JP7636972B2 - Mobile object position estimation system and mobile object position estimation method - Google Patents

Description

The present invention relates to a mobile object position estimation system and a mobile object position estimation method.

For example, Patent Document 1 discloses a vehicle position measurement system that includes a two-dimensional code that is placed on the surface of a structure and contains position information, an image capture means that includes a camera that is attached to a vehicle and captures the two-dimensional code, a position information capture means that captures absolute position information from the two-dimensional code contained in the captured image, and a vehicle position calculation means that calculates the vehicle's position based on the captured position information. This configuration is applied to, for example, a parking assistance system, which calculates the vehicle's position by reading the two-dimensional code assigned to the parking space when a user moves the vehicle toward a parking space in a parking lot. Therefore, when the vehicle is moved into the parking space, the two-dimensional code comes within the viewing angle of the camera of the image capture means, and an image of the two-dimensional code is captured.

Incidentally, in structures such as hospitals, nursing homes, factories, offices, etc. that have multiple rooms or spaces (hereinafter, these will be referred to as sections), staff may move a mobile object such as a cart between the sections to perform their work. In such cases, for the purpose of managing the work, etc., it may be desirable to detect in which section the mobile object is located and the section in which the mobile object is located.
In such cases, the mobile object is often small compared to the size (area) of each section. Therefore, even if the configuration disclosed in Patent Document 1 is applied, it is not always possible to reliably capture the two-dimensional code arranged on the surface of each section with a camera installed on the mobile object. Needless to say, it is time-consuming to move the mobile object to the location of the two-dimensional code in order to capture the image of the two-dimensional code, which leads to a decrease in the efficiency of the work that staff should be performing using the mobile object.

In particular, in a vehicle such as that described in Patent Document 1, it is not possible to move, for example, in a lateral direction while maintaining the posture, and the places where it can travel are limited to roads, etc. Therefore, since the travel route can be roughly predicted, the places where two-dimensional codes can be installed are limited, and the number of two-dimensional codes installed can be reduced.
In contrast, moving objects such as carts described above often have a highly maneuverable structure that allows them to freely change their direction of travel in all directions of 360° without changing their posture. Therefore, when the travel route and available area are not limited to a section, it is not easy to predict the places within the section where the moving object will be likely to pass and to limit the places where the two-dimensional code should be installed.
One solution to this problem would be to provide multiple two-dimensional codes inside each section, making it easier to capture the images of the codes with a camera installed on the mobile object. However, providing multiple two-dimensional codes is time-consuming and costly, and there is also the risk of the appearance being significantly impaired.

JP 2015-6833 A

The object of the present invention is to provide a mobile object position estimation system and a mobile object position estimation method that can reliably estimate the area in which a mobile object is located with a simple configuration.

In order to solve the above problems, the present invention employs the following means.
In other words, the mobile body position estimation system of the present invention is a mobile body position estimation system that estimates the position of a mobile body in a structure having a plurality of sections, and includes a pair of information labels provided on both sides of the boundary between the sections, and having section identification information capable of identifying the sections set to different values on either side of the boundary so as to be readable from the outside, an information reading unit provided on a mobile body that can move between the plurality of sections, and capable of detecting the information labels and contactlessly reading the section identification information set on the information labels, and a position estimation unit that estimates the section in which the mobile body is located based on the section identification information set on the information label read by the information reading unit.
According to this configuration, a pair of information labels are provided at the boundary between the partitions. Each of the pair of information labels is provided on both sides of the boundary, i.e., on the partition side of the boundary and on the opposite side of the partition. In each information label, partition identification information capable of identifying the partition is set to different values on either side of the boundary so as to be readable from the outside. A moving body capable of moving through a plurality of partitions is provided with an information reading unit. The information reading unit is capable of detecting the information label and reading the partition identification information set on the information label in a non-contact manner. As a result, when the moving body crosses the boundary and moves from one side of the boundary to the other side, the information reading unit reads the partition identification information set on the information label on one side and the information label on the other side at the boundary, and estimates the partition in which the moving body is located based on the partition identification information. At this time, the partition identification information is set to different values on either side of the boundary in the information labels provided on both sides of the boundary, so that, for example, it is easy to estimate the partition in which the moving body is located by determining whether or not the moving body has crossed the boundary based on a change in the partition identification information read in sequence.
In this way, the section in which the moving object is located is estimated by detecting the information label provided at the boundary of the section and reading the section identification information set thereon, so that even if the section is large compared to the size of the moving object, the information label is detected when the moving object moves from one side of the boundary to the other, thereby making it possible to reliably estimate the section in which the moving object is located.
In addition, when implementing the above-mentioned mobile object position estimation system, it is sufficient to provide information labels only at the boundaries of the sections on the structure side and provide an information reading unit on the mobile object side. Therefore, it is possible to reduce the number of information labels to be installed and estimate the section in which the mobile object is located with a simple configuration.
As a result, it is possible to reliably estimate the section in which the moving object is located with a simple configuration.

In one aspect of the present invention, a pair of the information labels are provided at an entrance to the compartment, one on the inside of the compartment and the other on the outside of the compartment.
According to this configuration, by providing a pair of information labels at the entrance to the area, the information labels can be reliably detected when a mobile object passes through the entrance to enter or exit the area.

In one aspect of the present invention, a plurality of the information labels are arranged in a line in the width direction of the entrance/exit.
According to this configuration, by arranging a plurality of information labels in a line in the width direction of the entrance, the information labels can be more reliably detected when a mobile object passes through the entrance to enter or exit the section.

In one aspect of the present invention, the zone identification information includes an identifier capable of identifying the zone, and zone inside/outside identification information capable of identifying whether the information label is located inside or outside the zone at the entrance/exit of the zone.
With this configuration, it is possible to easily estimate which section the moving object is located in, and whether it is located outside or inside the entrance/exit.
In particular, even in cases where an area set as a partition and an area not set as a partition are adjacent to each other via an entrance/exit and a moving body moves across this entrance/exit, this moving body position estimation system can be applied by providing an information label on the side of the entrance/exit that faces the area not set as a partition, with information indicating that it is outside as inside/outside partition identification information.

In one aspect of the present invention, the information label has a two-dimensional code in which the section identification information is set.
According to this configuration, by using a two-dimensional code for the information label, the space required for installing the information label can be reduced. Also, since a two-dimensional code can store a large amount of information, a variety of information can be included in the information label.

In one aspect of the present invention, the information label is provided on any one of the surfaces constituting the structure, and the information reading portion is provided so as to face the surface.
With this configuration, a moving object position estimation system can be appropriately realized.

In one aspect of the present invention, the information label is provided on a floor or ceiling surface of the compartment, and the information reading unit is provided facing the floor or ceiling surface.
According to this configuration, by providing the information label on the floor or ceiling surface, it is possible to prevent obstacles from getting between the information label and the information reading unit when the information label is detected by the information reading unit, compared to when the information label is provided on a wall surface, etc. In addition, when the information reading unit is a camera, if the information label is provided on the side of a wall surface, etc., surrounding people in the section may be captured when the information label is detected by the camera. In contrast, by providing the information label on the floor or ceiling surface, it is possible to prevent surrounding people from being captured when the information label is detected, ensuring privacy.

In one aspect of the present invention, in the mobile object position estimation system of the present invention, the position estimation unit estimates the section in which the mobile object is located based on the order in which the section identification information set on each of the pair of information labels is read by the information reading unit.
According to this configuration, the section in which the moving object is located is estimated based on the order in which the section identification information set on each of the pair of information labels is read by the information reading unit. For example, by reading the section identification information set on the information label provided on one side of the boundary and then reading the section identification information set on the information label provided on the other side, it can be estimated that the moving object has moved across the boundary. This makes it easier and more reliable to grasp the moving direction of the moving object and the section in which it is located.

In one aspect of the present invention, the mobile body position estimation system of the present invention further includes a processing execution unit provided in the mobile body and executing a predetermined processing when the mobile body is located in the section, and an information storage unit that stores processing result information executed by the processing execution unit in association with the section in which the mobile body is located as estimated by the position estimation unit.
According to this configuration, a process execution unit provided in the mobile object can execute a predetermined process when the mobile object is located in a section. Processing result information executed by the predetermined process is stored in the information storage unit in association with the section in which the mobile object is located. In this way, when a predetermined process is executed in multiple sections within a structure, the processing result for each section can be obtained in association with the section.

The mobile body position estimation method of the present invention is a mobile body position estimation method for estimating the position of a mobile body in a structure having a plurality of sections, and includes the steps of: providing a pair of information labels on both sides of a boundary between the sections, the pair of information labels having section identification information capable of identifying the section set to different values on either side of the boundary so as to be readable from the outside; detecting the information labels with an information reading unit provided on a mobile body capable of moving between the plurality of sections, and reading the section identification information set on the information label in a non-contact manner; and estimating the section in which the mobile body is located based on the section identification information set on the information label read by the information reading unit.
According to this configuration, a pair of information labels are provided at the boundary between the partitions. Each of the pair of information labels is provided on both sides of the boundary, i.e., on the partition side of the boundary and on the opposite side of the partition. In each information label, partition identification information capable of identifying the partition is set to different values on either side of the boundary so as to be readable from the outside. The mobile body capable of moving through a plurality of partitions is provided with an information reading unit. The information reading unit is capable of detecting the information label and reading the partition identification information set on the information label in a non-contact manner. As a result, when the mobile body moves from one side of the boundary to the other side, the information reading unit at the boundary reads the partition identification information set on each of the information label on one side and the information label on the other side, and estimates the partition in which the mobile body is located based on the partition identification information. At this time, the information labels provided on both sides of the boundary have section identification information set to different values on either side of the boundary, so that it is easy to estimate the section in which the moving body is located, for example, by determining whether or not the moving body has crossed the boundary based on changes in the section identification information on the information labels that are read in sequence.
In this way, the section in which the moving object is located is estimated by detecting the information label provided at the boundary of the section and reading the section identification information set thereon, so that even if the section is large compared to the size of the moving object, the information label is detected when the moving object moves from one side of the boundary to the other, thereby making it possible to reliably estimate the section in which the moving object is located.
In addition, when implementing the above-mentioned mobile object position estimation system, it is sufficient to provide information labels only at the boundaries of the sections on the structure side and provide an information reading unit on the mobile object side. Therefore, it is possible to reduce the number of information labels to be installed and estimate the section in which the mobile object is located with a simple configuration.
As a result, it is possible to reliably estimate the section S in which the moving object is located with a simple configuration.

The present invention makes it possible to reliably estimate the area in which a moving object is located with a simple configuration.

1 is a diagram showing an example of a floor plan of a structure in which a mobile object position estimation system according to an embodiment of the present invention is used; 1 is a block diagram showing a functional configuration of a moving object position estimation system according to an embodiment of the present invention. 2 is a side view showing an example of a moving body whose position is estimated by the moving body position estimation system. FIG. 11 is a diagram showing an example of a display of a measurement result of a radio wave environment by a processing execution unit of the mobile object position estimation system. FIG. 4 is a flowchart showing a flow of a mobile object position estimation method executed by a mobile object position estimation unit. 5 is a flowchart showing the flow of a radio wave environment detection process executed by a process execution unit of the mobile body. FIG. 13 is a diagram showing a modified example of the moving object position estimation system according to the embodiment of the present invention. FIG. 11 is a diagram showing another modified example of the moving object position estimation system according to the embodiment of the present invention.

Below, the mobile object position estimation system and mobile object position estimation method according to the present invention will be described with reference to the attached drawings.

FIG. 1 shows an example of a building in which a mobile object position estimation system according to an embodiment of the present invention is used.
1, a mobile object position estimation system 10 is used in a structure 1 having a plurality of sections S. The structure 1 is, for example, a hospital or a nursing care facility. The structure 1 may also be a building, a school, a factory, a hotel, a karaoke booth, or the like, so long as it has a plurality of sections S.
In this embodiment, the multiple sections S include, for example, rooms Sr used as rooms (sickrooms) for patients or those receiving care. The multiple rooms Sr are arranged side by side along a corridor C, which is an area that does not belong to the sections S. Each room Sr is separated from the other sections S by a wall W that surrounds it. Each room Sr has an entrance/exit G at a boundary with the corridor C, that is, at a portion facing the corridor C. In addition, the entrance/exit G includes an entrance/exit G (G1) provided as a boundary between some of the multiple sections S adjacent to each other (Sr1, Sr2) in FIG. 1, so as to communicate the rooms Sr (Sr1, Sr2).
In this way, each section S is configured to be accessible to adjacent sections S and to corridors C, which are areas not belonging to any section S, via entrances G.

The mobile object position estimation system 10 estimates the position of the mobile object 20. The mobile object position estimation system 10 estimates in which section S the mobile object 20 is located, rather than the absolute position of the mobile object 20 in terms of position coordinates. That is, in this embodiment, it is estimated in which room Sr the mobile object 20 is located, or whether it is not located in any room Sr and is located in a corridor C. Here, the section S is not limited to a room Sr, and can also be set to, for example, a lobby, a dining room, an examination room, an examination room, etc.

FIG. 2 is a block diagram showing a functional configuration of the moving object position estimation system according to the embodiment of the present invention.
As shown in FIG. 2, the mobile object position estimation system 10 includes an information label M, a mobile object 20, and a management device 30.

1 , the information labels M are provided in the outer periphery of each section S, i.e., at the boundary portion that forms the boundary between the section S and other sections S and the corridor C, in a plurality of sections S. In this embodiment, the information labels M are provided at the entrances G of each room Sr. In other words, the information labels M are provided at the boundary portion between each room Sr as the section S and the corridor C.
In this embodiment, the information label M is also provided at the boundary between the room Sr1 as the section S and the adjacent room Sr2 across the entrance G (G1).
In this embodiment, at the entrance G of each section S, a pair of information labels M are provided on both sides of the boundary, i.e., on the section S side of the boundary and on the opposite side of the section S.

Each information label M includes information that can be read from the outside, such as section identification information that can identify the section S in which the information label M is provided.
In this embodiment, the section identification information includes, for example, an identifier capable of identifying the section S and section inside/outside identification information. The section identification information is set by combining these identifiers and the section inside/outside identification information so that the section S (and the corridor C) in which the information label M is provided can be uniquely identified.
The identifier is, for example, an identification number such as a room number, a room name, etc., assigned to each section S (room Sr).
The inside/outside section identification information relates to a pair of information labels M provided at the entrance/exit G of each section S (room Sr), and enables identification of whether the position of the information label M is inside or outside the entrance/exit G of the section S (room Sr).
More specifically, at the entrance G of each room Sr to the corridor C, the section identification information of the information label Min placed inside the room Sr includes an identifier and section inside/outside identification information indicating the inside of the room Sr. At the entrance G of each room Sr, the section identification information of the information label Mout placed outside the room Sr includes an identifier of the room Sr corresponding to the entrance G, which is the same as the identifier of the information label Min placed inside, and section inside/outside identification information indicating the outside of the room Sr (corridor C side).
Furthermore, at the entrance G (G1) of each room Sr (Sr1, Sr2) to the other rooms Sr (Sr1, Sr2), the partition identification information of the information label Min-1 arranged inside the room Sr1, for example, includes the identifier of the room Sr1 and partition inside/outside identification information indicating that it is inside the room Sr1, as described above. On the other hand, outside the entrance G (G1) of the room Sr1, since that part is located in the room Sr2 adjacent to the room Sr1, an information label Min-2 is arranged, which includes the identifier of the room Sr2 and partition inside/outside identification information indicating that it is inside the room Sr2 as partition identification information.
In addition, for example, the information label M may include a user name (patient name), an ID number for identifying the user, or the like, as information indicating the user of the room Sr.

In this embodiment, the corridor C is positioned as an area that does not belong to the section S. For this reason, a unique identifier is not assigned to the corridor C. In such a case, when an information label Mout is detected at the entrance/exit G between the corridor C and the room Sr, which corresponds to the entrance/exit G, the section identification information of the information label Mout includes section inside/outside identification information indicating that it is outside the room Sr, so that the moving object 20 is identified as being not located in any section S (room Sr) but in the corridor C.
Alternatively, the corridor C may be treated as a section S and included in the section S, and a unique identifier may be provided for the corridor C, and the section S in which the moving object 20 is located may be determined to be the corridor C using the identifier, similar to the room Sr. In such a case, since it is possible to identify whether the information label M is provided inside or outside the room Sr (i.e., the corridor C) using the identifier itself, the section identification information does not need to include inside/outside section identification information.

In this way, in this embodiment, the partition identification information includes an identifier and partition inside/outside identification information, and the combinations of these values are set so that they are different on either side of each boundary.

FIG. 3 is a side view showing an example of a moving body whose position is estimated by the moving body position estimation system.
The information label M as described above is, for example, a two-dimensional code. The information label M is provided on any surface constituting the structure 1. As shown in Figs. 1 and 3, the information label M is provided on the floor surface F or the ceiling surface of the entrance/exit G. In this embodiment, the information label M is provided on the floor surface F at the center in the width direction of the entrance/exit G. The information label M is in the form of a thin sheet or film, and is attached to the floor surface by an adhesive, a bonding agent, a double-sided adhesive tape, or the like. The information label M is, for example, made of a metal plate on whose surface a two-dimensional code is printed, and may be fixed to the floor surface by screws or the like, or buried in the floor with its surface exposed to the floor surface.

The mobile unit 20 is manually pushed and moved by staff, such as nursing staff at a hospital or nursing facility, and management staff of the structure 1, to carry out their respective duties, such as treatment. The mobile unit 20 includes a cart body 21, an information reading unit 22, and a processing device 23.
The cart body 21 has a plurality of wheels 21r, and can be moved on the floor surface F by a staff member pushing it with an external force. In this embodiment, the plurality of wheels 21r are casters or the like that can freely change direction, and the moving body 20 has a maneuverable structure that can freely change the direction of travel in all directions of 360° without changing its posture.

The information reading unit 22 detects the information label M from the outside. In this embodiment, the information reading unit 22 is a camera. The information reading unit 22 is provided so as to face the surface constituting the structure 1 on which the information label M is provided. In particular, in this embodiment, the information reading unit 22 is provided so as to face the floor surface F on which the information label M is provided at a vertical interval. The information reading unit 22 is provided, for example, on the underside of the cart body 21. The information reading unit 22 is provided so as to face vertically downward to take an image. In the case where the information label M is provided on the ceiling surface, it is desirable to provide the information reading unit 22, for example, on the upper surface of the cart body 21, facing the ceiling surface at a vertical interval, and facing vertically upward to take an image.
The information reading unit 22 is constantly operating while the mobile object 20 is in use, and when an image of the information label M is photographed, the information reading unit 22 outputs the photographed image data to the processing device 23. The information reading unit 22 is capable of contactlessly reading the section identification information set on the information label M. When the mobile object 20 crosses the boundary portion, i.e., the entrance/exit G, and moves from the outside to the inside of the section S, or from the inside to the outside, the information reading unit 22 sequentially detects the information labels M on one side of the entrance/exit G and the information labels M on the other side of the entrance/exit G, which are provided on the floor surface F of the entrance/exit G, and reads the section identification information set thereon in a contactless manner.

The processing device 23 is a computer device that executes processing based on a predetermined program. The processing device 23 includes a position estimation unit 24, a processing execution unit 25, an information storage unit 28, and an information transmission unit 29.

The position estimation unit 24 estimates the section S in which the moving body 20 is located based on the image data of the information label M photographed and output by the information reading unit 22. The position estimation unit 24 estimates the section S in which the moving body 20 is located based on section identification information that can identify each section S and is set on the information label M detected by the information reading unit 22.

When the moving body 20 moves across the boundary of a section S, the position estimation unit 24 determines whether the moving body 20 has crossed the boundary based on the change in the section identification information of the sequentially detected information labels M, based on the order in which the pair of information labels M provided at the entrance/exit G of each section S are detected, and estimates the position of the moving body 20.
For example, when an information label Mout including zone inside/outside identification information indicating the outside of the room Sr is detected at the entrance G of each room Sr, and then an information label Min including zone inside/outside identification information indicating the inside of the room Sr is detected, it is presumed that the moving body 20 has moved from the corridor C to the room Sr across the boundary, i.e., the entrance G, and is now located inside the room Sr. Also, when an information label Min including zone inside/outside identification information indicating the inside of the room Sr is detected at the entrance G of each room Sr, and then an information label Mout including zone inside/outside identification information indicating the outside of the room Sr is detected, it is presumed that the moving body 20 has moved from the room Sr across the entrance G to the corridor C, and that the moving body 20 is not located in any of the sections S (rooms Sr), but is outside the room Sr, i.e., is now located in the corridor C.

As already described, in the case where an entrance G (G1) is provided to connect adjacent rooms Sr (Sr1, Sr2) to each other, an information label Min-1 indicating that the identifier is inside the room Sr1 is provided on the entrance G (G1) on the room Sr1 side, and an information label Min-2 indicating that the identifier is inside the room Sr2 is provided on the room Sr2 side. In this case, if the position estimation unit 24 detects the information label Min-2 after detecting the information label Min-1, it estimates that the moving object 20 has moved from the room Sr1 across the boundary, i.e., the entrance G (G1), into the room Sr2 and is located in the room Sr2. If the position estimation unit 24 detects the information label Min-1 after detecting the information label Min-2, it estimates that the moving object 20 has moved from the room Sr2 across the entrance G (G1) into the room Sr1 and is located in the room Sr1.
In this manner, the position estimation unit 24 estimates the section S in which the mobile object 20 is currently located. The position estimation unit 24 outputs information relating to this estimated section S to the outside as section information. When the position estimation unit 24 estimates that the mobile object 20 is located in the corridor C, it outputs, as the section information, that the mobile object 20 is not located in any section S but is located in the corridor C.

In the information storage unit 28 shown in FIG. 2, the latest section identification information is updated and stored every time the information label M is detected and the section identification information is read.
In other words, when the position estimation unit 24 detects a new information label M, it updates and saves the section identification information read from the newly detected information label M, replacing the section identification information of the moving body 20 that it had stored.

The process execution unit 25 executes a predetermined process when the mobile object 20 is located in a section S (room Sr). In this embodiment, the process execution unit 25 measures the radio wave environment (e.g., the strength of radio waves, etc.) in the section S in order to evaluate the ease of connection of a wireless LAN or a medical telemeter in each section S (room Sr). For this reason, the process execution unit 25 includes an acceleration sensor 26 and a radio wave measurement unit 27.
The acceleration sensor 26 detects the acceleration occurring in the moving body 20. If the acceleration detected by the acceleration sensor 26 is zero, the moving body 20 is at a standstill.
The radio wave measurement unit 27 executes a process of measuring the radio wave environment based on a predetermined program. The radio wave measurement unit 27 executes a process of measuring the radio wave environment when the acceleration detected by the acceleration sensor 26 is 0, that is, when the mobile unit 20 is stopped.

The processing device 23 associates and stores in the information storage unit 28 the section information regarding the section S in which the moving body 20 is located, estimated by the position estimation unit 24, and the processing result information (measurement results of the radio wave environment) executed by the processing execution unit 25.
The information transmitting unit 29 transmits the processing result information executed by the processing executing unit 25 and the associated section information of the moving body 20 estimated by the position estimating unit 24, which are stored in the information storage unit 28, to the management device 30. The information transmitting unit 29 may transmit the processing result information executed by the processing executing unit 25 and the associated section information of the moving body 20 estimated by the position estimating unit 24 in real time to the management device 30 via an external network 100. The external network 100 is, for example, a wireless communication network such as a wireless LAN that can communicate with the information transmitting unit 29 wirelessly. The information transmitting unit 29 may accumulate, in the information storage unit 28, the processing result information executed by the processing executing unit 25 and the section information of the mobile object 20 estimated by the position estimating unit 24, which is associated therewith, and after circulating through the multiple sections S and performing processing in the multiple sections S, transmit the processing results in each of the multiple sections S (the processing result information executed by the processing executing unit 25 and the section information of the mobile object 20 estimated by the position estimating unit 24, which is associated therewith) collectively to the management device 30. In this case, data may be transmitted from the mobile object 20 to the management device 30 by wired transmission via a cable (not shown) or data may be transferred via various portable memory devices.

The management device 30 is connected to an external network 100 wirelessly or by wire. The management device 30 manages the processing results for multiple sections S transmitted from the mobile object 20 (processing result information executed by the processing execution unit 25 and section information of the mobile object 20 estimated by the position estimation unit 24, which is associated with the processing result information). The management device 30 is a computer device, and executes a predetermined process based on a predetermined program. The management device 30 functionally comprises an information receiving unit 31, a processing unit 33, an information storage unit 35, and an information output unit 37.

The information receiving unit 31 receives information transmitted from the mobile unit 20 via the external network 100.

The processing unit 33 executes a predetermined process based on the information received by the information receiving unit 31. The processing unit 33 stores, in the information storage unit 35, the processing result information (measurement result of the radio wave environment) performed in each section S of the mobile body 20 and the section information indicating the section S in which the mobile body 20 was located when the measurement was performed, in a state in which these are associated with each other.
The information storage unit 35 stores, for example, graphical information such as a floor map showing the arrangement of a plurality of sections S in the structure 1. The processing unit 33 links the section information showing the section S in which the mobile object 20 was located when the measurement was performed with the graphical information such as the floor map showing the arrangement of the plurality of sections S, thereby generating display data for displaying the measurement results of the radio wave environment in each section S displayed on the floor map by color-coding, text information, etc., as shown in Fig. 4 .

As shown in FIG. 2, the information output unit 37 transmits the display data generated by the processing unit 33 to an external terminal 40 via an external network 100 .
The external terminal 40 is a personal computer, a tablet device, a smartphone, a mobile phone, etc., and can be connected to the external network 100 wirelessly or by wire. The external terminal 40 has a display unit 41 that displays image information based on the display data transmitted from the information output unit 37. When the external terminal 40 receives the display data from the management device 30 via the external network 100, it displays floor map information based on the received data on the display unit 41, as shown in FIG.
The mobile object position estimation system may be configured not to include the external terminal 40, and instead the management device 30 may include a display unit such as a display, and the information output unit 37 may directly display the display data on the display unit.

FIG. 5 is a flowchart showing the flow of a mobile object position estimation method executed by the position estimation unit 24 of the mobile object 20. As shown in FIG.
As shown in FIG. 5, when the information reading unit 22 photographs the information label M, the position estimation unit 24 acquires image data of the information label M output from the information reading unit 22 (step S101).
Next, the position estimation unit 24 extracts an information label M (two-dimensional code) from the image based on the image data by using existing image processing techniques, etc. (Step S102). If the extraction of the information label M fails, the process returns to Step S101 and the process is repeated.

When the information label M is extracted and detected in step S102, the position estimation unit 24 reads the partition identification information from the information label M, and further extracts from the partition identification information an identifier such as a room number that identifies the partition S (room Sr) and partition inside/outside identification information that indicates whether the information label M is inside or outside the partition S (room Sr) (step S103).

Next, the currently acquired partition identification information is compared with the partition identification information that was read from the previously detected information label M and that is stored in the information storage unit 28. More specifically, the identifier and partition inside/outside identification information extracted from the partition identification information read this time in step S103 are compared with the identifier and partition inside/outside identification information extracted from the previously read partition identification information (step S104).
Then, it is first determined whether the identifier identifying the section S and the section inside/outside identification information indicating whether the section S is inside or outside the section S match between the previous section identification information and the current section identification information (step S105).
If both the identifier and the inside/outside section identification information match (Yes in step S105), it is determined that the moving object 20 is located in the same section S or corridor C as last time and has not moved to another section S or corridor C, and the process proceeds to step S120. In step S120, the section information, which is information about the section S in which the moving object 20 is currently located, is not updated, and the section identification information of the section S set in the latest information label M newly detected this time is stored in the information storage unit 28, and the section identification information is updated.
In step S105, if at least one of the identifier such as a room number that identifies the section S and the section inside/outside identification information that indicates whether the section S is inside or outside does not match (No in step S105), proceed to step S106.

In step S106, it is determined whether the section S indicated by the identifier included in the currently acquired section identification information matches the section S indicated by the identifier included in the previously acquired section identification information.
As a result, if the section S indicated by the current identifier matches the section S indicated by the previous identifier (Yes in step S106), the process proceeds to step S107.

In step S105, it is determined that at least one of the identifier and the zone inside/outside identification information is different between the previously acquired zone identification information and the currently acquired zone identification information. Therefore, in step S106, which is reached after step S105, if it is determined that the zone S indicated by the currently acquired identifier matches the zone S indicated by the previously acquired identifier, it is considered that the previously acquired zone inside/outside identification information is different from the currently acquired zone inside/outside identification information. Therefore, in step S107, it is determined whether the currently acquired zone inside/outside identification information is inside the zone S. More specifically, in step S107, it is determined whether the previously acquired zone inside/outside identification information indicates the outside and the currently acquired zone inside/outside identification information indicates the inside, or not, that is, whether the previously acquired zone inside/outside identification information indicates the inside and the currently acquired zone inside/outside identification information indicates the outside.
As a result, if the currently acquired inside/outside zone identification information is for the inside of zone S (Yes in step S107), it is determined that the mobile body 20 has entered zone S, i.e., the room Sr corresponding to the currently acquired identifier, from an area whose inside/outside zone identification information is outside zone S, i.e., the corridor C in this embodiment (step S108).
Furthermore, the process proceeds to step S120, where the section information is updated to the section S (room Sr) in which the moving body 20 is currently located, and the section identification information set in the latest information label M extracted in step S103 is stored in the information storage unit 28, thereby updating the section identification information.

Furthermore, in step S107, if it is determined that the currently acquired inside/outside section identification information is not inside section S, i.e., outside section S (No in step S107), it is determined that the moving body 20 has left section S, i.e., the room Sr corresponding to the identifier, into section S whose inside/outside section identification information is outside section S, i.e., the corridor C in this embodiment (step S109).
Furthermore, proceeding to step S120, the section information is updated to indicate that the moving object 20 is not located in any section S but is located in the corridor C, and the section identification information set in the latest information label M extracted in step S103 is stored in the information storage unit 28, thereby updating the section identification information.

If it is determined in step S106 that the section S indicated by the identifier acquired this time does not match the section S indicated by the identifier acquired last time (No in step S106), it is possible that the inside/outside section identification information is either the same or different between the previous time and the current time.
Here, the fact that both the identifier and the zone inside/outside identification information are different between the previous time and the current time indicates, for example, a case where the mobile object moves from the outside of an entrance/exit G of a certain room Sr to the inside of an entrance/exit G of another room Sr, and such a movement is not considered within the scope of normal operation of the mobile object position estimation system. In other words, the fact that both the identifier and the zone inside/outside identification information are different indicates that the information label M could not be correctly recognized due to some factor, and is an abnormal operation, so it will not be described in detail in this embodiment.
In other words, if it is determined in step S106 that the section S indicated by the identifier acquired this time does not match the section S indicated by the identifier acquired last time, in this embodiment, it is assumed that the inside/outside section identification information matches between the previous time and the current time, and the process proceeds to step S110.

In step S110, it is determined whether the zone inside/outside identification information for both the previous and current times is inside or not, i.e., whether both are outside.
As a result, if the inside/outside section identification information indicates inside both last time and this time (Yes in step S110), since the section S indicated by the identifier is different between last time and this time as described above, it is determined that the moving body 20 has moved from one room Sr (Sr1, Sr2) to another room Sr (Sr1, Sr2) through the entrance/exit G (G1) without passing through the corridor C (step S111).
Furthermore, the process proceeds to step S120, where the partition information is updated to the partition S (room Sr1 or room Sr2) in which the moving body 20 is currently located, and the partition identification information set in the latest information label M extracted in step S103 is stored in the information storage unit 28, thereby updating the partition identification information.

In addition, in step S110, if the zone inside/outside identification information is not the inside both the previous time and the current time (No in step S110), it is considered that the zone inside/outside identification information is the outside both the previous time and the current time. In this case, it is determined that the moving object 20 has successively detected information labels M provided on the outside of different rooms Sr while moving along the corridor C, and it is estimated that the current position of the moving object 20 is the corridor C.
Further, the process proceeds to step S120, where the section information is not updated, but the section identification information set in the information label M detected in step S103 is stored in the information storage unit 28 as the current position of the moving body 20, and the section identification information is updated.

After going through the above-mentioned processes, the position estimation unit 24 outputs the latest section information to the outside as the section S in which the mobile object 20 is currently located.
The above series of processes is repeatedly executed at predetermined time intervals until the use of the moving body 20 is completed.

FIG. 6 is a flowchart showing the flow of the radio wave environment detection process executed by the process execution unit 25 of the mobile unit 20.
As shown in FIG. 6, the process execution unit 25 monitors the acceleration of the moving object 20 detected by the acceleration sensor 26 (step S201).

Next, it is determined whether or not the moving body 20 is stationary based on the detected acceleration (step S202). If the detected acceleration is not 0, it is determined that the moving body 20 is not stationary, and the process returns to step S201 and is repeated.
In step S202, if the detected acceleration is 0, it is determined that the moving object is in a stationary state.
In this case, the process execution unit 25 refers to the section information indicating in which section S the current location of the mobile object 20 estimated by the position estimation unit 24 is located (step S203).

Next, the process execution unit 25 determines whether or not the current position of the mobile object 20 is within a preset target area for measuring the radio wave environment (step S204).
As a result, if the current position of the mobile object 20 is not within the target area for measuring the radio wave environment (No in step S204), the process returns to step S201 and is repeated.
If the current location of the mobile body 20 is within a predetermined target area for measuring the radio wave environment (Yes in step S204), the processing execution unit 25 executes processing to measure the radio wave environment at that location, and transmits the measurement results to the management device 30 in association with the section information of the mobile body 20 (step S205).

The mobile body position estimation system 10 as described above is a mobile body position estimation system 10 that estimates the position of a mobile body 20 in a structure 1 having a plurality of sections S, and includes a pair of information labels M provided on both sides of the boundary of the sections S, in which section identification information capable of identifying the sections S is set to different values on either side of the boundary and can be read from the outside, an information reading unit 22 provided on a mobile body 20 that can move through the plurality of sections S, and capable of detecting the information label M and reading the section identification information set on the information label M in a non-contact manner, and a position estimation unit 24 that estimates the section S in which the mobile body 20 is located based on the section identification information set on the information label M read by the information reading unit 22.
According to this configuration, a pair of information labels M are provided at the boundary of the section S. Each of the pair of information labels M is provided on both sides of the boundary, i.e., on the side of the boundary of a certain section S and on the opposite side of the boundary of the section S. In each information label M, section identification information capable of identifying the section S is set to different values on either side of the boundary so as to be readable from the outside. The moving body 20 capable of moving through a plurality of sections S is provided with an information reading unit 22. The information reading unit 22 is capable of detecting the information label M and reading the section identification information set on the information label M in a non-contact manner. As a result, when the moving body 20 moves from one side of the boundary to the other side, the information reading unit 22 reads the section identification information set on each of the information label M on one side and the information label M on the other side at the boundary, and estimates the section S in which the moving body 20 is located based on the section identification information. At this time, the information labels M provided on both sides of the boundary have section identification information set to different values on either side of the boundary, so that it is easy to estimate the section S in which the moving body 20 is located, for example, by determining whether the moving body 20 has crossed the boundary based on changes in the section identification information on the information labels M that are read sequentially.
In this way, the section S in which the moving body 20 is located is estimated by detecting the information label M provided at the boundary of the section S and reading the section identification information set thereon, so that even if the section S is large compared to the size of the moving body 20, the information label M is detected when the moving body 20 moves from one side of the boundary to the other side. This makes it possible to reliably estimate the section S in which the moving body 20 is located.
Moreover, when realizing the above-mentioned mobile object position estimation system 10, it is sufficient to provide the information labels M only at the boundaries of the sections S on the structure 1 side, and to provide the information reading unit 22 on the mobile object 20 side. Therefore, it is possible to reduce the number of information labels M to be installed, and it is possible to estimate the section S in which the mobile object 20 is located with a simple configuration.
As a result, it is possible to reliably estimate the section S in which the moving body 20 is located with a simple configuration.

A mobile body position estimation system that estimates the section S in which the mobile body 20 is located, as described above, can also be configured to install, for example, different BLE beacons in each section S, identify the BLE beacon corresponding to the strongest received signal, and estimate that the mobile body 20 is located in the section S corresponding to that BLE beacon.
However, in such a mobile object position estimation system, for example, when a signal of a BLE beacon provided in a certain room Sr reaches as far as a corridor C, the mobile object 20 may be erroneously estimated to be located in the room Sr corresponding to the BLE beacon by receiving the signal, even though the mobile object 20 is located in the corridor C. Alternatively, when a signal of a BLE beacon provided in a certain room Sr reaches as far as another adjacent room Sr, the room Sr in which the mobile object 20 is located may be erroneously estimated depending on the strength of the signal.
In contrast to this, the moving object position estimation system 10 in the present embodiment as described above can more reliably estimate the section S in which the moving object 20 is located.

It is also possible to realize a mobile object position estimation system that estimates the section S in which the mobile object 20 is located by using SLAM (Simultaneous Localization and Mapping) technology.
However, to realize SLAM technology, the moving body 20 needs to be equipped with a large-scale system including a laser range finder and a mechanism for analyzing the output of the range finder to generate a local map.
Furthermore, in SLAM technology, the current position of the moving body 20 is estimated by comparing the generated local map with a global map registered in advance. Therefore, for example, if new furniture or equipment is introduced into the area S and the layout or floor plan is changed, the global map needs to be regenerated, which can make operation difficult.
In contrast, the mobile object position estimation system 10 in the present embodiment described above can be realized with a simpler configuration than when SLAM technology is applied, and even if the layout or floor plan within the area S is changed, no special measures are required, making it easy to operate.

In particular, in this embodiment, the moving body 20 is a cart that is pushed by a user and has a maneuverable structure that allows it to freely change its direction of travel in all directions of 360° without changing its posture.
According to the above-described mobile body position estimation system 10, even when targeting such a mobile body 20, it is possible to reliably estimate the section S in which the mobile body 20 is located with a simple configuration.

A pair of information labels M are provided at the entrance G to the section S, one inside the section S and the other outside the section S.
According to this configuration, by providing a pair of information labels M at the entrance/exit G to the area S, the information labels M can be reliably detected when the mobile object 20 enters or exits the area S through the entrance/exit G.

The section identification information also includes an identifier capable of identifying the section S, and section inside/outside identification information capable of identifying whether the information label M is provided inside or outside the entrance/exit G of the section S.
With this configuration, it is possible to easily estimate which section S the mobile object 20 is located in, and whether it is located outside or inside the entrance/exit.
In particular, even in cases where an area set as section S and an area not set as section S, such as corridor C in the above embodiment, are adjacent to each other via an entrance/exit G, and the moving body 20 moves across this entrance/exit G, the moving body position estimation system 10 can be applied by providing an information label Mout on the side of the entrance/exit G on the area not set as section S that is set with information indicating that it is outside as inside/outside section identification information.

Further, the information label M has a two-dimensional code in which the section identification information is set.
According to this configuration, by using a two-dimensional code for the information label M, it is possible to reduce the space required for installing the information label M. In addition, since a two-dimensional code can register a large amount of information, it is possible to include various information on the information label M.

The information label M is provided on any one of the surfaces constituting the structure 1, and the information reading unit 22 is provided so as to face that surface.
With this configuration, the moving object position estimation system 10 can be appropriately realized.

The information label M is provided on the floor surface F or the ceiling surface of the section S, and the information reading unit 22 is provided facing the floor surface F or the ceiling surface.
According to this configuration, by providing the information label M on the floor surface F or the ceiling surface, it is possible to prevent obstacles, etc. from getting between the information label M and the information reading unit 22 when the information label M is detected by the information reading unit 22, compared to a case where the information label M is provided on a wall surface, etc. In addition, when the information reading unit 22 is a camera, if the information label M is provided on the side of a wall surface, etc., surrounding people, etc. in the section S may be captured when the information label M is detected by the camera. In contrast, by providing the information label M on the floor surface F or the ceiling surface, it is possible to prevent surrounding people, etc. from being captured when the information label M is detected, and privacy is ensured.

In addition, the position estimation unit 24 estimates the section S in which the moving object 20 is located based on the order in which the section identification information set on each of the pair of information labels M is read by the information reading unit 22.
According to this configuration, the section S in which the moving object 20 is located is estimated based on the order in which the section identification information set on each of the pair of information labels M is read by the information reading unit 22. For example, by reading the section identification information set on each of the information labels M provided on one side of the boundary and then reading the section identification information set on each of the information labels M provided on the other side, it can be estimated that the moving object 20 has moved across the boundary. This makes it possible to more easily and reliably grasp the moving direction of the moving object 20 and the section S in which it is located.

In addition, the mobile body position estimation system 10 further includes a processing execution unit 25 that is provided in the mobile body 20 and executes a predetermined processing when the mobile body 20 is located in a section S, and an information storage unit 28 that stores processing result information executed by the processing execution unit 25 in association with the section S in which the mobile body 20 is located as estimated by the position estimation unit 24.
According to this configuration, the processing execution unit 25 provided in the mobile body 20 can execute a predetermined process when the mobile body 20 is located in the section S. Processing result information executed by the predetermined process is stored in the information storage unit 28 in association with the section S in which the mobile body 20 is located. As a result, when a predetermined process is executed in multiple sections S within the structure 1, the processing result for each section S can be obtained in association with the section S.

In addition, the mobile body method as described above is a mobile body method for estimating the position of a mobile body 20 in a structure 1 having a plurality of sections S, and includes the steps of providing a pair of information labels M on both sides of the boundary of the section S, in which section identification information capable of identifying the section S is set to different values on either side of the boundary and can be read from the outside, detecting the information labels with an information reading unit 22 provided on the mobile body 20 capable of moving between the plurality of sections S, and reading the section identification information set on the information labels M in a non-contact manner, and estimating the section S in which the mobile body 20 is located based on the section identification information set on the information labels M read by the information reading unit 22.
According to this configuration, a pair of information labels M are provided at the boundary of the section S. Each of the pair of information labels M is provided on both sides of the boundary, i.e., on the side of the boundary of a certain section S and on the opposite side of the boundary of the section S. In each information label M, section identification information capable of identifying the section S is set to different values on either side of the boundary so as to be readable from the outside. The moving body 20 capable of moving through a plurality of sections S is provided with an information reading unit 22. The information reading unit 22 is capable of detecting the information label M and reading the section identification information set on the information label M in a non-contact manner. As a result, when the moving body 20 moves from one side of the boundary to the other side, the information reading unit 22 reads the section identification information set on each of the information label M on one side and the information label M on the other side at the boundary, and estimates the section S in which the moving body 20 is located based on the section identification information. At this time, the information labels M provided on both sides of the boundary have section identification information set to different values on either side of the boundary, so that it is easy to estimate the section S in which the moving body 20 is located, for example, by determining whether the moving body 20 has crossed the boundary based on changes in the section identification information on the information labels M that are read sequentially.
In this way, the section S in which the moving body 20 is located is estimated by detecting the information label M provided at the boundary of the section S and reading the section identification information set thereon, so that even if the section S is large compared to the size of the moving body 20, the information label M is detected when the moving body 20 moves from one side of the boundary to the other side. This makes it possible to reliably estimate the section S in which the moving body 20 is located.
Moreover, when realizing the above-mentioned mobile object position estimation system 10, it is sufficient to provide the information labels M only at the boundaries of the sections S on the structure 1 side, and to provide the information reading unit 22 on the mobile object 20 side. Therefore, it is possible to reduce the number of information labels M to be installed, and it is possible to estimate the section S in which the mobile object 20 is located with a simple configuration.
As a result, it is possible to reliably estimate the section S in which the moving body 20 is located with a simple configuration.

(Modification of the embodiment)
The mobile object position estimation system and mobile object position estimation method of the present invention are not limited to the above-described embodiment explained with reference to the drawings, and various modifications are possible within the technical scope thereof.
For example, in the above embodiment, the information label M is provided at the entrance/exit G of each section S, but for example, as shown in Figure 7, multiple information labels M may be provided lined up in the width direction of the entrance/exit G.
According to this configuration, by arranging multiple information labels M in a line in the width direction of the entrance/exit G, the information labels M can be more reliably detected when the mobile object 20 enters or exits the section S through the entrance/exit G.

(Other Modifications)
In addition, in the above embodiment, the information label M is read by a camera serving as the information reading unit 22, but, for example, the two-dimensional code of the information label M may be formed containing a substance that reacts to infrared rays, and the information reading unit 22 may read the information label M while irradiating it with infrared rays.
In addition, the information label M may be made of a transparent sheet material, and a two-dimensional code may be formed in a color that contrasts with the color of the floor surface F and can be read by the information reading unit 22 .
Also, an RFID tag may be used for the information label M, and the information reading unit 22 may be an RFID tag reader.
In this way, the information label M can be made less noticeable on the floor surface F.

In the above embodiment, the information label M is provided on the floor surface F or the ceiling surface of the section S, and the information reading unit 22 is provided facing the floor surface F or the ceiling surface, but essentially, the information label M may be provided on any surface of the structure 1. More specifically, for example, when the information reading unit 22 is an RFID tag reader, or when the information reading unit 22 is a camera but it is acceptable for surrounding people to be photographed by the camera, the information label M may be provided on a surface inside the structure 1 other than the floor surface F or the ceiling surface, for example, a side surface of a wall surface or the like.
8, when a wall W separating the sections Sr1 and Sr2 has a certain, sufficient thickness, an information label M may be provided on a surface Wt of the wall W that forms an entrance G and extends in the thickness direction, i.e., the direction connecting the sections Sr1 and Sr2. In this case, the center in the thickness direction of the surface Wt of the wall W is set as a boundary B, and an information label Min-1 corresponding to the section Sr1 may be provided on the section Sr1 side of the boundary B on the surface Wt, and an information label Min-2 corresponding to the section Sr2 may be provided on the section Sr2 side of the boundary B on the surface Wt.

In the above embodiment, the process execution unit 25 of the mobile object position estimation system 10 measures the radio wave environment, but the content of the process (task) performed by moving the mobile object 20 to each section S is not limited in any way. For example, the process execution unit 25 may measure other environments other than the radio wave environment, such as the brightness and noise of each section S. In addition, the mobile object position estimation system 10 may simply be used to manage the position of the mobile object 20. For example, the mobile object 20 may be a cleaning cart, and the cleaning status of each section S may be confirmed based on whether the mobile object 20 has moved to each section S. In addition to this, the mobile object position estimation system 10 may be used to confirm the distribution of distribution materials to each section S, the collection of collected materials, etc.

Furthermore, the section S is not necessarily a space separated by a wall or the like.
For example, in a large space such as a factory, information labels M such as two-dimensional codes may be placed in a strip around a section S (at the boundary with other sections S) so that the information labels M can be read when entering or exiting the section S.
Alternatively, for example, in a restaurant, office, etc. where multiple tables, desks, etc. are provided, an information label M may be provided in the section S where the tables and desks are provided, at a portion that can be accessed by the mobile object 20.

Furthermore, the moving body 20 is not limited to a hand-pushed cart, and the above configuration can also be applied to a moving body that is capable of moving by autonomous control.
In addition, the configurations described in the above embodiments can be selected or changed as appropriate without departing from the spirit of the present invention.

REFERENCE SIGNS LIST 1 Structure 28 Information storage unit 10 Mobile object position estimation system F Floor surface 20 Mobile object G, G1 Entrance/exit 22 Information reading unit M Information label 24 Position estimation unit S Section 25 Processing execution unit

Claims (9)

A mobile object position estimation system for estimating the position of a mobile object in a structure having a plurality of compartments, comprising:
a pair of information labels provided on both sides of a boundary of the partition, the information labels having partition identification information for identifying the partition that is set to different values on either side of the boundary and that is externally readable;
an information reading unit that is provided on a mobile body that can move among the plurality of zones, detects the information label, and is capable of reading the zone identification information set on the information label in a non-contact manner;
a location estimation unit that estimates the section in which the moving object is located based on the section identification information set in the information label read by the information reading unit;
Equipped with
The position estimation unit estimates the section in which the moving body is located based on the order in which the section identification information set on each of the pair of information labels is read by the information reading unit . The position estimation system according to claim 1 , wherein the pair of information labels are provided at entrances to the area, one inside the area and the other outside the area. The position estimation system according to claim 2 , wherein a plurality of the information labels are arranged in a line in a width direction of the entrance/exit. The location estimation system according to claim 2 or 3, wherein the zone identification information includes an identifier capable of identifying the zone, and zone inside/outside identification information capable of identifying whether the information label is provided inside or outside the entrance/exit of the zone. The position estimation system according to claim 1 , wherein the information label has a two-dimensional code in which the section identification information is set. The information label is provided on any surface constituting the structure,
The position estimation system according to claim 1 , wherein the information reading unit is provided so as to face the surface. The information label is provided on a floor or ceiling surface of the compartment,
The position estimation system according to claim 6 , wherein the information reading unit is provided facing the floor surface or the ceiling surface. a process execution unit provided in the moving body and configured to execute a predetermined process when the moving body is located in the section;
8. The position estimation system according to claim 1, further comprising: an information storage unit that stores processing result information executed by the processing execution unit in association with the section in which the moving body is located as estimated by the position estimation unit. A method for estimating a position of a moving object in a structure having a plurality of compartments, comprising:
a pair of information labels are provided on both sides of a boundary of the partition, the information labels having partition identification information that can identify the partition and that is set to different values on either side of the boundary so as to be readable from the outside;
detecting the information label with an information reading unit provided on a movable body capable of moving among the plurality of zones, and reading the zone identification information set on the information label in a non-contact manner;
estimating the section in which the moving object is located based on an order in which the section identification information set in each of the pair of information labels read by the information reading unit is read by the information reading unit ;
A mobile object position estimation method comprising:

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