JP7224882B2 - SENSOR SYSTEM, SENSOR SYSTEM CONTROL METHOD, AND CONTROL DEVICE - Google Patents

Description

The present invention relates to a sensor system configured from a plurality of sensor terminals and estimating the position of an object.

In the social environment, there is a demand for a technology for grasping the distribution and flow of objects such as people and goods in real time for the purposes of city planning and transportation planning, evacuation and rescue activities in the event of a disaster, and marketing. On the other hand, when acquiring information in public spaces, it is necessary to consider privacy. Therefore, there is a need for a technology capable of acquiring target position information without specifying information about an individual.

As a technique for realizing these, a sensor system that acquires position information of a target by measuring vibrations and sounds emitted by the target in space using a plurality of vibration sensors or acoustic sensors has been considered.

In order to obtain accurate target position information using a sensor system, it is necessary to calibrate the positions of a plurality of sensors in advance. Techniques described in Patent Literature 1 and Patent Literature 2 are known as techniques related to sensor system calibration.

In Patent Document 1, "A computer detects a human observation point for each sensor based on the output from each sensor, and calculates a human movement trajectory from the time change of the human observation point. Next, each sensor Two human observation points on the matched movement trajectory are extracted according to a predetermined rule, and are used to generate this movement trajectory. Inter-sensor constraints on the distance and relative angle of are computed for each set of sensors whose trajectories are matched, and the inter-sensor constraints are used to estimate the position and orientation of all sensors. is described.

In Patent Document 2, "The relative position between the sensors is obtained from the propagation distance and the scanning direction of the ultrasonic waves directly transmitted and received between the sensors, and the ultrasonic waves on the inspection object are obtained from the propagation distance and the scanning direction of the reflected waves from the inspection object. An ultrasonic flaw detection method is described in which the position of a flaw detection sensor is obtained and ultrasonic waves are reliably transmitted and received to a location where flaw detection is required.

JP 2012-88135 A JP 2014-41067 A

The technique described in Patent Literature 1 needs to measure the movement of people. Further, the technique described in Patent Document 2 evaluates the relative position between the sensor and the inspection object, and it is necessary to measure the ultrasonic waves reflected from the inspection object.

Therefore, the prior art cannot calibrate the relative positions of the sensors at arbitrary timing and arbitrary space. For example, with the conventional technology, it is not possible to calibrate the relative positions of the sensors when the installation location and installation environment of the sensors change. In addition, the prior art has a problem that the cost such as the time and amount of calculation required for executing the calibration is high.

An object of the present invention is to provide a sensor system that solves the above problems.

A representative example of the invention disclosed in the present application is as follows. That is, the sensor system comprises three or more sensor terminals and a control unit that manages the relative positions of the plurality of sensor terminals and estimates the position of a detection target, and each of the plurality of sensor terminals receives a signal and a sensor for measuring the vibration generated from the detection target and the signal, the first sensor data including information about the measured vibration , and the information about the measured signal at least one of the second sensor data including at least one of the second sensor data is transmitted to the control unit, and when the control unit receives the first sensor data, the relative positions of the plurality of sensor terminals and the first sensor data When an execution event for estimating the position of the detection target based on and calculating the relative positions of the plurality of sensor terminals is detected, forming a pair of the sensor terminals, a first sensor terminal forming the pair; performing arithmetic processing for calculating the relative distance between the paired second sensor terminals based on the second sensor data obtained from each of the first sensor terminal and the second sensor terminal; Relative positions of the plurality of sensor terminals are calculated based on the relative distances calculated by the arithmetic processing for the plurality of pairs.

ADVANTAGE OF THE INVENTION According to one form of this invention, cost can be reduced and the relative position of a sensor terminal can be calculated at arbitrary timing, in arbitrary space, and arbitrary timing. Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

1 is a diagram illustrating a configuration example of a sensor system of Example 1; FIG. 4 is a diagram illustrating a configuration example of a sensor terminal of Example 1; FIG. 4 is a diagram illustrating a configuration example of a sensor terminal of Example 1; FIG. 4 is a diagram showing an example of a signal pattern generated by the sensor terminal of Example 1. FIG. FIG. 5 is a diagram illustrating an example of a measurement algorithm in the sensor system of Example 1; FIG. 5 is a diagram illustrating an example of a measurement algorithm in the sensor system of Example 1; 5 is a flowchart illustrating an example of processing executed by the sensor terminal of Example 1; 4 is a flowchart illustrating an example of processing executed by the control device of the first embodiment; FIG. 10 is a diagram illustrating an example of calibration processing according to the first embodiment; FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention should not be construed as being limited to the contents of the examples described below. Those skilled in the art will easily understand that the specific configuration can be changed without departing from the idea or gist of the present invention.

In the configurations of the invention described below, the same or similar configurations or functions are denoted by the same reference numerals, and overlapping descriptions are omitted.

The notations such as “first”, “second”, “third”, etc. in this specification and the like are attached to identify the constituent elements, and do not necessarily limit the number or order.

The position, size, shape, range, etc. of each component shown in the drawings may not represent the actual position, size, shape, range, etc. in order to facilitate understanding of the invention. Therefore, the present invention is not limited to the positions, sizes, shapes, ranges, etc. disclosed in the drawings and the like.

FIG. 1 is a diagram illustrating a configuration example of a sensor system according to a first embodiment. 2A and 2B are diagrams illustrating configuration examples of the sensor terminal 110 according to the first embodiment. FIG. 3 is a diagram showing an example of a signal pattern generated by the sensor terminal 110 of the first embodiment.

The sensor system 10 includes a control device 100 , a plurality of sensor terminals 110 and a user terminal 120 .

The control device 100 and the plurality of sensor terminals 110 are connected via a network, and the control device 100 and the user terminals 120 are connected via the network. The networks are, for example, LANs (Local Area Networks) and WANs (Wide Area Networks). The connection method may be wired or wireless.

Note that the control device 100 and the plurality of sensor terminals 110 may be directly connected, or the control device 100 and the user terminals 120 may be directly connected.

The sensor terminal 110 is installed in a space, measures a signal such as vibration generated from a detection target (for example, a person or an object) existing in the space, and transmits sensor data including the measurement result to the control device 100.

The sensor terminal 110 is installed, for example, in a state of being fixed to a floor, passageway, wall, glass, or the like. Vibrations to be measured are, for example, air vibrations (sounds), vibrations to be detected, and the like. The measurement result includes measurement time, signal pattern, signal intensity, and the like. Note that the sensor data may include the time when a calibration signal, which will be described later, is output. A detailed configuration of the sensor terminal 110 will be described later.

The control device 100 collects and accumulates sensor data and analyzes the sensor data to estimate the position of the detection target in space. The control device 100 manages the relative positions of the multiple sensor terminals 110 as information for estimating the position of the detection target. Further, the control device 100 calculates the relative position of the sensor terminal 110 by analyzing the sensor data during execution of the calibration, and also calculates a correction value for adjusting the time.

The control device 100 has an arithmetic device 101 , a storage device 102 and a communication device 103 .

The arithmetic device 101 is a device that controls the entire control device 100, and is, for example, a CPU and a microcomputer. The computing device 101 executes programs stored in the storage device 102 . Arithmetic device 101 operates as a module that implements a predetermined function by executing a program.

The storage device 102 is a memory or the like, and stores programs executed by the arithmetic device 101 and information used by the programs. The storage device 102 of the first embodiment stores sensor data, positions of detection targets, relative positions of the sensor terminals 110, correction values, and the like. It is assumed that the data stored in the storage device 102 is managed so that the user terminal 120 can access it.

A communication device 103 is a network interface or the like, and communicates with an external device via a network. The communication device 103 of Example 1 is connected to a plurality of sensor terminals 110 and user terminals 120 via the communication device 103 .

A user terminal 120 is a terminal for operating the control device 100 . The user terminal 120 has an arithmetic device, a storage device, and a communication device (not shown). Note that the sensor system 10 may not include the user terminal 120 when an input device such as a keyboard and a mouse and an output device such as a display are connected to the control device 100 .

In FIG. 1, the control device 100 has been described as a configuration for controlling the sensor system 10, but it may be replaced with a control system configured as an IoT gateway and an analysis server. For example, a system configuration can be considered in which an IoT gateway is installed near the sensor terminal 110 and an analysis server is installed in the cloud or at a remote location.

Note that at least one sensor terminal 110 may have the functions of the control device 100 . In this case, the sensor system 10 is composed only of the sensor terminal 110 .

Here, the configuration of the sensor terminal 110 will be described with reference to FIGS. 2A and 2B.

FIG. 2A shows a configuration example of a sensor terminal 110 in which all hardware configurations are built. The sensor terminal 110 has an arithmetic device 200 , a sensor 201 , a signal generator 202 and a communication device 203 . The arithmetic device 200 and the communication device 203 have the same configuration as the arithmetic device 101 and the communication device 203 .

The sensor 201 is a device that measures vibration. Examples of the sensor 201 that measures the vibration to be detected include an acceleration sensor and a displacement meter. Examples of the sensor 201 that measures sound include a microphone and an ultrasonic sensor.

The signal generator 202 is a device for generating a signal (calibration signal) used for calibration. The signal generator 202 is a vibration generator that generates vibration of an object, a sound generator that generates sound, or the like. Vibration generators include vibration motors capable of controlling amplitude, frequency, and phase, mechanical relays capable of outputting impulses, and the like. Examples of sound generators include piezoelectric speakers and ultrasonic generators.

The signal generator 202 may generate calibration signals with different patterns as shown in FIG.

For example, signal generator 202 generates signal 300-1 as a reference calibration signal. The signal generator 202 modulates the signal 300-1 to generate a signal 300-2 having a frequency component different from that of the signal 300-1 and a signal 300-3 having a time component different from that of the signal 300-1. Signal generator 202 may also modulate signal 300-1 to generate complex pattern signal 300-4.

The signal generator 202 may select the pattern of the calibration signal based on spatial characteristics, such as attenuating or amplifying certain frequency bands.

The computing device 200 generates sensor data by performing digital processing on signals measured by the sensor 201 and transmits the sensor data to the control device 100 via the communication device 203 .

FIG. 2B shows a configuration example of the sensor terminal 110 to which part of the hardware configuration is externally attached. The sensor terminal 110 has an arithmetic device 200 , a signal generator 202 , a communication device 203 and a connection device 204 .

The connection device 204 is a device that connects with an external device, such as an IO interface. The connection device 204 connects with the sensor 201 and the signal generator 202 via wiring. Power supply and data communication to the sensor 201 and the signal generator 202 are performed via the wiring.

The sensor 201 is fixed to the floor, passageway, wall, glass, etc. via a jig 210 . Also, the signal generator 202 is fixed to the floor, passageway, wall, glass, etc. via a jig 211 .

By separating the sensor 201 and the signal generator 202 from the sensor terminal 110, the sensor 201 and the signal generator 202 can be installed even if the installation space is narrow.

Note that either one of the sensor 201 and the signal generator 202 may be externally attached to the sensor terminal 110 .

Vibration other than the vibration caused by the signal generator 202 becomes a disturbance signal, so it is necessary to suppress the occurrence of the vibration. For this reason, it is desirable not to mount a mechanism that generates vibration, which is a disturbance signal, or to control the generation of vibration to reduce it. For example, vibration of a cooling fan for exhaust heat can be a disturbance signal. Heat generation can be suppressed by adjusting the rotation speed of the fan in consideration of the effect of reducing the power consumption of the sensor terminal 110 and the effect of suppressing the generation of vibrations that cause disturbance signals. In addition, control is performed to measure vibration with a constant intensity.

4A and 4B are diagrams illustrating an example of a measurement algorithm in the sensor system 10 of Example 1. FIG.

First, a measurement algorithm for a one-dimensional space as shown in FIG. 4A will be described.

It is assumed that detection targets 400-1 and 400-2 are present on a straight line connecting two sensor terminals 110-1 and 110-2. Here, the distance between sensor terminal 110-1 and detection target 400-1 is X1, the distance between sensor terminal 110-1 and detection target 400-2 is X'1, and sensor terminal 110-2 is detected. The distance between the target 400-1 is X2, and the distance between the sensor terminal 110-2 and the detection target 400-2 is X'2. Propagation time t1 of vibration of detection target 400-1 with respect to sensor terminal 110-1, propagation time t2 of vibration of detection target 400-1 with respect to sensor terminal 110-2, and propagation time of detection target 400-2 with respect to sensor terminal 110-1. Let t′1 be the propagation time of the vibration, and t′2 be the propagation time of the vibration of the detection target 400-2 with respect to the sensor terminal 110-2. Let C be the propagation velocity in the space of the vibrations generated in the detection targets 400-1 and 400-2.

At this time, distances X1, X2, X'1 and X'2 are given by equations (1), (2), (3) and (4). Note that when the measured vibration is sound, C is the speed of sound. The speed of sound depends on the density ρ and the bulk elastic modulus κ of the medium in which the vibration propagates, as shown in Equation (5).

At this time, the deviation ΔX between the midpoint between sensor terminals 110-1 and 110-2 and the position of detection target 400-1 is given by equation (6).

As shown in Equation (6), the position of the detection target from the midpoint between the sensor terminals 110 can be obtained based on the difference in propagation times.

Similarly, the deviation ΔX' between the midpoint between sensor terminals 110-1 and 110-2 and the position of detection target 400-2 is given by equation (7).

Thus, the sensor system can estimate the position of the detection target 400 from the difference in propagation times. Note that when the detection targets 400-1 and 400-2 exist at the same position, the sensor system detects the two detection targets 400-1 and 400-2 based on the difference in vibration characteristics (magnitude, frequency, etc.). can be distinguished.

In order to obtain the midpoint necessary for estimating the position of the detection target 400, it is necessary to calculate the relative positions of the sensor terminals 110-1 and 110-2. The relative positions of sensor terminals 110-1 and 110-2 can be calculated based on the relative distances.

Also, in order to obtain the propagation time, it is necessary to synchronize the times of the sensor terminals 110-1 and 110-2. The time error can be calculated based on the measurement time of the signal.

Next, a measurement algorithm for a two-dimensional space as shown in FIG. 4B will be described. Assume that a detection target 400 exists inside a triangular area 410 defined by three sensor terminals 110-1, 110-2, and 110-3.

The sensor system is based on the position where the distances between the sensor terminals 110-1, 110-2, and 110-3 are the same, that is, the deviation between the circumcenter of the triangular area 410 and the position of the detection target 400. , to estimate the position of the detection target 400 within the region 410 . The deviation between the detection target 400 and the circumcenter is obtained as a difference in propagation time of vibration.

In order to obtain the circumcenter of area 410 necessary for estimating the position of detection target 400, it is necessary to calculate the relative positions of sensor terminals 110-1, 110-2, and 110-3. The relative positions of the sensor terminals 110-1, 110-2, 110-3 can be calculated based on the relative distance of each sensor terminal 110. FIG. This is because the shape of the region 410 can be obtained from the lengths of the three sides.

Also, in order to obtain the propagation time, it is necessary to synchronize the times of the sensor terminals 110-1, 110-2, and 110-3. The time error can be calculated based on the measurement time of the signal.

As described with reference to FIGS. 4A and 4B, the position of detection target 400 is estimated based on the relative position of sensor terminal 110 and the propagation time of vibration. Therefore, it is necessary to perform calibration to obtain relative position and time errors between the sensor terminals 110 .

FIG. 5 is a flowchart illustrating an example of processing executed by the sensor terminal 110 according to the first embodiment.

It is assumed that the sensor terminal 110 normally operates in a position detection mode in which vibration generated from the detection target 400 is measured.

The sensor terminal 110 measures vibration generated from the detection target 400 (step S101).

Specifically, the sensor terminal 110 transmits sensor data to the control device 100 when detecting vibration generated from the detection target.

The sensor terminal 110 determines whether or not a calibration execution event has been detected (step S102).

The calibration execution event may be detected by the sensor terminal 110 itself, or may be detected by the control device 100 .

Calibration execution events detected by the sensor terminal 110 itself include, for example, the initial startup or restart of the sensor terminal 110, the elapse of a timer indicating the execution cycle, the detection of an abnormal signal, and changes in the environment such as temperature. .

Further, the calibration execution event detected by the control device 100 can be, for example, the passage of an execution cycle, detection of an abnormality in the sensor terminal 110, increase or decrease in the number of sensor terminals 110 in space, and the like. When the control device 100 detects a calibration execution event, a calibration execution instruction is transmitted to each sensor terminal 110 . In this case, the sensor terminal 110 detects reception of the calibration execution instruction as a calibration execution event.

If the calibration execution event is not detected, the sensor terminal 110 returns to step S101 and continues operating in the position detection mode.

When a calibration execution event is detected, the sensor terminal 110 shifts to the calibration mode, outputs a calibration signal, and detects a calibration signal output by another sensor terminal 110 (step S103). The output timing of the calibration signal may be set in advance, or may be designated by the control device 100 .

In the calibration mode, signals other than the calibration signal may be detected, but by presetting a characteristic calibration signal pattern, the sensor terminal 110 can identify the calibration signal. can.

When the sensor terminal 110 receives the correction value from the control device 100 (step S104), the sensor terminal 110 executes application processing for correcting the relative time based on the correction value (step S105).

Next, the sensor terminal 110 determines whether or not conditions for ending calibration are satisfied (step S106).

For example, when the correction value received last time and the correction value received this time are the same, the sensor terminal 110 determines that the calibration end condition is satisfied.

If it is determined that the calibration end condition is not satisfied, the sensor terminal 110 returns to step S103 and performs similar processing. When receiving a signal notifying of system abnormality from the control device 100, the sensor terminal 110 executes abnormality processing. For example, the sensor terminal 110 is stopped and restarted.

If it is determined that the calibration end condition is satisfied, the sensor terminal 110 shifts to the position detection mode and then returns to step S101.

FIG. 6 is a flowchart illustrating an example of processing executed by the control device 100 of the first embodiment.

Assume that the control device 100 normally operates in a position detection mode in which the position of the detection target 400 is estimated based on sensor data.

The control device 100 receives the sensor data and estimates the position of the detection target 400 using the sensor data (step S201). The control device 100 stores the received sensor data and information about the position of the detection target 400 in the storage device 102 .

The control device 100 determines whether or not a calibration execution event has been detected (step S202).

The calibration execution event may be detected by the sensor terminal 110 or may be detected by the control device 100 itself. Note that when the sensor terminal 110 detects a calibration execution event, the control device 100 receives the calibration execution request transmitted from the sensor terminal 110 . In this case, the control device 100 detects reception of the calibration execution request as a calibration execution event.

If the calibration execution event is not detected, the control device 100 returns to step S201 and continues to operate in the position detection mode.

When the calibration execution event is detected, the control device 100 shifts to the calibration mode and transmits a calibration execution instruction to each sensor terminal 110 (step S203). Note that the calibration execution instruction may include information specifying the pattern of the calibration signal, the generation timing, and the like.

The control device 100 receives the sensor data from the sensor terminal 110 and uses the sensor data to perform calibration processing (step S204). As a result, the relative position and time error of the sensor terminal 110 are calculated, and a correction value for adjusting the time error is calculated. Details of the calibration process will be described with reference to FIG.

The control device 100 transmits the correction value to each sensor terminal 110 (step S205). Note that if there is no need to transmit the correction value, the process of step S205 may be omitted. Also, the control device 100 may transmit information about the relative position of the sensor terminal 110 along with the correction value.

The control device 100 determines whether or not conditions for ending calibration are satisfied (step S206).

For example, when the correction value calculated last time and the correction value calculated this time are the same for all the sensor terminals 110, the control device 100 determines that the calibration end condition is satisfied.

When it is determined that the end condition of calibration is not satisfied, the control device 100 returns to step S204 and performs similar processing. Note that the control device 100 may determine that the system is abnormal when the number of times the calibration process is executed is greater than a threshold value, and may transmit a signal to notify each sensor terminal 110 of the system abnormality.

If it is determined that the calibration end condition is satisfied, the control device 100 shifts to the position detection mode and then returns to step S201.

FIG. 7 is a diagram illustrating an example of calibration processing according to the first embodiment. Here, for simplicity of explanation, it is assumed that the sensor terminals 110 are arranged in a two-dimensional space.

(Processing 1) The control device 100 creates a set of three sensor terminals 110 . Note that a set of four or more sensor terminals 110 may be generated.

(Process 2) The control device 100 selects one set and creates a pair of two sensor terminals 110 from the sensor terminals 110 included in the set.

(Process 3) The control device 100 selects one pair, one sensor terminal 110 outputs a calibration signal, and another sensor terminal 110 outputs a calibration signal after detecting the calibration signal. to control. The control device 100 calculates the distance and the time difference between the two sensor terminals 110 when the sensor data including the measurement result of the calibration signal is received. Note that the control device 100 executes the same processing for all pairs.

(Process 4) The control device 100 calculates the relative positions of the three sensor terminals 110 based on the respective relative distances of the three sensor terminals 110 forming one set.

By using calibration signals with different patterns, it is possible to output a plurality of calibration signals at the same time. This makes it possible to shorten the processing time required for the calibration processing. Further, the distance and time difference between the sensor terminals 110 may be calculated based on the measurement results of the calibration signals with different patterns.

Here, a specific example of a method of calculating the relative distance and time difference between the two sensor terminals 110 will be described. As shown in FIG. 7, control device 100 controls sensor terminal 110-1 to output a calibration signal and sensor terminal 110-2 to output a calibration signal after detecting the calibration signal. shall be

Let t be the propagation time of the calibration signal between the sensor terminals 110, and let X12 be the distance between the sensor terminals 110-1 and 110-2. Let t12 be the time from sensor terminal 110-1 outputting a calibration signal to detecting the calibration signal output from sensor terminal 110-2. Let t21 be the time from sensor terminal 110-2 detecting the calibration signal output from sensor terminal 110-1 to outputting the calibration signal. Let dt be the time difference between the sensor terminals 110-1 and 110-2.

At this time, the distance X12 is given by Equation (8). Also, the propagation time t is given by Equation (9).

The control device 100 can calculate t12 by acquiring the output time of the calibration signal and the detection time of the calibration signal from the sensor data received from the sensor terminal 110-1. Also, t21 is determined by the operation timing of the arithmetic unit 200 and can be regarded as a constant value. Therefore, the control device 100 calculates t12, and calculates the propagation time t by substituting t12 and t21 into equation (9). Further, control device 100 calculates distance X12 between sensor terminals 110-1 and 110-2 by substituting propagation time t into equation (8).

Furthermore, the control device 100 calculates the relative positions of the sensor terminals 110 based on the distance between the sensor terminals 110 . Control device 100 also calculates time difference dt between sensor terminals 110-1 and 110-2 from propagation time t. The control device 100 transmits the time difference dt as a correction value to the sensor terminals 110-1 and 110-2.

For example, the time when the sensor terminal 110-1 outputs the calibration signal is T0, and the time when the sensor terminal 110-2 detects the calibration signal output from the sensor terminal 110-1 is T2. When the times of sensor terminals 110-1 and 110-2 are synchronized, T2 is calculated by equation (10). However, if the times of the sensor terminals 110-1 and 110-2 are not synchronized, the time difference dt is given by equation (11).

Note that the calibration process described using FIG. 7 is an example, and the present invention is not limited to this.

A signal source that generates a calibration signal may be provided at a specific position in space in order to ascertain the error with respect to the absolute position and absolute time of the sensor terminal 110 in space. A signal source may be, for example, a speaker emitting a time signal or a chime. In this case, the control device 100 acquires sensor data from the sensor terminal 110 that has measured the calibration signal generated from the signal source, the distance between the signal source and the sensor terminal 110, the absolute time, and the system of the sensor terminal 110 Calculate the error from the time.

Note that when an earthquake or vibration of a building is detected, the control device 100 may use the vibration as the calibration signal.

In addition, the present invention is not limited to the above-described embodiments, and includes various modifications. Further, for example, the above-described embodiments are detailed descriptions of the configurations for easy understanding of the present invention, and are not necessarily limited to those having all the described configurations. Moreover, it is possible to add, delete, or replace a part of the configuration of each embodiment with another configuration.

As described above, the sensor system 10 can execute calibration of the relative position of the sensor terminal 110 when detecting a calibration execution event that occurs at arbitrary timing. When performing calibration, the sensor terminal 110 only needs to output and receive a calibration signal, so the time and amount of calculation required for processing are small.

Further, each of the above configurations, functions, processing units, processing means, and the like may be realized by hardware, for example, by designing a part or all of them using an integrated circuit. The present invention can also be implemented by software program code that implements the functions of the embodiments. In this case, a computer is provided with a storage medium recording the program code, and a processor included in the computer reads the program code stored in the storage medium. In this case, the program code itself read from the storage medium implements the functions of the above-described embodiments, and the program code itself and the storage medium storing it constitute the present invention. Examples of storage media for supplying such program code include flexible disks, CD-ROMs, DVD-ROMs, hard disks, SSDs (Solid State Drives), optical disks, magneto-optical disks, CD-Rs, magnetic tapes, A nonvolatile memory card, ROM, or the like is used.

Also, the program code that implements the functions described in this embodiment can be implemented in a wide range of programs or script languages such as assembler, C/C++, perl, Shell, PHP, Python, and Java (registered trademark).

Furthermore, by distributing the program code of the software that implements the functions of the embodiment via a network, it can be stored in storage means such as a hard disk or memory of a computer, or in a storage medium such as a CD-RW or CD-R. Alternatively, a processor provided in the computer may read and execute the program code stored in the storage means or the storage medium.

In the above-described embodiments, the control lines and information lines indicate those considered necessary for explanation, and not all control lines and information lines are necessarily indicated on the product. All configurations may be interconnected.

10 sensor system 100 control device 101, 200 arithmetic device 102 storage device 103, 203 communication device 110 sensor terminal 120 user terminal 201 sensor 202 signal generator 204 connection device 210, 211 jig

Claims (15)

A sensor system,
A control unit that manages three or more sensor terminals and the relative positions of the plurality of sensor terminals and estimates the position of a detection target,
each of the plurality of sensor terminals,
a signal generator that generates a signal ; and a sensor that measures vibration generated from the object to be detected and the signal ;
transmitting at least one of first sensor data including information about the measured vibration and second sensor data including information about the measured signal to the control unit;
The control unit
When receiving the first sensor data, estimating the position of the detection target based on the relative positions of the plurality of sensor terminals and the first sensor data,
When an execution event for calculating the relative positions of the plurality of sensor terminals is detected, a pair of the sensor terminals is configured, and a first sensor terminal that configures the pair and a second sensor terminal that configures the pair. Calculating the relative distance between each based on the second sensor data obtained from each of the first sensor terminal and the second sensor terminal, and calculating the relative distance between the plurality of pairs based on the second sensor data. and calculating the relative positions of the plurality of sensor terminals based on the relative distances. The sensor system of claim 1, wherein
The first sensor data includes the time when the vibration was measured,
The second sensor data includes at least one of the time when the signal was output and the time when the signal was measured,
In the arithmetic processing, the control unit
controlling the first sensor terminal to output the signal to the second sensor terminal, and outputting the signal to the first sensor terminal after receiving the signal from the first sensor terminal; controlling the second sensor terminal;
Using the second sensor data acquired from the first sensor terminal, measure the signal transmitted by the second sensor terminal after the first sensor terminal outputs the signal to the second sensor terminal Calculate the first hour to
Using the first time and the second time from when the second sensor terminal receives the signal from the first sensor terminal to when it outputs the signal to the first sensor terminal, the first sensor calculating the propagation time of the signal between the terminal and the second sensor terminal;
A sensor system, wherein the relative distance is calculated using the propagation time of the signal . A sensor system according to claim 2 , wherein
In the arithmetic processing , the control unit determines that the second sensor terminal is connected to the first sensor from a time obtained by adding a propagation time of the signal to a time at which the first sensor terminal outputs the signal to the second sensor terminal. By subtracting the time when the signal transmitted from the terminal is measured, the time difference between the first sensor terminal and the second sensor terminal is calculated, and the first sensor terminal and the second sensor terminal, transmitting the time difference as a correction value;
The sensor system according to claim 1, wherein the sensor terminal, when receiving the correction value, corrects the time managed by the sensor terminal using the correction value. A sensor system according to claim 2, wherein
The signal generator is capable of generating the signals with different patterns,
The sensor system, wherein the control unit designates a pattern of the signal generated by each of the plurality of sensor terminals. A sensor system according to claim 2, wherein
The execution event is at least one of elapse of a timer, measurement of arbitrary pattern vibration by the sensor terminal, activation of the sensor terminal, change in configuration of the sensor terminal in the sensor system, and change in environment in the sensor system. A sensor system characterized by: The sensor system of claim 1, wherein
A sensor system, wherein at least one of the sensor terminals has the control unit. A control method for a sensor system, comprising:
The sensor system has three or more sensor terminals and a control unit that manages the relative positions of the plurality of sensor terminals and estimates the position of a detection target,
Each of the plurality of sensor terminals has a signal generator that generates a signal , and a sensor that measures the vibration generated from the detection target and the signal ,
The method for controlling the sensor system includes:
Each of the plurality of sensor terminals transmits at least one of first sensor data including information about the measured vibration and second sensor data including information about the measured signal to the control unit. a step of
a second step of estimating the position of the detection target based on the relative positions of the plurality of sensor terminals and the first sensor data when the control unit receives the first sensor data;
When the control unit detects an execution event for calculating the relative positions of the plurality of sensor terminals, a pair of the sensor terminals is configured, and a first sensor terminal that configures the pair and a second sensor terminal that configures the pair. calculating a relative distance between two sensor terminals based on the second sensor data obtained from each of the first sensor terminal and the second sensor terminal; and a third step of calculating the relative positions of the plurality of sensor terminals based on the relative distances calculated by arithmetic processing. A control method for a sensor system according to claim 7,
The first sensor data includes the time when the vibration was measured,
The second sensor data includes at least one of the time when the signal was output and the time when the signal was measured,
The third step is
The control unit controls the first sensor terminal to output the signal to the second sensor terminal, and outputs the signal to the first sensor terminal after receiving the signal from the first sensor terminal. a fourth step of controlling the second sensor terminal to output
The control unit uses the second sensor data acquired from the first sensor terminal, and the second sensor terminal transmits the signal after the first sensor terminal outputs the signal to the second sensor terminal a fifth step of calculating a first time to measure the signal ;
The control unit uses a second time from when the second sensor terminal receives the signal from the first sensor terminal to when the signal is output to the first sensor terminal, and the first time , a sixth step of calculating the propagation time of the signal between the first sensor terminal and the second sensor terminal;
and a seventh step in which the controller calculates the relative distance using the propagation time of the signal . A control method for the sensor system according to claim 8 ,
The third step is
The second sensor terminal is transmitted from the first sensor terminal from the time when the control unit adds the propagation time of the signal to the time when the first sensor terminal outputs the signal to the second sensor terminal. calculating a time difference between the first sensor terminal and the second sensor terminal by subtracting the time when the signal was measured ;
the control unit transmitting the time difference as a correction value to the first sensor terminal and the second sensor terminal;
The control method of the sensor system includes, when the plurality of sensor terminals receive the correction value, correcting the time managed by the sensor terminal using the correction value. control method. A control method for the sensor system according to claim 8,
The signal generator is capable of generating the signals with different patterns,
The method of controlling a sensor system, wherein the fourth step includes a step of designating a pattern of the signal generated by each of the plurality of sensor terminals. A control method for the sensor system according to claim 8,
The execution event is at least one of elapse of a timer, measurement of arbitrary pattern vibration by the sensor terminal, activation of the sensor terminal, change in configuration of the sensor terminal in the sensor system, and change in environment in the sensor system. A control method for a sensor system, characterized in that: A control method for a sensor system according to claim 7,
A control method for a sensor system, wherein at least one of the sensor terminals has the control unit. A control device connected to three or more sensor terminals constituting a sensor system, managing the relative positions of the plurality of sensor terminals, and estimating the position of a detection target,
Each of the plurality of sensor terminals has a signal generator that generates a signal and a sensor that measures vibration generated from the detection target and the signal ,
The control device is
A computing device, a storage device connected to the computing device, and a network interface connected to the computing device,
receiving at least one of first sensor data including information about the vibration measured by the sensor terminal and second sensor data including information about the signal measured by the sensor terminal;
When receiving the first sensor data, estimating the position of the detection target based on the relative positions of the plurality of sensor terminals and the first sensor data,
When an execution event for calculating the relative positions of the plurality of sensor terminals is detected,
forming a pair of the sensor terminals, and determining the relative distance between the first sensor terminal forming the pair and the second sensor terminal forming the pair; Calculating the relative positions of the plurality of sensor terminals based on the relative distances calculated by the arithmetic processing for the plurality of pairs by executing arithmetic processing for calculating based on the second sensor data acquired from each and
A process of calculating a correction value for adjusting the time managed by each of the plurality of sensor terminals;
and transmitting the correction value to the plurality of sensor terminals. 14. A control device according to claim 13,
In the arithmetic processing,
controlling the first sensor terminal to output the signal to the second sensor terminal, and outputting the signal to the first sensor terminal after receiving the signal from the first sensor terminal; controlling the second sensor terminal;
Using the second sensor data acquired from the first sensor terminal, measure the signal transmitted by the second sensor terminal after the first sensor terminal outputs the signal to the second sensor terminal Calculate the first hour to
Using the first time and the second time from when the second sensor terminal receives the signal from the first sensor terminal to when it outputs the signal to the first sensor terminal, the first sensor calculating the propagation time of the signal between the terminal and the second sensor terminal;
calculating the relative distance using the propagation time of the signal ;
The second sensor terminal measures the signal transmitted from the first sensor terminal from the time when the first sensor terminal outputs the signal to the second sensor terminal plus the propagation time of the signal. calculating the time difference between the first sensor terminal and the second sensor terminal by subtracting the time, transmitting the time difference as the correction value to the first sensor terminal and the second sensor terminal;
The control device, wherein the control designates a pattern of the signal generated by each of the plurality of sensor terminals. 15. A control device according to claim 14,
The execution event is at least one of elapse of a timer, measurement of arbitrary pattern vibration by the sensor terminal, activation of the sensor terminal, change in configuration of the sensor terminal in the sensor system, and change in environment in the sensor system. A control device characterized by:

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