plurality of fixed stations,
The communication method between a mobile station and a fixed station, wherein the measurement of the radio field intensity is performed a plurality of times by the mobile station changing its position near the fixed station. A communication method between a mobile station and a fixed station according to claim 4 , wherein
The communication method between a mobile station and a fixed station, wherein the related information is identification information unique to a fixed station located closest to the mobile station. A communication method between a mobile station and a fixed station according to claim 4 , wherein
A communication method between a mobile station and a fixed station, wherein the related information is area information indicating an area where the fixed station exists.

Images