WO2020180432A1

WO2020180432A1 - Drone-assisted commissioning of indoor positioning system for light fixtures

Info

Publication number: WO2020180432A1
Application number: PCT/US2020/016031
Authority: WO
Inventors: Eric Richard EPP; Christopher Henry Wilson; Gienn Howard KUENZLER
Original assignee: Current Lighting Solutions, Llc
Priority date: 2019-03-07
Filing date: 2020-01-31
Publication date: 2020-09-10

Abstract

Provided is an indoor positioning system for light fixtures that includes a drone device which determines a respective location of each light fixture, and assigns identifying information to each light fixture. The system also includes a remote controller which controls operation of the drone device; and a control system configured to receive the respective location of each light fixture and the identifying information associated with each light fixture, from the drone device.

Description

DRONE-ASSISTED COMMISSIONING OF INDOOR POSITIONING SYSTEM FOR

LIGHT FIXTURES

TECHNICAL FIELD

[0001] The present invention relates generally to commissioning of indoor positioning system of light fixtures. In particular, the present invention relates to drone-assisted commissioning of indoor positioning system for light fixtures.

BACKGROUND

[0002] An important element of a commissioning process of an indoor positioning system (IPS) for light fixtures involves assigning an identifier code to each fixture and associating that code with the physical coordinates of each fixture. Some indoor positioning systems for light fixtures may employ light emitting diode (LED) fixtures which can be identified by cameras (e.g., on a smart phone) through strobed codes or coded defects introduced into the lit appearance to determine the camera’s position within an area (e.g., a building or room). This is a service provided to the user of the smart phone. The system typically performs a triangulation algorithm to determine the user’s position however this process depends on the precise location and mapping of each light fixture and entry of the location and mapping information into a database since the mapping process is also a key element of the commissioning of an IPS system.

[0003] Some problems with the system involve the process for assigning an identifier code to each light fixture (or reading a pre-assigned code) along with an associated modulation frequency or defect pattern, and correlating that information with the light fixture’s exact position within the area. Currently, in some systems operators manually identify the positions of the light fixtures and assign the unique identifier codes by walking around the room and searching for the light fixtures overhead.

[0004] In other systems, floor-based technology is implemented where automated robots may be used to move around the room and attempt to search for light fixtures overhead. However, these robots have to deal with any obstacles in their path such as shelves, signs and columns and are inherently slow in navigating around these obstacles. Therefore, although installing light fixtures can be easy, obtaining the location information of the light fixtures, assigning the identifier codes, and matching that location information with the identifier codes can be difficult and time consuming. In addition, undesirable expenses can be incurred during the commissioning process.

SUMMARY OF THE EMBODIMENTS

[0005] Given the aforementioned deficiencies, a need exists for a semi-autonomous indoor positioning system capable of determining an exact location of the light fixtures, while also assigning (or reading) identifier codes to (in) the light fixtures, and matching the location information with the identifier codes.

[0006] According to one embodiment, an indoor positioning system for light fixtures is provided. The indoor positioning system that includes a drone device which flies from one light fixture to another light fixture, consecutively, within an area (e.g., a building or a room), and determines a respective location of each light fixture, and assigns/reads identifying information to/from each light fixture. Because the drone can fly above the majority of the obstacles that a floor-based technology must be programmed to avoid, the drone has an inherently easier task. The system also includes a remote controller which controls operation of the drone device; and a control system configured to receive the respective location of each light fixture and the identifying information associated with each light fixture, from the drone device.

[0007] According to another embodiment, a commissioning method to be performed by the indoor positioning system is also provided.

[0008] The foregoing has broadly outlined some of the aspects and features of various embodiments, which should be construed to be merely illustrative of various potential applications of the disclosure. Other beneficial results can be obtained by applying the disclosed information in a different manner or by combining various aspects of the disclosed embodiments. Accordingly, other aspects and a more comprehensive understanding may be obtained by referring to the detailed description of the exemplary embodiments taken in conjunction with the accompanying drawings, in addition to the scope defined by the claims.

DESCRIPTION OF THE DRAWINGS

[0009] The drawings are only for purposes of illustrating preferred embodiments and are not to be construed as limiting the disclosure. Given the following enabling description of the drawings, the novel aspects of the present disclosure should become evident to a person of ordinary skill in the art. This detailed description uses numerical and letter designations to refer to features in the drawings. Like or similar designations in the drawings and description have been used to refer to like or similar parts of embodiments of the invention.

[0010] Fig. 1 is a schematic illustrating an indoor positioning system having a drone device according to one or more embodiments of the present invention. [0011] Fig. 2 is a detailed block diagram illustrating the indoor positioning system shown in Fig. 1 that can be implemented within the embodiments of the present invention.

[0012] Figs. 3 through 7 are schematics illustrating commissioning operations including a first, second and third pass, being performed by the indoor positioning system shown in Figs. 1 and 2 that can be implemented within the embodiments of the present invention.

[0013] Fig. 8 is a flow chart illustrating a commissioning method employing the operations shown in Figs. 3 through 7 that can be implemented within the embodiments.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0014] As required, detailed embodiments are disclosed herein. It must be understood that the disclosed embodiments are merely exemplary of various and alternative forms. As used herein, the word“exemplary” is used expansively to refer to embodiments that serve as illustrations, specimens, models, or patterns. The Figures are not necessarily to scale and some features may be exaggerated or minimized to show details of particular components.

[0015] In other instances, well-known components, apparatuses, materials, or methods that are known to those having ordinary skill in the art have not been described in detail in order to avoid obscuring the present disclosure. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art.

[0016] As noted above, the embodiments provide an indoor positioning system 100 for light fixtures is employed. Details regarding the system 100 will now be described below with reference to Figs. 1 and 2. [0017] As shown in Fig. 1, the system 100 is positioned within an area 50 (e.g., a building or room) having a plurality of light fixtures 60. The light fixtures 60 are included in an IPS system and are each assigned a default null code when the IPS system is established These default null codes establish an identity of each of the light fixtures 60 so that they can be read, and are assigned by an external system either by use of a camera or by polling using RF communication. The light fixtures 60 are light emitting diode (LED) type light fixtures. Alternatively, where the coded identity is transmitted by an induced defect in a lit appearance the fixture does not need to be of an LED type, therefore the invention may be applied to different types of light fixtures.

[0018] The system 100 includes a remotely-operated drone device 110 for determining the location of each installed light fixture 60. Also included is a remote controller 150 for controlling the operation of the drone device 110, and a control system 200 (as depicted in Fig. 2) for receiving location information and identifying information (e.g., an unique identifier code (e.g., a serial number) or other identifying information) associated with each light fixture 60 from the drone device 110. In addition to an identifier code, the light fixture 60 may also be assigned information regarding the type of fixture that is installed, the commissioning date, an associated store number, a customer name, etc.

[0019] The control system 200 is an external system that is temporarily connected with drone device 110 to assist with completing the commissioning process. Once all of the light fixture information has been determined and assigned, communication is optional between the control system 200 and the drone device 100, and then the communication remains between the drone device 100 and the remote controller 150. [0020] The drone device 110 flies within the area 50 from one light fixture 60 to another light fixture 60 consecutively. This arrangement determines the respective location of each light fixture 60, and assigns a unique identifier code and the associated modulation frequency pattern, to each light fixture 60 or reads a coded defect induced in the lit appearance from the light fixture. The drone device 110 is capable of performing three-dimensional (3D) movement.

[0021] By way of example, the initial start position of the drone device 110 within the area 50 is predetermined using triangulation technology. This technology can include lidar, laser, or acoustic multi-point calculation algorithms using precise arrival times to determine distances from beacons temporarily installed in specific locations within the area 50 during the commissioning process. Alternatively, according to another embodiment, augmented reality technology can be used to determine position and measure distances. The technology can be accessed via downloaded an associated software application module. The present invention is not limited to any particular technology for predetermining the initial start position of the drone device 110.

[0022] As shown in Fig. 2, the drone device 110 includes sensors 111, an onboard camera 112 and a low energy transmitter 113 (e.g., a Bluetooth low energy (BLE) transmitter). Also included is a local communication device 114, a controller 116, a processor 118, a memory 120, an onboard battery 122, and an inertial guidance system 124. The drone device 110 is controlled by the remote controller 150. Alternatively, the drone device 110 can be self- controlled according to some embodiments of the present invention.

[0023] The onboard camera 112 is an upward facing camera on a top surface of the drone device 110. The camera 112 can include the sensor(s) 111 for sensing identifying information of the light fixtures 60, and captive components for capturing video data and/or still images of the light fixtures 60. The video data and/or still images are compared in real-time, at the processor 118 performs calculations to determine a distance or navigate the drone device 110 into a position where a respective fixture 60 in the image matches a known distance. As a result, a true position of the respective fixture 60 can then be calculated from the position of the drone device 110 plus the determined distance. Alternatively, the sensor(s) 111 can include the camera 112 itself and observe a visible code or communication devices via WIFI, Bluetooth or near field communication (NFC) that can detect a code within a predetermined proximity.

[0024] The transmitter 113 is a low energy transmitter such as a Bluetooth® low energy (BLE) transmitter. The transmitter 113 is configured to communicate with the remote controller 150, the central control system 200 or with any other external system.

[0025] An optional local communication device 114 may also be employed. The local communication device 114 is a near field communication (NFC) type device for performing communication between the drone device 110 and the light fixtures 60, when they are within close proximity. The local communication device 114 can be mounted above the drone device 110 so that it may be brought close enough to the fixture to communicate and could be responsible for exchanging code information with the fixture.

[0026] The controller 116 receives instructions from the processor 118 in direct communication with the remote controller 150, and controls movement of the drone device 110 within the area 50. The controller 116 also controls operation of the camera 112, the transmitter 113, and the local communication device 114. The processor 118 receives instructions from the remote controller 150 and the control system 200. [0027] The processor 118 also receives modulation signals or coded lit appearance defects from the light fixtures 60 and the image data received from the camera 112 for processing and determining the location of each light fixture. The information received at the processor 118 is stored within the memory 120. The controller 116 and the processor 118 can be integrally combined into a single component or separate components communicatively coupled to each other as shown in Fig. 2.

[0028] The onboard battery 122 stores energy for powering the drone device 110. The battery 122 can be a lithium-ion battery or any other battery capable of providing sufficient power to the drone device 110.

[0029] The inertial guidance system 124 assists the drone device 110 in determining its own position in a volume relative to its known start position, while determining the location of the light fixtures 60. The inertial guidance system 124 provides many functions required for stabilizing and controlling the flight of the drone device 110. Integration of the data from the inertial guidance system 124 along with images from the camera 110 looking at the space surrounding the drone device 110 can provide the feedback necessary to lock in the position.

[0030] In some embodiments, external ranging systems 250 (as also depicted in FIG. 2) can also be employed to observe the drone device 110 as it flies, while also providing and communicating the associated information of the observations made to the drone device 110. When the drone device 110 has determined its in a certain relative position to a respective light fixture 60, the drone device 110 may poll the external ranging systems 250 for a position update.

[0031] As further shown in Fig. 2, each light fixture 60 includes an illumination source 62 for emitting light, a processor 64, and a transmitter/receiver 66 for communicating with the drone device 110 and the control system 200. The remote controller 150 includes input controls 152 for controlling operation of the drone device 110, a power supply 154 for power thereof, and a processor/controller 156 to send control messages to the drone device 110.

[0032] During operation, the drone device 110 enters the area 50 and based on its known start position follows a travel path which can be either pre-programmed or pseudo-random with Bayesian search algorithms, for example. The onboard camera 112 searches for the shape of a light fixture 60, by capturing images thereof, to adjust the position and orientation of the drone device 110 via the controller 116, until it matches how the light fixture 60 should look from a predetermined distance. The drone device 110 uses physically observable dimensions of the light fixtures 60 to orient itself into a precise position. The light fixtures are however required to be in an on-state in order for the drone device 110 to be able to do so. Modulation signals are not necessary for relative positioning of the drone device 110. However, modulation when active, provides a readable unique serial number than can be determined at a distance using the camera 112.

[0033] For example, the drone device 110 can be positioned to hover at approximately 1 to 2 meters below a light fixture 60 (e.g., a 2’ x 4’ fixture) in a particular orientation. The drone device 110 is close enough to obtain a reliable image for relative positioning without coming into contact with the light fixture 60. Once the camera 112 detects the light fixture 60 in its prescribed position, the position of the light fixture 60 is known with respect to the drone. The processor 118 calculates the fixture position as an offset from the drone device’s 110 known position and stores the information in memory 120. The drone device 110 reads a prescribed modulation code already in the light fixture 60 and determines the physical fixture coordinates via the processor 118 or the drone device 110 assigns a unique modulation code to the light fixture 60 and associates that code with the physical fixture coordinates, dependent upon whether the user chooses pre-assigned modulation or flight-assigned modulation of the drone device 110.

[0034] The drone device 110 also records a general position of the light fixture 60 based on its perception of its own location in memory 120. The location information and modulation identity information are reported to the control system 200 via the local transmitter 113, for further analysis and processing. As a part of the pre-flight configuration of the drone device 110, the information associated with different types of light fixtures 60 can be pre-stored within the memory 120 of the drone device 110 and can be updated via the transmitter 113, when necessary. Optionally, this information can be stored at the control system 200 and transmitted to the drone device 110 in real-time or prior to performing the commissioning process. The drone device 110 continues until all of the light fixtures 60 installed are identified. The drone device 110 repeats this commissioning process multiple times, for example, three (3) passes. Repeating this process determines the exact location of the light fixtures 60 and allows for statistical information to be collected that can be used to average out normal variation and provide more accurate position estimations to be determined.

[0035] According to some embodiments, the drone device 110 can be configured to automatically fly and hover below each light fixture 60. In this arrangement, the drone device 110 performs detection of location information and assigning of identifier codes while navigating around any obstacles using its three-dimensional movement. The drone device 110 only stops for errors or low battery power of the onboard battery 122.

[0036] Additional details regarding the commissioning process are described below with reference to Figs. 3 through 7. [0037] As shown in Fig. 3, in a room layout 300, the true positions of the light fixtures 60 are illustrated. According to embodiments, the number“i” of light fixtures 60 is known. The light fixtures 60 are fixed but the spatial coordinates (xi, yi) are unknown. The present invention, however, is not limited to being implemented to commissioning any particular number or type of light fixtures.

[0038] In Fig. 4, the drone device 110 (as depicted in Figs. 1 and 2) enters the area 50 and follows the travel path to conduct a first pass 400. The device 110 flies and hovers beneath each light fixture 60 and capturing a first set of images of the light fixture 60 via the camera 112. The drone device 110 triangulates an estimated position of the light fixtures in the images. It also generates a first set of spatial (location) coordinates of (xi, yi) for each light fixture 60 where the first pass 400 equals (=)“X” as shown in Fig. 4.

[0039] The movements of the drone 110 are based on the position of the fully or partially defined light fixtures 60 in the images and its estimate of its own position. These calculations are based on inertial guidance via the inertial guidance system 124 within a characteristic error parameter of (s«) based on its own position. This information can be obtained by the drone device 110 and can be stored within memory 120 and/or transmitted to the control system 200, shown in FIG. 2.

[0040] In Fig. 5, the drone device 110 (as depicted in Figs. 1 and 2) conducts a second pass 500 with the same characteristic error parameter being independently applied. The drone device 110 attempts to determine the exact position of the light fixtures 60 by traveling around the localized area and capturing a second set of images, via the camera 112, of the light fixtures 60 from its field of view. Based on the position of the fully or partially defined light fixtures 60 in the images and its estimate of its own position based on inertial guidance via the inertial guidance system 124, it triangulates an estimated position of the light fixtures in the images. It also generates a second set of spatial coordinates (xu, yi2) for each light fixture 60 where the second pass 500 equals (=)“O” as shown in Fig. 5.

[0041] In Fig. 6, the drone device 110 conducts a third pass 600 with the same characteristic error parameter being independently applied, and captures a third set of images generates a third set of spatial coordinates (X , VB) for each light fixture 60. The third pass 600 equals (=) “D”. After each pass (e.g., the first past 400, second pass 500 and third pass 600), the drone device 110 yields observed spatial coordinates (xin, yin) after n passes, as illustrated in Fig. 7. These coordinates map out a location of each light fixture 60 as indicated by“D” in map 700.

[0042] Alternatively, according to other embodiments of the present invention, the system 100 can perform vector quantization using a k-means clustering algorithm to detect the location of the light fixtures. By way of example, the location can be determined with a k parameter set to the known number (i) of light fixtures by partitioning the position space into (i) cells with a centroid error inversely proportional to Vn.

[0043] Fig. 8 illustrates a flow chart of a commissioning method 800 performing the operations shown in Figs. 3 through 7. In this example, an initial start position of the drone device is known and the number of light fixtures is known. As shown in Fig. 8, at operation 810, the drone device flies around the area (e.g., a building or room) and hovers beneath existing light fixtures, one by one.

[0044] From operation 810, the process continues to operation 820. At operation 830, the drone device’s position is adjusted by the controller to be approximately 1 to 2 meters beneath the light fixture. This is achieved using the onboard camera to capture images to search for a predetermined shape of each light fixture and the distance of the drone device from each light fixture, one by one. Using the transmitter, the identifying information (e.g., unique identifier code and associated modulation frequency pattern) for each light fixture can also be assigned.

[0045] From operation 820, the process continues to operation 830 where the drone device then performs a first pass, second pass and third pass, to obtain three sets of spatial coordinates associated with each respective light fixture. From operation 830, the process continues to operation 840, where the spatial coordinates for each of the light fixtures are then processed at the drone device. This permits determination of the exact location of each light fixtures and transmission via local communication device of the drone device, to a control system for further analysis and processing.

[0046] The use of the drone device in embodiments of the present invention provides the advantages of commissioning light fixtures effectively by determining the location of each light fixture and assigning modulation identity information thereto for future use, without manual intervention by an operator. In addition, it makes it easier to modify (i.e., add or replace) the light fixtures as needed.

[0047] This written description uses examples to disclose the invention including the best mode, and also to enable any person skilled in the art to practice the invention, including making and using any devices or apparatuses and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.

Claims

CLAIMS What is claimed is:

1. A system for commissioning an indoor positioning system for light fixtures within an area, comprising: a drone device configured to determine a respective location of each light fixture, and to assign identifying information to each light fixture; a remote controller configured to control operation of the drone device; and a control system configured to receive the respective location of each light fixture and the identifying information associated with each light fixture, from the drone device.

2. The system of claim 1, wherein an initial start position of the drone device within the area is predetermined using triangulation technology or augmented reality technology.

3. The system of claim 1, wherein the drone device comprises: a camera configured to: (i) sense the identifying information of the light fixtures; and (ii) capture images of each light fixture to search for a predetermined shape of each light fixture in order to determine a correct position of the drone device; a transmitter configured to communicate with the remote controller, the control system and any other external system; and a local communication device for performing communication from the drone device to the light fixtures.

4. The system of claim 3, wherein the drone device further comprises: a processor configured to receive the images captured, in real-time and perform calculations to determine a distance or navigate the drone device into a position where a respective light fixture in the images matches a known distance in order to determine a physical position of the respective light fixture using the position plus the determined distance.; and a controller configured to adjust a position and an orientation of the drone device to be correspond to the predetermined shape of the light fixture being captured in an image by the camera, and the drone device being a predetermined distance away from the light fixture; a memory for storing information comprises the identifying information of the light fixtures and the images captured; a battery which stores energy for powering the drone device; and an inertial guidance system configured to guide the drone device to determine its own position in a volume relative to the initial start position thereof, while determining the respective location of the light fixtures.

5. The system of claim 3, wherein the camera comprises an upward facing camera on a top surface of the drone device.

6. The system of claim 3, wherein the transmitter comprises a low energy transmitter.

7. The system of claim 3, wherein the local communication device being mounted above the drone device and comprises a near field communication (NFC) type device.

8. The system of claim 4, wherein the battery comprises a lithium-ion battery.

9. The system of claim 1, wherein the drone device is configured to perform three- dimensional (3D) movement.

10. The system of claim 1, wherein a travel path of the drone device is pre programmed.

11. The system of claim 1, wherein a travel path of the drone device is pseudo random.

12. The system of claim 4, wherein the predetermined distance ranges from approximately 1 to 2 meters.

13. The system of claim 4, wherein once the camera detects that the drone device is in the correct position, the camera is further configured to: determine a position and an orientation of the light fixture using known offsets thereof, and based on its own location known via the inertial guidance system, and in order to determine the respective location of each light fixture, and wherein the respective location of each light fixture is stored memory and/or the transmitted via the local communication device to the control system for further analysis and processing.

14. The system of claim 13, wherein the known offsets are prestored in memory based on the type of light fixtures.

15. The system of claim 1, wherein the identifying information comprises modulation identity information including a unique identifier code and associated modulation frequency pattern.

16. The system of claim 4, wherein the drone device is configured to perform a plurality of passes to obtain sets of spatial coordinates for each light fixture, wherein upon completion of the plurality of passes, the processor is further configured to process the sets of spatial coordinates to determine the respective location of each light fixture.

17. The system of claim 4, further comprising one or more external ranging systems configured to observe the drone device in movement while providing and communicating associated information of observations made back to the drone device, wherein when the drone device has determined its in a relative position to the respective light fixture, the drone device is further configured to poll the one or more external ranging systems for a position update.

18. A commissioning method of an indoor positioning system for light fixtures within an area, the method comprising: operating a drone device to fly beneath the light fixtures, one by one; capturing images, via a camera of the drone device, in order to search for a predetermined shape of each light fixture and a distance of the drone device from each light fixture, and adjusting the distance of the drone device based on an image of the images matching the predetermined shape of each light fixture;

assigning, via the drone device, identifying information for each light fixture; and performing, a first pass to obtain a first set of spatial coordinates for each light fixture, to determine a respective location of each light fixture.

19. The method of claim 18, further comprises: comparing, via a processor, the images captured to determine a distance of the drone device from the respective light fixture; and determining, via an inertial guidance system a position of the drone device in a volume relative to its known start position, while determining the respective location of each light fixture.

20. The method of claim 19, wherein the identifying information comprises modulation identity information including a unique identifier code and associated modulation frequency pattern.

21. The method of claim 20, further comprising: transmitting the respective location of each light fixture and the identifying information assigned to each light fixture, to a control system for further analysis and processing.

22. The method of claim 18, further comprising: performing a second pass to with a same characteristic error parameter as the first pass being independently applied, and capturing a second set of images via the camera, of the light fixture and generating a second set of spatial coordinates for each light fixture.