CN103068040A - Method, relevant device and system of location and navigation of wireless sensor network nodes - Google Patents
Method, relevant device and system of location and navigation of wireless sensor network nodes Download PDFInfo
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Abstract
The invention discloses a method, a relevant device and a system of location and navigation of wireless sensor network nodes so as to achieve the purpose of improving locating accuracy of a navigation system. The method, the relevant device and the system of the location and the navigation of the wireless sensor network nodes comprise confirming positions of anchor nodes by receiving a beacon signal of a goal node, using an area encircled by a polygon formed by the positions of the anchor nodes as a primary area where the goal node is located at, reading induction signals of the anchor nodes, wherein the induction signals of the anchor nodes concretely change when the goal node which carries an induction source appears in an induction range of the anchor nodes, judging the positions of the anchor nodes which generate induction according to changes of the induction signals of the anchor nodes, identifying the positions of the anchor nodes which generate induction in the primary area where the goal node is located at as an exact position of the goal node, and further carrying out an navigation order according to the exact position of the goal node. The method of the location and the navigation of the wireless sensor network nodes is enabled to be high in accuracy.
Description
Technical field
The present invention relates to wireless positioning field, particularly a kind of realization wireless sensing net node location, air navigation aid and relevant apparatus, system.
Background technology
One of key technology of navigation system for blinds is location technology.The location technology that is applied at present navigation system for blinds has GPS/A-GPS location technology, infrared ray location technology, bluetooth location technology, radio-frequency (RF) identification location technology, based on the location technology of WI-FI with based on the location technology of ZigBee-network.Wherein, based on ZigBee-network non-apart from the centroid algorithm location technology since its be easy to realize, hardware cost is low, relatively is fit to be applied in navigation system for blinds.This algorithm is the location algorithm of a kind of only connectedness Network Based of proposing such as the Nirupama Bulusu of University of Southern California.The core concept of this algorithm is: anchor node at set intervals, beacon signal of destination node broadcasting that Xiang Yuqi closes on, comprise self ID and positional information in the signal, the ID that the beacon signal that receives according to destination node comprises determines to close on the anchor node position, and then closes on the position that polygon that the anchor node position forms is determined destination node by calculating.But owing to cause this algorithm positioning accuracy not high as long as all can be positioned as the position of destination node in the optional position of polygon inside, can't satisfy the demand of the hi-Fix of navigation system for blinds.
Anchor node: a kind of transducer, be defined as the node of known position information, can be by to approaching target node broadcasts beacon signal, for the location of destination node provides reference, the positional information of anchor node specifically can be obtained in advance by the mode that GPS equipment or human configuration are installed.
Destination node: a kind of transducer, be defined as the node of unknown position information, can broadcast beacon signals, the beacon signal of anchor node that wherein comprises the known location of the ID that identifies this destination node self and reception, the ID that comprises by the anchor node beacon signal determines to close on the position of anchor node, and then determines the position of this destination node.
Summary of the invention
In view of this, main purpose of the present invention is to provide a kind of wireless sensing net node location, air navigation aid and relevant apparatus, system to improve the purpose of the positioning accuracy of navigation system with realization.
The invention provides the method for a kind of wireless sensing net node location, comprising:
By the beacon signal of receiving target node, determine the position of anchor node;
The zone that the polygon that the position of described anchor node is formed surrounds is as the prime area at this destination node place;
Read the induced signal of described anchor node, the induced signal of wherein said anchor node specifically changes when the destination node that carries induction source appears in the induction range of anchor node;
According to the variation of the induced signal of described anchor node, judge the position of the anchor node that induction occurs;
To the position of the anchor node of induction occur in the prime area at this destination node place, be defined as the definite position of this destination node.
Alternatively, also comprise: by the beacon signal of receiving target node, determine the ID of this destination node;
The position of described definite anchor node is specially the position of anchor node corresponding to the destination node of determining this ID sign;
The zone that the polygon that described position with anchor node forms surrounds is specially zone that polygon that the position of the anchor node that the destination node of this ID sign is corresponding forms surrounds as the prime area at the destination node place of this ID sign as the prime area at this destination node place;
The described position that the anchor node of induction will be in the prime area at this destination node place occurs, the definite position that is defined as this destination node is specially the position that the anchor node of induction occurs in the prime area with the destination node place of this ID sign, is defined as the definite position of the destination node of this ID sign.
The present invention also provides the device of a kind of wireless sensing net node location, comprising:
The prime area computing unit: be used for the beacon signal by the receiving target node, determine the position of anchor node, the zone that the polygon that the position of described anchor node is formed surrounds is as the prime area at this destination node place;
Accurate location computing unit: the induced signal that is used for reading described anchor node, the induced signal of wherein said anchor node specifically changes when the destination node that carries induction source appears in the induction range of anchor node, variation according to the induced signal of described anchor node, judge the position of the anchor node that induction occurs, to the position of the anchor node of induction occur in the prime area at this destination node place, be defined as the definite position of this destination node.
The present invention provides again a kind of air navigation aid based on the wireless sensing net node location, comprising:
Use the definite position that obtains destination node such as the method for above-mentioned a kind of wireless sensing net node location;
Navigation instruction is carried out in definite position according to destination node.
Alternatively, described definite position according to destination node is carried out navigation instruction and is specially following any one or combination:
Audio frequency and/or video data that the definite position of query aim node is corresponding are play described audio frequency and/or video data;
Perhaps,
Arrive the routing information of destination locations, return path information according to the definite position enquiring of destination node;
Perhaps,
According to the definite position calculation of destination node and the distance of destination locations, return result of calculation.
Alternatively, the method also comprises:
Receive the sensed data of ultrasonic sensor, described ultrasonic sensor and destination node place same user terminal, analyze described sensed data, sense obstacle if judge, and return obstruction warning information;
Receive the sensed data of 3-axis acceleration sensor, described 3-axis acceleration sensor and destination node place same user terminal, analyze described sensed data, if judge three axial data fluctuations superthresholds of sensed data, return and fall down warning message;
Utilize input equipment to receive the input data, described input equipment and described destination node place same user terminal;
Utilize output equipment output output data, described output equipment and described destination node place same user terminal.
Alternatively, describedly carry out navigation instruction according to the destination node accurate location and specifically can when utilizing input equipment to receive the input data, carry out.
Alternatively, the method of described application such as above-mentioned a kind of wireless sensing net node location obtains before the destination node accurate location, also be included in server end and receive the beacon signal that comes from destination node, comprise the beacon signal content of the anchor node that destination node receives in the beacon signal of described destination node, wherein said destination node specifically places user terminal;
The method of described application such as above-mentioned a kind of wireless sensing net node location obtains the destination node accurate location and specifically obtains the destination node accurate location in the method that server end is used as above-mentioned a kind of wireless sensing net node is located;
Described definite position according to destination node is carried out navigation instruction and is specifically carried out navigation instruction at server end according to the definite position of destination node.
Alternatively, describedly carry out navigation instruction at server end according to the definite position of destination node and be specially following any one or combination:
At the definite position of server end query aim node corresponding audio frequency and/or video data;
Described audio frequency and/or video data are sent to user terminal by server end by network make the described audio frequency of user's terminal plays and/or video data;
Perhaps,
Arrive the routing information of destination locations in the definite position of server end query aim node, the routing information of described arrival destination locations is turned back to user terminal by server end by network;
Perhaps,
According to the definite position calculation of destination node and the distance of destination locations, result of calculation is turned back to user terminal by server end by network.
Alternatively, the method also comprises:
Receive the sensed data of ultrasonic sensor at server end, described ultrasonic sensor and destination node place same user terminal, analyze sensed data at server end, sense obstacle if judge, obstruction warning information is sent to user terminal by server end by network.
Receive the sensed data of 3-axis acceleration sensor at server end, described 3-axis acceleration sensor and destination node place same user terminal, analyze sensed data at server end, if three axial data fluctuations superthresholds judging sensed data turn back to the default terminal of server end with falling down warning message;
Receive the input data of the input equipment reception of user terminal by network at server end;
To export data communication device at server end crosses network and sends to user terminal output;
Adopt human-computer interaction interface to show described destination node correlation behavior, anchor node correlation behavior and/or navigation instruction executing state at described server end;
Adopt human-computer interaction interface to obtain the input data at server end;
By adopting ICP/IP protocol to set up communication at described server end, the receiving remote client is to the login of described human-computer interaction interface.。
Alternatively, described input data are specially at the video data of server end by the wireless video equipment of network reception, and described wireless video equipment and destination node place same user terminal.
Alternatively, also comprise following any one or combination:
In the sensed data of server end reception temperature sensor, judge at server end whether the sensed data of temperature sensor surpasses predetermined threshold value, if surpass threshold value, warning message is sent to described user terminal by server end by network;
Receive the warning message that any terminal sends at server end by network, warning message is sent to described user terminal by server end by network;
At server end the anchor node note that is in construction location there is special marking, the anchor node position that definite positional distance note at described destination node place has a special marking sends to described user terminal by server end by network with warning message during less than preset range.
The present invention provides again a kind of guider based on the wireless sensing net node location, and this device comprises:
Positioning unit: the method that is used for using such as above-mentioned a kind of wireless sensing net node location obtains the destination node accurate location;
Navigation elements: be used for carrying out navigation instruction according to the definite position of destination node.
Alternatively, described positioning unit: concrete being used for receives the beacon signal that comes from destination node at server end, the method of using such as above-mentioned a kind of wireless sensing net node location obtains the destination node accurate location, and wherein said destination node specifically places user terminal;
Described navigation elements: concrete being used for carried out navigation instruction at server end according to the definite position of destination node.
Alternatively, this device also comprises:
The ultrasonic listening unit: be used for receiving at server end the sensed data of ultrasonic sensor, described ultrasonic sensor and destination node place same user terminal;
Acceleration detection unit: the sensed data that is used for receiving at server end 3-axis acceleration sensor, described 3-axis acceleration sensor and destination node place same user terminal, analyze sensed data at server end, if three axial data fluctuations superthresholds judging sensed data turn back to the default terminal of server end with falling down warning message;
Input unit: the input data that are used for receiving by network at server end the input equipment reception of user terminal;
Output unit: be used for export data communication device at server end and cross network and send to user terminal and export;
Alarm unit: be used for comprising following any one or combination: the sensed data that receives temperature sensor at server end, whether the sensed data of judging temperature sensor at server end surpasses predetermined threshold value, if surpass threshold value, warning message sent to described user terminal by server end by network; Perhaps, receive the warning message that any terminal sends at server end by network, warning message is sent to described user terminal by server end by network; Perhaps, at server end the anchor node note that is in construction location there is special marking, the anchor node position that definite positional distance note at described destination node place has a special marking sends to described user terminal by server end by network with warning message during less than preset range;
Interface display unit: be used for adopting human-computer interaction interface to show described destination node correlation behavior, anchor node correlation behavior and/or navigation instruction executing state at described server end; And/or, adopt human-computer interaction interface to obtain the input data at server end;
The Telnet unit: be used for by adopting ICP/IP protocol to set up communication at described server end, the receiving remote client is to the login of described human-computer interaction interface.
The present invention provides again a kind of navigation system based on the wireless sensing net node location in addition, and this system comprises:
Destination node: be used for sending beacon signal to above-mentioned a kind of guider based on the wireless sensing net node location;
Anchor node: be used for sending beacon signal to above-mentioned a kind of guider based on the wireless sensing net node location;
A kind of guider based on the wireless sensing net node location: the method that is used for using such as above-mentioned a kind of wireless sensing net node location obtains the destination node accurate location, carries out navigation instruction according to the definite position of destination node.
Alternatively, described destination node specifically is used for placing user terminal;
Described a kind of guider based on the wireless sensing net node location: concrete being used for obtains the destination node accurate location in the method that server end is used such as above-mentioned a kind of wireless sensing net node location, carries out navigation instruction according to the definite position of destination node.
Alternatively, this system also comprises:
Ultrasonic sensor: be used for sending ultrasonic wave feedback-induced data, concrete and described destination node places same user terminal;
3-axis acceleration sensor: be used for sending the acceleration induction data, concrete and described destination node places same user terminal;
Input equipment: be used for input input data, concrete and destination node places same user terminal;
Output equipment: be used for output output data, concrete and destination node places same user terminal;
Gateway: be used for adopting ICP/IP protocol to set up communication at described server end;
Described a kind of guider based on the wireless sensing net node location: the sensed data that also is used for receiving at server end ultrasonic sensor, analyze described sensed data, sense obstacle if judge, return obstruction warning information, also be used for receiving at server end the sensed data of 3-axis acceleration sensor, analyze described sensed data, if three axial data fluctuations superthresholds judging sensed data, return and fall down warning message, also be used for receiving by network at server end the input data of the input equipment reception of user terminal, also be used at server end by the output equipment output output data of network to user terminal, also for adopting human-computer interaction interface to show described destination node correlation behavior at server end, the anchor node correlation behavior, and/or navigation instruction executing state; And/or, adopt human-computer interaction interface to obtain the input data at server end, also be used for adopting ICP/IP protocol to set up communication by gateway at described server end, the receiving remote client is to the login of described human-computer interaction interface.
As seen the present invention has following beneficial effect:
Because the present invention is when the localizing objects node, at first adopt the non-prime area of tentatively determining destination node apart from the barycenter location algorithm, the variation of the induced signal by reading anchor node is determined at the anchor node of this prime area internal induction to this destination node again, dwindle the orientation range of destination node, realized the purpose of the definite position at further precision target node place;
And the present invention applies it in the air navigation aid, so that the air navigation aid that the present invention realizes has higher precision in conjunction with the method for above-mentioned a kind of wireless sensing net node location.
Description of drawings
Fig. 1 is the flow chart of the method for a kind of wireless sensing net node provided by the invention location;
Fig. 2 is the present invention's one applied environment internal object node and anchor node schematic diagram;
Fig. 3 is the composition diagram of the device of a kind of wireless sensing net node provided by the invention location;
Fig. 4 is the flow chart of a kind of air navigation aid based on wireless sensing net node location provided by the invention;
Fig. 5 is user terminal schematic diagram in one embodiment of the invention;
Fig. 6 is input equipment schematic diagram in one embodiment of the invention;
Fig. 7 is a kind of guider one embodiment composition diagram based on the wireless sensing net node location provided by the invention;
Fig. 8 is a kind of another embodiment composition diagram of guider based on the wireless sensing net node location provided by the invention;
Fig. 9 is a kind of navigation system one embodiment composition diagram based on the wireless sensing net node location provided by the invention;
Figure 10 is a kind of another embodiment composition diagram of navigation system based on the wireless sensing net node location provided by the invention.
Embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, below in conjunction with the drawings and specific embodiments the embodiment of the invention is described in further detail.
Referring to Fig. 1, be the flow chart of the method for a kind of wireless sensing net node provided by the invention location, as shown in the figure, the method comprises:
S101, the beacon signal by the receiving target node are determined the position of anchor node;
The zone that S102, the polygon that the position of described anchor node is formed surround is as the prime area at this destination node place;
S103, read the induced signal of described anchor node, the induced signal of wherein said anchor node specifically changes when the destination node that carries induction source appears in the induction range of anchor node;
For example, in order to satisfy the requirement of blind man navigation, positioning accuracy need to reach Centimeter Level, described anchor node can adopt Hall element and peripheral circuit to realize, Hall element is a class transducer that utilizes the Hall effect making of semi-conducting material, the changing magnetic field signal can be converted to digital voltage output, and the distance of reaction of Hall element is lower than 5cm, be suitable in blind man navigation is used, using, in this embodiment, the induced signal of described anchor node can be voltage signal, and the entrained induction source of destination node can be magnetic part 405 as shown in Figure 4.
S104, according to the variation of the induced signal of described anchor node, judge the position of the anchor node that induction occurs;
For example, such as the anchor node that adopts Hall element to realize among the above-mentioned embodiment, in the time of in the destination node that carries magnetic part arrives the anchor node induction range, the anchor node voltage that can change, the variation of the described induced signal of this step is specifically as follows the variation of voltage signal.
S105, the position of the anchor node of induction will be in the prime area at this destination node place occuring, is defined as the definite position of this destination node.
For example, as shown in Figure 2,20 anchor nodes in a certain environment, have been laid, at first pass through the beacon signal of receiving target node 201, the position of determining anchor node is the position of anchor node 202 to 206, and correspondingly, the prime area of destination node 201 is the zone in the polygon 207 that forms of anchor node 202 to 206, the position that the anchor node of induction occurs is anchor node 204,208 and 209, and the definite position that then can determine destination node 201 is the position at anchor node 204 places.
As seen, use the above embodiment of the present invention, at first adopt the non-prime area of tentatively determining destination node apart from the barycenter location algorithm, the again variation of the induced signal by reading anchor node, determine at the anchor node of this prime area internal induction to this destination node, dwindled the orientation range of destination node, the further accurate definite position at destination node place.
In the another preferred embodiment of the present invention, can also by the beacon signal of receiving target node, determine the ID of this destination node;
The position of described definite anchor node is specially the position of anchor node corresponding to the destination node of determining this ID sign;
The zone that the polygon that described position with anchor node forms surrounds is specially zone that polygon that the position of the anchor node that the destination node of this ID sign is corresponding forms surrounds as the prime area at the destination node place of this ID sign as the prime area at this destination node place;
The described position that the anchor node of induction will be in the prime area at this destination node place occurs, the definite position that is defined as this destination node is specially the position that the anchor node of induction occurs in the prime area with the destination node place of this ID sign, is defined as the definite position of the destination node of this ID sign.
Because in the above preferred embodiment method, further the ID by destination node identifies destination node, and the prime area at place, the definite position of the destination node that the location positioning of the anchor node of induction identifies for this ID occurs in the prime area according to the destination node of this ID sign again, can realize a plurality of destination nodes in the same environment are positioned.
Referring to Fig. 3, be the composition diagram of the device of a kind of wireless sensing net node provided by the invention location, as shown in the figure, this device comprises:
Prime area computing unit 301: be used for the beacon signal by the receiving target node, determine the position of anchor node, the zone that the polygon that the position of described anchor node is formed surrounds is as the prime area at this destination node place;
Accurate location computing unit 302: the induced signal that is used for reading described anchor node, the induced signal of wherein said anchor node specifically changes when the destination node that carries induction source appears in the induction range of anchor node, variation according to the induced signal of described anchor node, judge the position of the anchor node that induction occurs, to the position of the anchor node of induction occur in the prime area at this destination node place, be defined as the definite position of this destination node.
Referring to Fig. 4, be the flow chart of a kind of air navigation aid based on wireless sensing net node location provided by the invention, as shown in the figure, the method comprises:
S401, the definite position of using the method acquisition destination node of locating such as above-mentioned a kind of wireless sensing net node;
S402, carry out navigation instruction according to the definite position of destination node.
Below, the actual needs for navigation at length provides following several embodiment:
(embodiment one) if for the actual needs of navigation for playing and the definite position of destination node one to one audio frequency and/or video data, the perhaps navigation relevant with destination locations, step S402 carries out the navigation instruction specific implementation according to the definite position of destination node can be following any one or combination:
Audio frequency and/or video data that the definite position of query aim node is corresponding are play described audio frequency and/or video data;
Perhaps,
According to the achieve the goal routing information of position of the definite position enquiring of destination node, return path information;
According to the definite position calculation of destination node and the distance of destination locations, return result of calculation.
This embodiment can be applied to the navigation of the application scenarioss such as museum, for example, can in museum, lay in advance a large amount of anchor nodes, when the subscriber terminal equipment that carries built-in destination node as the user moves in museum, definite change in location along with the user, play corresponding with it audio frequency and/or the corresponding showpiece of introducing this position of video data, realize the purpose of museum's navigation.
Again for example, when implementation of the present invention arrives blind person's indoor navigation, can lay a large amount of anchor nodes in this indoor environment, destination node is placed in the walking stick that the blind person carries, when the blind person when this indoor environment moves, can obtain according to the definite position of destination node blind person's definite position, again by the real-time key-press input of blind person or preset etc. arbitrarily that method obtains destination locations, and then according to blind person's definite position, query-relevant data storehouse or the topological diagram that is formed by the anchor node position of laying, inquire the routing information that arrives destination locations, specifically can adopt the Dijkstla algorithm to select an optimal path, after inquiring the path that arrives destination locations, can also be with the form of routing information with voice data, by sound equipment output equipment such as earphone, return the routing information of audio form to the blind person, wherein routing information be specifically as follows the path on the way in each anchor node with respect to the relative position of destination node, as seen, use above-described embodiment method, after the definite position of determining the destination node place, can further carry out navigation instruction according to this accurate location more accurately navigation information is provided.
For the needs of blind man navigation application scenarios to detection of obstacles, the method can also comprise (embodiment two):
Receive the sensed data of ultrasonic sensor, described ultrasonic sensor and destination node place same user terminal;
Analyze described sensed data, sense obstacle if judge, return obstruction warning information.
For example, described ultrasonic sensor and destination node place same user terminal specific implementation can for: as shown in Figure 5, described user terminal comprises walking stick 501 and ultrasonic sensor 502, described ultrasonic sensor 502 places on the walking stick 501, described destination node can be ultrasonic sensor 502, perhaps also can be other transducers on the walking stick 501.
The sensed data of described reception ultrasonic sensor is specifically as follows continual circulation and receives, analyze that described sensed data is corresponding can be continual cycle analysis, analyze described sensed data and whether be specifically as follows the detection range of the described sensed data of analysis less than the minimum range threshold value, if, then judge and sense obstacle, return obstruction warning information, return obstruction warning information and be specifically as follows the control command that makes buzzer warning.
For the warning needs of blind man navigation application scenarios to emergency case such as falling down, the method can also comprise (embodiment three):
Receive the sensed data of 3-axis acceleration sensor, described 3-axis acceleration sensor and destination node place same user terminal;
Analyze described sensed data, if judge three axial data fluctuations superthresholds of sensed data, return and fall down warning message.
For example, described 3-axis acceleration sensor and destination node place same user terminal specific implementation can for: as shown in Figure 5, described user terminal comprises walking stick 501 and 3-axis acceleration sensor 503, described 3-axis acceleration sensor 503 places on the walking stick 501, described destination node can be 3-axis acceleration sensor 503, perhaps also can be other transducers on the walking stick 501.
(embodiment four) in above each navigation application scene to the needs of information interaction, the method can also comprise:
Utilize input equipment to receive the input data, described input equipment and described destination node place same user terminal;
Utilize output equipment output output data, described output equipment and described destination node place same user terminal.
For example, described input equipment and destination node place the same user terminal specifically can be as shown in Figure 5, described user terminal comprises walking stick 501, handheld input device 504 and acceleration transducer 503, described destination node can be 3-axis acceleration sensor 503, perhaps also can be other transducers on the walking stick 501.
Wherein, described input equipment specifically can comprise as shown in Figure 6 include key panel 601, the handheld input device of current sensor 602 and power supply 603, when the different key of the key panel 601 of input equipment is pressed, the different current value of the corresponding generation of peripheral circuit, therefore, described input data specifically can be corresponding one by one with the current value that peripheral circuit produces, for example: when button 3 is pressed, the input data can be encoded for destination locations, when button 2 is pressed, the input data can for dialing flash appeal phone etc., specifically can set in advance different current values and the corresponding relation of inputting data according to actual needs.
Wherein, step S402 is described specifically can be carried out when utilizing input equipment to receive the input data according to destination node accurate location execution navigation instruction, the path that for example arrives destination locations according to the definite position enquiring of destination node in above-described embodiment specifically can be inquired about when obtaining to comprise the input data of destination locations, and wherein destination locations specifically can be with the destination locations coded representation.
Again for example, described input equipment specifically can also be audio input device, and the input data are corresponding can be the voice data of audio input device input.
In conjunction with the actual needs of blind man navigation, described output equipment is specifically as follows the audio output apparatus such as wireless headset, and the wireless channel that different user terminals uses is separate.
Need to prove, the various embodiments described above can only realize at user terminal, can also be realized by the network cooperating user terminal by server end, reach the purpose of Long-distance Control and navigation, have good expansion and interactivity, particularly, the below realizes that by the network cooperating user terminal method of the various embodiments described above is elaborated to server end:
Before the step S401, also receive the beacon signal come from destination node at server end, comprise the beacon signal content of the anchor node that destination node receives in the beacon signal of described destination node, wherein said destination node specifically places user terminal;
Among the step S401, specifically obtain the destination node accurate location in the method that server end is used as above-mentioned a kind of wireless sensing net node is located;
In the step 402, specifically carry out navigation instruction at server end according to the definite position of destination node.
Corresponding above-mentioned (embodiment one): the specific implementation of described step S402 can be following any one or combination:
At the definite position of server end query aim node corresponding audio frequency and/or video data, described audio frequency and/or video data are sent to user terminal by server end by network make the described audio frequency of user's terminal plays and/or video data;
Perhaps,
Arrive the routing information of destination locations in the definite position of server end query aim node, the routing information of described arrival destination locations is turned back to user terminal by server end by network;
Perhaps,
According to the definite position calculation of destination node and the distance of destination locations, result of calculation is turned back to user terminal by server end by network.
Corresponding above-mentioned (embodiment two): the method can also comprise:
In the sensed data of server end reception ultrasonic sensor, described ultrasonic sensor and destination node place same user terminal;
Analyze sensed data at server end, sense obstacle if judge, obstruction warning information is sent to user terminal by server end by network.
Corresponding above-mentioned (embodiment three): the method can also comprise:
In the sensed data of server end reception 3-axis acceleration sensor, described 3-axis acceleration sensor and destination node place same user terminal;
Analyze sensed data at server end, if judge three axial data fluctuations superthresholds of sensed data, turn back to the default terminal of server end with falling down warning message.
For example, the described warning message of falling down is specifically as follows the voice data of falling down warning, the default terminal of described server end can be the audio frequency apparatus at server end, and the described warning message of will falling down turns back to be specially in the default terminal of server end and turns back to the described voice data of falling down warning at the default audio frequency apparatus of server end and play this voice data;
Perhaps,
The described warning message of falling down is specifically as follows the control command that the control alarm lamp glimmers, the default terminal of described server end can be the warning lamp that links to each other with server end, and the described warning message of will falling down turns back to be specially in the default terminal of server end the report to the police control command of flicker of described control is turned back at the continuous warning lamp of server end and makes its flicker;
Perhaps,
The described warning message of falling down is specifically as follows the warning literal, the default terminal of described server end can be the display terminal of server end, and the described warning message of will falling down turns back to be specially in the default terminal of server end described warning literal is shown at the human-computer interaction interface of the display terminal of server end.
Corresponding above-mentioned (embodiment four):
Also comprise:
Receive the input data of the input equipment reception of user terminal by network at server end;
To export data communication device at server end crosses network and sends to user terminal output.
For example, described input data can be destination locations information, correspondingly, described arrive the path of destination locations at server end according to destination node position inquiry specifically can be when server end receives the input data that comprise destination locations information, carry out at server end, the input data can also be the number of flash appeal phone, correspondingly, can also at server end according to the destination number that the input data comprise, dial the flash appeal phone.
Again for example, described input data are specifically as follows at the video data of server end by the wireless video equipment of network reception, described wireless video equipment and destination node place same user terminal, for example, wireless video camera 505 as shown in Figure 5, wherein said server and wireless video equipment can be direct-connected by the WI-FI wireless network, also can link to each other by router, after server end receives described video data, can play in real time, also video data can be kept in memory space corresponding to the described user terminal of server end, when receiving play instruction, play described video data.
For example, described output data can for the input data of utilizing input equipment to receive at server end, for example, be provided with voice-input device at server end, the keeper inputs speech data by speech ciphering equipment, and described speech data sends to corresponding user terminal by server end by network.
In addition, in order to improve the interactivity of navigation, can also adopt human-computer interaction interface to show described destination node correlation behavior at server end, the anchor node correlation behavior, and/or navigation instruction executing state, can also adopt human-computer interaction interface to obtain the input data at server end, particularly, for example shown in Figure 6, the definite position of destination node, the position of anchor node, the navigation instruction content, the result that navigation instruction is carried out all can show at this human-computer interaction interface, and, in conjunction with the various embodiments described above, the operating state of each transducer, video data and warning message etc. also all can be showed and inquiry at this interactive interface, can also obtain input data, for example navigation instruction content at this human-computer interaction interface, output to the voice data of user terminal etc.
Real Time Monitoring and artificial help of household to navigating for the ease of server end keeper or blind person, the present invention also comprises: by adopting ICP/IP protocol to set up communication at server end, the receiving remote client is to the login of described human-computer interaction interface, when the receiving remote client is logined to human-computer interaction interface, specifically all right: whether the username and password of judging the Terminal Server Client login is correct, and the login of accepting Terminal Server Client in the correct situation of username and password connects.
Except above-mentioned several embodiment, server end can also be realized the functions such as Realtime Alerts by the navigation of network cooperating user terminal, particularly, for example, can comprise following any one or combination:
The specific implementation embodiment one of Realtime Alerts can be the sensed data that receives temperature sensor at server end, whether the sensed data of judging temperature sensor at server end surpasses predetermined threshold value, if surpass threshold value, warning message sent to described user terminal by server end by network;
Perhaps,
The specific implementation embodiment two of Realtime Alerts can for: receive the warning message that any terminal sends at server end, warning message is sent to described user terminal by server end by network, particularly, for example, receive the warning message that fire protection alarm system place terminal sends at server terminal, warning message is sent to described user terminal by network;
Perhaps,
The specific implementation embodiment three of Realtime Alerts can for: at server end the anchor node note that is in construction location is had special marking, the anchor node position that definite positional distance note at described destination node place has a special marking sends to described user terminal by server end by network with warning message during less than preset range.
Warning message among above-mentioned each embodiment and the position of generation thereof can also be recorded in the servers' data storehouse, it is helped for subsequent navigation provides experience as historical data, for example: the position that will fall down warning message and generation thereof is recorded in the servers' data storehouse, when the number of times of falling down warning message record when a certain position surpasses threshold value, return this position to the keeper and should carry out the information such as environmental reconstruction, perhaps return this position to user terminal and easily fall down warning message with call user's attention safety, can also return to user terminal in addition the path of escape, particularly, for example:
The specific implementation embodiment one of corresponding above-mentioned Realtime Alerts, can record in advance the relation of temperature sensor unique identification and positional information thereof at server end, when the sensed data of the temperature sensor that receives surpasses threshold value, extract positional information corresponding to the unique identification of this temperature sensor as alert locations;
The specific implementation embodiment two of corresponding above-mentioned Realtime Alerts in the warning message that receiving terminal sends, can receive the positional information of this terminal transmission as alert locations at server end;
The specific implementation embodiment three of corresponding above-mentioned Realtime Alerts has the anchor node position of special marking as alert locations with described note;
Specific implementation embodiment in conjunction with above-mentioned three Realtime Alerts, also comprise: according to Relational database or the topological diagram that formed by the anchor node position of laying, the definite position that inquires destination node arrives in the routing information of destination locations the routing information without described alert locations, preferably, can inquire the described alert locations of the routing information middle distance routing information farthest of the definite position arrival destination locations of destination node.
Need to prove, consider based on practicality that the transfer of data among above-mentioned each embodiment between server and the user terminal specifically can adopt the wireless network data transmission, for example, adopt the wireless network of Zigbee protocol.
Referring to Fig. 7, be an embodiment composition diagram of a kind of guider based on wireless sensing net node location provided by the invention:
This device comprises:
Positioning unit 701: the method that is used for using such as above-mentioned a kind of wireless sensing net node location obtains the destination node accurate location;
Navigation elements 702: be used for carrying out navigation instruction according to the definite position of destination node.
This device can also comprise: ultrasonic listening unit 703: the sensed data that is used for receiving ultrasonic sensor, described ultrasonic sensor and destination node place same user terminal, analyze described sensed data, sense obstacle if judge, return obstruction warning information.
This device can also comprise: acceleration detection unit 704: the sensed data that is used for receiving 3-axis acceleration sensor, described 3-axis acceleration sensor and destination node place same user terminal, analyze described sensed data, if three axial data fluctuations superthresholds judging sensed data are returned and are fallen down warning message.
This device can also comprise:
Input unit 705: be used for utilizing input equipment to receive the input data, described input equipment and described destination node place same user terminal;
Output equipment 706: be used for utilizing output equipment output output data, described output equipment and described destination node place same user terminal.
As shown in Figure 7, this device can only be implemented at user terminal, and in the another preferred embodiment of apparatus of the present invention, this device can be realized in server end collaborative user terminal, referring to Fig. 8, be the another embodiment composition diagram of a kind of guider based on wireless sensing net node location provided by the invention, as shown in the figure:
Described positioning unit 801: concrete being used for receives the beacon signal that comes from destination node at server end, and the method for using such as above-mentioned a kind of wireless sensing net node location obtains the destination node accurate location, and wherein said destination node specifically places user terminal;
Described navigation elements 802: concrete being used for carried out navigation instruction at server end according to the definite position of destination node.
This device can also comprise: ultrasonic listening unit 803: be used for receiving at server end the sensed data of ultrasonic sensor, described ultrasonic sensor and destination node place same user terminal;
This device can also comprise: acceleration detection unit 804: the sensed data that is used for receiving at server end 3-axis acceleration sensor, described 3-axis acceleration sensor and destination node place same user terminal, analyze sensed data at server end, if three axial data fluctuations superthresholds judging sensed data turn back to the default terminal of server end with falling down warning message.
This device can also comprise:
Input unit 805: the input data that are used for receiving by network at server end the input equipment reception of user terminal;
Output unit 806: be used for export data communication device at server end and cross network and send to user terminal and export.
This device can also comprise:
Described input unit 805: concrete being used at the video data of server end by the wireless video equipment of network reception user terminal, described wireless video equipment and destination node place same user terminal.
This device can also comprise:
Alarm unit 807: be used for comprising following any one or combination: the sensed data that receives temperature sensor at server end, whether the sensed data of judging temperature sensor at server end surpasses predetermined threshold value, if surpass threshold value, warning message sent to described user terminal by server end by network; Perhaps, receive the warning message that any terminal sends at server end by network, warning message is sent to described user terminal by server end by network; Perhaps, at server end the anchor node note that is in construction location there is special marking, the anchor node position that definite positional distance note at described destination node place has a special marking sends to described user terminal by server end by network with warning message during less than preset range.
This device can also comprise:
Interface display unit 808: be used for adopting human-computer interaction interface to show described destination node correlation behavior, anchor node correlation behavior and/or navigation instruction executing state at described server end; And/or, adopt human-computer interaction interface to obtain the input data at server end.
This device can also comprise:
Telnet unit 809: be used for by adopting ICP/IP protocol to set up communication at described server end, the receiving remote client is to the login of described human-computer interaction interface.
Referring to Fig. 9, an embodiment composition diagram of a kind of navigation system based on wireless sensing net node location that also provides for the present invention, as shown in the figure, this system comprises:
Destination node 901: be used for sending beacon signal to above-mentioned a kind of guider based on the wireless sensing net node location;
Anchor node 902: be used for sending beacon signal to above-mentioned a kind of guider based on the wireless sensing net node location;
A kind of guider 903 based on the wireless sensing net node location: the method that is used for using such as above-mentioned a kind of wireless sensing net node location obtains the destination node accurate location, carries out navigation instruction according to the definite position of destination node.
This system can also comprise: ultrasonic sensor 904: be used for sending ultrasonic wave feedback-induced data, concrete and described destination node 901 places same user terminal;
Described a kind of guider 903 based on the wireless sensing net node location: also be used for receiving the sensed data of ultrasonic sensor 904, analyze described sensed data, sense obstacle if judge, return obstruction warning information.
This system can also comprise: 3-axis acceleration sensor 905: be used for sending the acceleration induction data, concrete and described destination node 901 places same user terminal;
Described a kind of guider 903 based on the wireless sensing net node location: the sensed data that also is used for receiving 3-axis acceleration sensor 905, analyze described sensed data, if three axial data fluctuations superthresholds judging sensed data are returned and are fallen down warning message.
This system can also comprise: input equipment 906: be used for input input data, concrete and destination node 901 places same user terminal; Output equipment 907: be used for output output data, concrete and destination node 901 places same user terminal.
Described a kind of guider 903 based on the wireless sensing net node location: also be used for utilizing described input equipment 906 to receive the input data, utilize described output equipment 907 output output data.
As shown in Figure 9, this system can only implement at user terminal, and in the another preferred embodiment of system of the present invention, this system can realize in server end collaborative user terminal, referring to Figure 10, for the present invention also provides another embodiment composition diagram of a kind of navigation system based on wireless sensing net node location, as shown in the figure, this system comprises:
Destination node 1001: be used for sending beacon signal to above-mentioned a kind of guider based on the wireless sensing net node location, specifically place user terminal;
Anchor node 1002: be used for sending beacon signal to above-mentioned a kind of guider based on the wireless sensing net node location;
A kind of guider 1003 based on the wireless sensing net node location: be used for obtaining the destination node accurate location in the method that server end is used as above-mentioned a kind of wireless sensing net node is located, carry out navigation instruction according to the definite position of destination node.
This system can also comprise: ultrasonic sensor 1004: be used for sending ultrasonic wave feedback-induced data, concrete and described destination node 1001 places same user terminal;
Described a kind of guider 1003 based on the wireless sensing net node location: also be used for receiving at server end the sensed data of ultrasonic sensor 1004, analyze described sensed data, sense obstacle if judge, return obstruction warning information.
This system can also comprise: 3-axis acceleration sensor 1005: be used for sending the acceleration induction data, concrete and described destination node 1001 places same user terminal;
Described a kind of guider 1003 based on the wireless sensing net node location: the sensed data that also is used for receiving 3-axis acceleration sensor 1005, analyze described sensed data, if three axial data fluctuations superthresholds judging sensed data are returned and are fallen down warning message.
This system can also comprise: input equipment 1006: be used for input input data, concrete and destination node 1001 places same user terminal; Output equipment 1007: be used for output output data, concrete and destination node 1001 places same user terminal.
Described a kind of guider 1003 based on the wireless sensing net node location: also be used in the input data of server end by input equipment 1006 receptions of network reception user terminal, also be used at server end by the output equipment 1007 output output data of network to user terminal.
The input equipment 1006 of this system specifically can comprise wireless video equipment 1008: be used for sending video data by network to described a kind of guider 1003 based on the wireless sensing net node location, concrete and destination node 1001 places same user terminal;
Described a kind of guider 1003 based on the wireless sensing net node location: the concrete video data that is used for receiving by network at server end the wireless video equipment 1008 of user terminal.
This system server terminal can also comprise: display device 1009: be used for showing human-computer interaction interface;
Described a kind of guider 1003 based on the wireless sensing net node location: specifically also be used for adopting human-computer interaction interface to show described destination node correlation behavior, anchor node correlation behavior and/or navigation instruction executing state at server; And/or, adopt human-computer interaction interface to obtain the input data at server end.
This system can also comprise: gateway 1010: be used for adopting ICP/IP protocol to set up communication at described server end;
Described a kind of guider 1003 based on the wireless sensing net node location: also be used for adopting ICP/IP protocol to set up communication by gateway 1010 at described server end, the receiving remote client is to the login of described human-computer interaction interface.
Need to prove, in this article, relational terms such as the first and second grades only is used for an entity or operation are made a distinction with another entity or operation, and not necessarily requires or hint and have the relation of any this reality or sequentially between these entities or the operation.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby not only comprise those key elements so that comprise process, method, article or the equipment of a series of key elements, but also comprise other key elements of clearly not listing, or also be included as the intrinsic key element of this process, method, article or equipment.Do not having in the situation of more restrictions, the key element that is limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.
The above is preferred embodiment of the present invention only, is not for limiting protection scope of the present invention.All any modifications of doing within the spirit and principles in the present invention, be equal to replacement, improvement etc., all be included in protection scope of the present invention.
Claims (17)
1. the method for a wireless sensing net node location is characterized in that, comprising:
By the beacon signal of receiving target node, determine the position of anchor node;
The zone that the polygon that the position of described anchor node is formed surrounds is as the prime area at this destination node place;
Read the induced signal of described anchor node, the induced signal of wherein said anchor node specifically changes when the destination node that carries induction source appears in the induction range of anchor node;
According to the variation of the induced signal of described anchor node, judge the position of the anchor node that induction occurs;
To the position of the anchor node of induction occur in the prime area at this destination node place, be defined as the definite position of this destination node.
2. method according to claim 1 is characterized in that, also comprises: by the beacon signal of receiving target node, determine the ID of this destination node;
The position of described definite anchor node is specially the position of anchor node corresponding to the destination node of determining this ID sign;
The zone that the polygon that described position with anchor node forms surrounds is specially zone that polygon that the position of the anchor node that the destination node of this ID sign is corresponding forms surrounds as the prime area at the destination node place of this ID sign as the prime area at this destination node place;
The described position that the anchor node of induction will be in the prime area at this destination node place occurs, the definite position that is defined as this destination node is specially the position that the anchor node of induction occurs in the prime area with the destination node place of this ID sign, is defined as the definite position of the destination node of this ID sign.
3. the device of a wireless sensing net node location is characterized in that, comprising:
The prime area computing unit: be used for the beacon signal by the receiving target node, determine the position of anchor node, the zone that the polygon that the position of described anchor node is formed surrounds is as the prime area at this destination node place;
Accurate location computing unit: the induced signal that is used for reading described anchor node, the induced signal of wherein said anchor node specifically changes when the destination node that carries induction source appears in the induction range of anchor node, variation according to the induced signal of described anchor node, judge the position of the anchor node that induction occurs, to the position of the anchor node of induction occur in the prime area at this destination node place, be defined as the definite position of this destination node.
4. the air navigation aid based on the wireless sensing net node location is characterized in that, comprising:
Use the definite position that obtains destination node such as the method for above-mentioned a kind of wireless sensing net node location;
Navigation instruction is carried out in definite position according to destination node.
5. method according to claim 4 is characterized in that, described definite position according to destination node is carried out navigation instruction and is specially following any one or combination:
Audio frequency and/or video data that the definite position of query aim node is corresponding are play described audio frequency and/or video data;
Perhaps,
Arrive the routing information of destination locations, return path information according to the definite position enquiring of destination node;
Perhaps,
According to the definite position calculation of destination node and the distance of destination locations, return result of calculation.
6. method according to claim 4 is characterized in that, also comprises:
Receive the sensed data of ultrasonic sensor, described ultrasonic sensor and destination node place same user terminal, analyze described sensed data, sense obstacle if judge, and return obstruction warning information;
Receive the sensed data of 3-axis acceleration sensor, described 3-axis acceleration sensor and destination node place same user terminal, analyze described sensed data, if judge three axial data fluctuations superthresholds of sensed data, return and fall down warning message;
Utilize input equipment to receive the input data, described input equipment and described destination node place same user terminal;
Utilize output equipment output output data, described output equipment and described destination node place same user terminal.
7. method according to claim 4 is characterized in that,
The method of described application such as above-mentioned a kind of wireless sensing net node location obtains before the destination node accurate location, also be included in server end and receive the beacon signal that comes from destination node, comprise the beacon signal content of the anchor node that destination node receives in the beacon signal of described destination node, wherein said destination node specifically places user terminal;
The method of described application such as above-mentioned a kind of wireless sensing net node location obtains the destination node accurate location and specifically obtains the destination node accurate location in the method that server end is used as above-mentioned a kind of wireless sensing net node is located;
Described definite position according to destination node is carried out navigation instruction and is specifically carried out navigation instruction at server end according to the definite position of destination node.
8. method according to claim 7 is characterized in that, describedly carries out navigation instruction at server end according to the definite position of destination node and is specially following any one or combination:
At the definite position of server end query aim node corresponding audio frequency and/or video data, described audio frequency and/or video data are sent to user terminal by server end by network make the described audio frequency of user's terminal plays and/or video data;
Perhaps,
Arrive the routing information of destination locations in the definite position of server end query aim node, the routing information of described arrival destination locations is turned back to user terminal by server end by network;
Perhaps,
According to the definite position calculation of destination node and the distance of destination locations, result of calculation is turned back to user terminal by server end by network.
9. method according to claim 7 is characterized in that, also comprises:
Receive the sensed data of ultrasonic sensor at server end, described ultrasonic sensor and destination node place same user terminal, analyze sensed data at server end, sense obstacle if judge, obstruction warning information is sent to user terminal by server end by network.
Receive the sensed data of 3-axis acceleration sensor at server end, described 3-axis acceleration sensor and destination node place same user terminal, analyze sensed data at server end, if three axial data fluctuations superthresholds judging sensed data turn back to the default terminal of server end with falling down warning message;
Receive the input data of the input equipment reception of user terminal by network at server end;
To export data communication device at server end crosses network and sends to user terminal output;
Adopt human-computer interaction interface to show described destination node correlation behavior, anchor node correlation behavior and/or navigation instruction executing state at described server end;
Adopt human-computer interaction interface to obtain the input data at server end;
By adopting ICP/IP protocol to set up communication at described server end, the receiving remote client is to the login of described human-computer interaction interface.
10. method according to claim 9 is characterized in that, described input data are specially at the video data of server end by the wireless video equipment of network reception, and described wireless video equipment and destination node place same user terminal.
11. method according to claim 7 is characterized in that, also comprises following any one or combination:
In the sensed data of server end reception temperature sensor, judge at server end whether the sensed data of temperature sensor surpasses predetermined threshold value, if surpass threshold value, warning message is sent to described user terminal by server end by network;
Perhaps,
Receive the warning message that any terminal sends at server end by network, warning message is sent to described user terminal by server end by network;
Perhaps,
At server end the anchor node note that is in construction location there is special marking, the anchor node position that definite positional distance note at described destination node place has a special marking sends to described user terminal by server end by network with warning message during less than preset range.
12. the guider based on the wireless sensing net node location is characterized in that, comprising:
Positioning unit: the method that is used for using such as above-mentioned a kind of wireless sensing net node location obtains the destination node accurate location;
Navigation elements: be used for carrying out navigation instruction according to the definite position of destination node.
13. device according to claim 12, it is characterized in that, described positioning unit: concrete being used for receives the beacon signal that comes from destination node at server end, the method of using such as above-mentioned a kind of wireless sensing net node location obtains the destination node accurate location, and wherein said destination node specifically places user terminal;
Described navigation elements: concrete being used for carried out navigation instruction at server end according to the definite position of destination node.
14. device according to claim 13 is characterized in that, also comprises:
The ultrasonic listening unit: be used for receiving at server end the sensed data of ultrasonic sensor, described ultrasonic sensor and destination node place same user terminal;
Acceleration detection unit: the sensed data that is used for receiving at server end 3-axis acceleration sensor, described 3-axis acceleration sensor and destination node place same user terminal, analyze sensed data at server end, if three axial data fluctuations superthresholds judging sensed data turn back to the default terminal of server end with falling down warning message;
Input unit: the input data that are used for receiving by network at server end the input equipment reception of user terminal;
Output unit: be used for export data communication device at server end and cross network and send to user terminal and export;
Alarm unit: be used for comprising following any one or combination: the sensed data that receives temperature sensor at server end, whether the sensed data of judging temperature sensor at server end surpasses predetermined threshold value, if surpass threshold value, warning message sent to described user terminal by server end by network; Perhaps, receive the warning message that any terminal sends at server end by network, warning message is sent to described user terminal by server end by network; Perhaps, at server end the anchor node note that is in construction location there is special marking, the anchor node position that definite positional distance note at described destination node place has a special marking sends to described user terminal by server end by network with warning message during less than preset range;
Interface display unit: be used for adopting human-computer interaction interface to show described destination node correlation behavior, anchor node correlation behavior and/or navigation instruction executing state at described server end; And/or, adopt human-computer interaction interface to obtain the input data at server end;
The Telnet unit: be used for by adopting ICP/IP protocol to set up communication at described server end, the receiving remote client is to the login of described human-computer interaction interface.
15. the navigation system based on the wireless sensing net node location is characterized in that, comprising:
Destination node: be used for sending beacon signal to above-mentioned a kind of guider based on the wireless sensing net node location;
Anchor node: be used for sending beacon signal to above-mentioned a kind of guider based on the wireless sensing net node location;
A kind of guider based on the wireless sensing net node location: the method that is used for using such as above-mentioned a kind of wireless sensing net node location obtains the destination node accurate location, carries out navigation instruction according to the definite position of destination node.
16. system according to claim 15 is characterized in that, described destination node: specifically place user terminal;
Described a kind of guider based on the wireless sensing net node location: concrete being used for obtains the destination node accurate location in the method that server end is used such as above-mentioned a kind of wireless sensing net node location, carries out navigation instruction according to the definite position of destination node.
17. system according to claim 16 is characterized in that, this system also comprises:
Ultrasonic sensor: be used for sending ultrasonic wave feedback-induced data, concrete and described destination node places same user terminal;
3-axis acceleration sensor: be used for sending the acceleration induction data, concrete and described destination node places same user terminal;
Input equipment: be used for input input data, concrete and destination node places same user terminal;
Output equipment: be used for output output data, concrete and destination node places same user terminal;
Gateway: be used for adopting ICP/IP protocol to set up communication at described server end;
Described a kind of guider based on the wireless sensing net node location: the sensed data that also is used for receiving at server end ultrasonic sensor, analyze described sensed data, sense obstacle if judge, return obstruction warning information, also be used for receiving at server end the sensed data of 3-axis acceleration sensor, analyze described sensed data, if three axial data fluctuations superthresholds judging sensed data, return and fall down warning message, also be used for receiving by network at server end the input data of the input equipment reception of user terminal, also be used at server end by the output equipment output output data of network to user terminal, also for adopting human-computer interaction interface to show described destination node correlation behavior at server end, the anchor node correlation behavior, and/or navigation instruction executing state; And/or, adopt human-computer interaction interface to obtain the input data at server end, also be used for adopting ICP/IP protocol to set up communication by gateway at described server end, the receiving remote client is to the login of described human-computer interaction interface.
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