CN106412816A - Positioning method, apparatus and server - Google Patents
Positioning method, apparatus and server Download PDFInfo
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- CN106412816A CN106412816A CN201611178052.3A CN201611178052A CN106412816A CN 106412816 A CN106412816 A CN 106412816A CN 201611178052 A CN201611178052 A CN 201611178052A CN 106412816 A CN106412816 A CN 106412816A
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- positioner
- destination object
- ranging information
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention relates to a positioning method, an apparatus and a server which are used for positioning a target object. The method comprises the following steps of scanning and arranging a wireless signal emitted by bluetooth beacon equipment on the target object; and according to the wireless signal, sending range finding information to a server so that the server positions the target object, wherein the range finding information is used for indicating a distance between a positioning device and the target object.
Description
Technical field
It relates to computer realm, in particular it relates to a kind of localization method, device and server.
Background technology
In the today's society of scientific and technical continuous development, people usually can be tracked fixed to some or article
Position, such as, to child or old man's positioning, or such as, to the article positioning in logistics warehouse, etc..
At present, can be by GPS (global positioning system, Global Positioning System) to people to be followed the trail of
The position of destination object or article are positioned, is known using satellite-signal.However, in actual applications, GPS location mould
The cost of block is of a relatively high, and for destination object to be positioned in the case of interior, gps signal is weaker, and possibly cannot
Relatively accurately realize location tracking.
Content of the invention
The purpose of the disclosure is to provide a kind of localization method, device and server, for preferably carrying out to destination object
Positioning.
According to the embodiment of the present disclosure in a first aspect, provide a kind of localization method, application and positioner, including：
The wireless signal that Bluetooth beacon equipment on destination object for the scan setting sends；
According to described wireless signal, send ranging information to server, so that described server enters to described destination object
Row positioning, wherein, described ranging information is used for indicating the distance between described positioner and described destination object.
Optionally, according to described wireless signal, send ranging information to server, including：
According to the signal strength signal intensity of described wireless signal, determine the received signal strength indicator RSSI value of described wireless signal；
Send described RSSI value to described server.
Optionally, send described RSSI value to described server, including：
Determine the mean value of the N number of RSSI value obtaining, wherein, N is the positive integer more than or equal to 2；
Send described mean value to described server.
According to the second aspect of the embodiment of the present disclosure, provide a kind of localization method, application and server, including：
Receive the ranging information of at least one positioner transmission, wherein, described ranging information is used for indicating positioner
The distance between with the destination object being provided with Bluetooth beacon equipment；
The ranging information being sent according at least one positioner described, positions to described destination object.
Optionally, at least one positioner described at least includes the first positioner, receives at least one positioner
The ranging information sending, including：
Receive the first ranging information that the first positioner sends, wherein, described first ranging information is used for indicating described
The distance between first positioner and described destination object；
In preset duration, detect whether to receive the correspondence that other positioners in addition to described first positioner send
Ranging information in described destination object；
The ranging information being sent according at least one positioner described, positions to described destination object, including：
If receiving the survey corresponding to described destination object that other positioners described send in described preset duration
Away from information, then according to the ranging information all corresponding to described destination object receiving, described destination object is positioned；
Or,
If the transmission of other positioners corresponding to described destination object described in being not received by described preset duration
Ranging information, then according to described first ranging information, described destination object is positioned.
According to the third aspect of the embodiment of the present disclosure, provide a kind of positioner, including：
Scan module, the wireless signal sending for Bluetooth beacon equipment on destination object for the scan setting；
Sending module, for according to described wireless signal, sending ranging information to server, so that described server is to institute
State destination object to be positioned, wherein, described ranging information is used for indicating between described positioner and described destination object
Distance.
Optionally, described sending module includes：
Determining module, for the signal strength signal intensity according to described wireless signal, determines that the receipt signal of described wireless signal is strong
Degree indicating RSSI value；
Sending submodule, for sending described RSSI value to described server.
Optionally, described sending submodule is used for：
Determine the mean value of the N number of RSSI value obtaining, wherein, N is the positive integer more than or equal to 2；
Send described mean value to described server.
According to the fourth aspect of the embodiment of the present disclosure, provide a kind of server, including：
Receiver module, for receiving the ranging information of at least one positioner transmission, wherein, described ranging information is used for
Instruction the distance between positioner and the destination object being provided with Bluetooth beacon equipment；
Locating module, for the ranging information being sent according at least one positioner described, enters to described destination object
Row positioning.
Optionally, at least one positioner described at least includes the first positioner, and described receiver module is used for：
Receive the first ranging information that the first positioner sends, wherein, described first ranging information is used for indicating described
The distance between first positioner and described destination object；
In preset duration, detect whether to receive the correspondence that other positioners in addition to described first positioner send
Ranging information in described destination object；
Described locating module is used for：
If receiving the survey corresponding to described destination object that other positioners described send in described preset duration
Away from information, then according to the ranging information all corresponding to described destination object receiving, described destination object is positioned；
Or,
If the transmission of other positioners corresponding to described destination object described in being not received by described preset duration
Ranging information, then according to described first ranging information, described destination object is positioned.
According to the 5th aspect of the embodiment of the present disclosure, provide a kind of non-transitorycomputer readable storage medium, when described
In storage medium instruction by positioner computing device when so that positioner is able to carry out a kind of localization method, institute
The method of stating includes：
The wireless signal that Bluetooth beacon equipment on destination object for the scan setting sends；
According to described wireless signal, send ranging information to server, so that described server enters to described destination object
Row positioning, wherein, described ranging information is used for indicating the distance between described positioner and described destination object.
According to the 6th aspect of the embodiment of the present disclosure, provide a kind of non-transitorycomputer readable storage medium, when described
In storage medium instruction by server computing device when so that server is able to carry out a kind of localization method, described side
Method includes：
Receive the ranging information of at least one positioner transmission, wherein, described ranging information is used for indicating positioner
The distance between with the destination object being provided with Bluetooth beacon equipment；
The ranging information being sent according at least one positioner described, positions to described destination object.
In the embodiment of the present disclosure, Bluetooth beacon equipment can be arranged on destination object to be followed the trail of, positioner can
To scan the wireless signal that Bluetooth beacon equipment sends, when scanning the wireless signal that Bluetooth beacon equipment sends, Ke Yixiang
Server sends ranging information so that server can position to destination object according to ranging information.Due to Bluetooth beacon
Equipment can adopt BLE (Bluetooth Low Energy, Bluetooth Low Energy technology), and therefore positioner can also pass through
BLE technology scans the wireless signal that Bluetooth beacon equipment sends, and the cost manufacturing positioner is relatively low, and due to need not pass through to defend
Star signal, it is also possible to realize the positioning to destination object therefore when destination object is in interior.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Brief description
Accompanying drawing is used to provide further understanding of the disclosure, and constitutes the part of specification, with following tool
Body embodiment is used for explaining the disclosure together, but does not constitute restriction of this disclosure.In the accompanying drawings：
Fig. 1 is a kind of flow chart of the localization method according to an exemplary embodiment.
Fig. 2 is a kind of flow chart of the localization method according to an exemplary embodiment.
Fig. 3 is the schematic diagram of the positioning destination object according to an exemplary embodiment.
Fig. 4 is a kind of block diagram of the positioner according to an exemplary embodiment.
Fig. 5 is a kind of block diagram of the server according to an exemplary embodiment.
Specific embodiment
It is described in detail below in conjunction with accompanying drawing specific embodiment of this disclosure.It should be appreciated that this place is retouched
The specific embodiment stated is merely to illustrate and explains the disclosure, is not limited to the disclosure.
Fig. 1 is a kind of flow chart of the localization method according to an exemplary embodiment, as shown in figure 1, this positioning side
Method can apply to, in positioner, comprise the following steps.
Step S11：The wireless signal that Bluetooth beacon equipment on destination object for the scan setting sends.
Step S12：According to wireless signal, send ranging information to server, so that server carries out to destination object determining
Position.
Destination object can be the arbitrary object needing and being tracked positioning, can be people can also be article.For example,
Destination object can be child, old man, the historical relic in museum, the commodity in market, etc., the embodiment of the present disclosure is not made to this
Limit.
In the embodiment of the present disclosure, Bluetooth beacon equipment can be arbitrarily can to carry spy by BLE technology to transmission around
Determine the equipment of the radio broadcasting signal of ID.For example, it may be the EddyStone (Bluetooth beacon platform of increasing income) being issued based on Google
Beacon (beacon) standard, incessantly at a certain time interval to the equipment around sending EddyStone packet, etc.
Deng.
At present, typically by multiple Bluetooth beacon device distribution in fixing place, user can pass through electronic equipment ratio
The wireless signal sending as the Bluetooth beacon equipment that mobile phone scans stationary distribution, and then know itself current position.And this public affairs
Open in embodiment, Bluetooth beacon equipment is not stationary distribution, but Bluetooth beacon equipment is arranged on the target wanting tracing and positioning
On object, by positioner scanning signal, and then realize the destination object carrying Bluetooth beacon equipment is positioned.Therefore
Bluetooth beacon device fabrication can be become less portable construction, for example, it is possible to Bluetooth beacon device fabrication is thickness 5 milli
Rice SMD, be equipped with the equipment of small-sized button cell, etc., the construction of the embodiment of the present disclosure pair and Bluetooth beacon equipment is not
It is construed as limiting, as long as can be carried by target device to be positioned.
Positioner can be stationary distribution indoors or outdoor device, can be according to the actual scanning of positioner
Scope meets distribution determining positioner.For example, apply in the indoor destination object of positioning, the historical relic in such as museum
When, Bluetooth beacon equipment is arranged on historical relic, multiple positioners are distributed in museum, such as each room setting one
Individual positioner, etc..Or for example, apply in the outdoor destination object of positioning, such as multiple positioners can be divided
On the street lamp that cloth is disposed in the outdoor, etc..Certainly, either indoor positioning or outdoor positioning, the positioner quantity of setting
More, positioning is more accurate.
Ranging information can serve to indicate that the distance between positioner and destination object, and positioner is scanning indigo plant
During the wireless signal that tooth beacon equipment sends, ranging information can be sent to server according to the wireless signal scanning, and then
Server is positioned to destination object according to ranging information.How by ranging information, service be sent to for positioner
Device, the embodiment of the present disclosure is not construed as limiting, for example can be by WiFi (WIreless-Fidelity, WLAN) to service
Device sends ranging information, or can also send in other way.
For ranging information specifically which kind of information, and how positioner determines ranging information, the embodiment of the present disclosure
It is not construed as limiting, below possible mode is illustrated.
Optionally, according to wireless signal, to server send ranging information, can according to the signal strength signal intensity of wireless signal,
Determine RSSI (Received Signal Strength Indication, the received signal strength indicator) value of wireless signal, so
Send RSSI value to server afterwards.
Generally, Bluetooth beacon equipment and positioner from must more close to, signal is stronger, more far away, and signal is weaker.So logical
Cross the power of the signal that RSSI value can reflect that location equipment receives, positioner after RSSI value is sent to server,
Server can calculate the distance between destination object and this positioner according to RSSI value, and then realizes to destination object
Positioning.By such mode, using BLE technology, can preferably realize indoor and outdoor while reducing the power consumption of equipment
Positioning to destination object.
Optionally, send RSSI value to server, can first determine the mean value of N number of RSSI value of acquisition, then to clothes
The mean value that business device transmission calculates.Wherein, N is the positive integer more than or equal to 2；
Due in actual applications, RSSI value there may be unstable, therefore the multiple RSSI value determining can be made even
All, then send mean value to server.Value for N is how many, and the embodiment of the present disclosure is not construed as limiting, and for example, N can be 5,
So namely mean value computing is carried out to the RSSI value of 5 determinations.Because the time interval of actual acquisition signal is very short, such as
300ms about, therefore, retransmit after the mean value taking n times RSSI value, dynamic location efficiency can't be affected.By so
Mode, can more precisely destination object be positioned, lifting positioning reliability.
Fig. 2 is a kind of flow chart of the localization method according to an exemplary embodiment, as shown in Fig. 2 this positioning side
Method can apply to, in server, comprise the following steps.
Step S21：Receive the ranging information of at least one positioner transmission.
Step S22：The ranging information being sent according at least one positioner, positions to destination object.
That is, server is previously stored with the position of each positioner, device is receiving one or more
Positioner send the ranging information for same destination object after, can according to the whole ranging information receiving, and
The position that fixing device is located, positions to destination object.The mode positioning will be illustrated below.
When the ranging information for destination object that server receives only that positioner sends, for example, receive
To positioner 1 send the RSSI value for indicating distance, server pass through RSSI value can be calculated destination object and
The distance of positioner 1 is 10 meters, then it is considered that destination object is located at centered on positioner 1, radius is 10 meters
On circular scope border.
When the ranging information for same destination object that server receives that multiple positioners send, for example, please
Referring to Fig. 3, the RSSI value for indicating distance that server receives positioner 1 transmission shows positioner 1 distance objective
Object has 10m, and the RSSI value receiving positioner 2 transmission shows that positioner 2 distance objective object has 15m, then such as Fig. 3
Shown it may be determined that destination object be located in figure point A be located position.
Certainly, positional information, after the positional information obtaining destination object, such as can be sent to user by server
Mobile phone, to inform the position of ownership goal object.
By way of above, server can position to destination object more conveniently.
Optionally, at least one positioner at least includes the first positioner, receives at least one positioner and sends
Ranging information, the first ranging information that the first positioner sends can be received, the first ranging information can serve to indicate that the
The distance between one positioner and destination object, in preset duration, detect whether to receive its in addition to the first positioner
The ranging information corresponding to destination object that his positioner sends.The ranging information being sent according at least one positioner,
Destination object is positioned, Ke Yishi, if receive in preset duration other positioners transmission corresponding to target pair
The ranging information of elephant, then according to the ranging information all corresponding to destination object receiving, position to destination object；Or
Person, if be not received by the ranging information corresponding to destination object of other positioners transmission, basis in preset duration
First ranging information, positions to destination object.
Preset duration can be duration set in advance, such as, can set preset duration as 0.5s, 0.1s, etc., this
Open embodiment is not construed as limiting to this.
That is, server can receive the first range finding letter for destination object that the first positioner sends
After breath, can detect whether in preset duration that also other positioner has also scanned the Bluetooth beacon that destination object carries
The signal that equipment sends, if any, the survey that whole positioners scanning destination object send can have received
Calculate the position of destination object again after information, without if, the first survey of just only being sent according to the first positioner
Position away from the rough calculating destination object of information.So, server can more preferably, quickly be realized destination object is determined
Position.
Refer to Fig. 4, based on same inventive concept, the embodiment of the present disclosure provides a kind of positioner 400, this device 400
Can include：
Scan module 401, the wireless signal sending for Bluetooth beacon equipment on destination object for the scan setting；
Sending module 402, for according to wireless signal, sending ranging information to server, so that server is to target pair
As being positioned, wherein, ranging information is used for indicating the distance between positioner and destination object.
Optionally, sending module 402 includes：
Determining module, for the signal strength signal intensity according to wireless signal, determines the received signal strength indicator of wireless signal
RSSI value；
Sending submodule, for sending RSSI value to server.
Optionally, sending submodule is used for：
Determine the mean value of the N number of RSSI value obtaining, wherein, N is the positive integer more than or equal to 2；
Send mean value to server.
Refer to Fig. 5, based on same inventive concept, the embodiment of the present disclosure provides a kind of server 500, this server 500
Can include：
Receiver module 501, for receiving the ranging information of at least one positioner transmission, wherein, ranging information is used for
Instruction the distance between positioner and the destination object being provided with Bluetooth beacon equipment；
Locating module 502, for the ranging information being sent according at least one positioner, it is fixed that destination object is carried out
Position.
Optionally, at least one positioner at least includes the first positioner, and receiver module 501 is used for：
Receive the first ranging information that the first positioner sends, wherein, the first ranging information is used for instruction first positioning
The distance between device and destination object；
In preset duration, detect whether to receive that other positioners in addition to the first positioner send corresponding to mesh
The ranging information of mark object；
Locating module 502 is used for：
If receiving the ranging information corresponding to destination object of other positioners transmission, basis in preset duration
The ranging information all corresponding to destination object receiving, positions to destination object；Or,
If being not received by the ranging information corresponding to destination object of other positioners transmission in preset duration,
According to the first ranging information, destination object is positioned.
It should be understood that disclosed apparatus and method in the embodiment that the disclosure is provided, can pass through other
Mode is realized.For example, device embodiment described above is only schematically, for example, the division of described module or unit,
It is only a kind of division of logic function, actual can have other dividing mode when realizing, and for example multiple units or assembly are permissible
In conjunction with or be desirably integrated into another system, or some features can be ignored, or does not execute.
Can be integrated in a processing unit or each in each functional module in each embodiment of the application
Module is individually physically present it is also possible to two or more modules are integrated in a unit.Above-mentioned integrated unit both may be used
To be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If described integrated unit is realized and as independent production marketing or use using in the form of SFU software functional unit
When, can be stored in a computer read/write memory medium.Based on such understanding, the technical scheme of the application is substantially
The part in other words prior art being contributed or all or part of this technical scheme can be in the form of software products
Embody, this computer software product is stored in a storage medium, including some instructions with so that a computer
Equipment (can be personal computer, server, or network equipment etc.) or processor (processor) execution the application each
The all or part of step of embodiment methods described.And aforesaid storage medium includes：USB flash disk, portable hard drive, ROM (Read-
Only Memory, read-only storage), RAM (Random Access Memory, random access memory), magnetic disc or CD
Etc. various can be with the medium of store program codes.
The above, above example is only described in detail in order to technical scheme of this disclosure, but above enforcement
The explanation of example is only intended to help and understands disclosed method and its core concept, should not be construed as restriction of this disclosure.This
Those skilled in the art in the technical scope that the disclosure discloses, the change or replacement that can readily occur in, all should cover
Within the protection domain of the disclosure.
Claims (10)
1. a kind of localization method, is applied to positioner it is characterised in that including：
The wireless signal that Bluetooth beacon equipment on destination object for the scan setting sends；
According to described wireless signal, send ranging information to server, so that described server carries out to described destination object determining
Position, wherein, described ranging information is used for indicating the distance between described positioner and described destination object.
2. method according to claim 1 is it is characterised in that according to described wireless signal, send range finding letter to server
Breath, including：
According to the signal strength signal intensity of described wireless signal, determine the received signal strength indicator RSSI value of described wireless signal；
Send described RSSI value to described server.
3. method according to claim 2 it is characterised in that to described server send described RSSI value, including：
Determine the mean value of the N number of RSSI value obtaining, wherein, N is the positive integer more than or equal to 2；
Send described mean value to described server.
4. a kind of localization method, is applied to server it is characterised in that including：
Receive the ranging information of at least one positioner transmission, wherein, described ranging information is used for indicating positioner and setting
It is equipped with the distance between destination object of Bluetooth beacon equipment；
The ranging information being sent according at least one positioner described, positions to described destination object.
5. method according to claim 4 is it is characterised in that at least one positioner described at least includes the first positioning
Device, receives the ranging information of at least one positioner transmission, including：
Receive the first ranging information that the first positioner sends, wherein, described first ranging information is used for indicating described first
The distance between positioner and described destination object；
In preset duration, detect whether to receive that other positioners in addition to described first positioner send corresponding to institute
State the ranging information of destination object；
The ranging information being sent according at least one positioner described, positions to described destination object, including：
If receiving the range finding letter corresponding to described destination object that other positioners described send in described preset duration
Breath, then according to the ranging information all corresponding to described destination object receiving, position to described destination object；Or,
If being not received by the survey corresponding to described destination object that other positioners described send in described preset duration
Away from information, then according to described first ranging information, described destination object is positioned.
6. a kind of positioner is it is characterised in that include：
Scan module, the wireless signal sending for Bluetooth beacon equipment on destination object for the scan setting；
Sending module, for according to described wireless signal, sending ranging information to server, so that described server is to described mesh
Mark object is positioned, and wherein, described ranging information is used for indicating the distance between described positioner and described destination object.
7. positioner according to claim 6 is it is characterised in that described sending module includes：
Determining module, for the signal strength signal intensity according to described wireless signal, determines that the received signal strength of described wireless signal refers to
Show RSSI value；
Sending submodule, for sending described RSSI value to described server.
8. positioner according to claim 7 is it is characterised in that described sending submodule is used for：
Determine the mean value of the N number of RSSI value obtaining, wherein, N is the positive integer more than or equal to 2；
Send described mean value to described server.
9. a kind of server is it is characterised in that include：
Receiver module, for receiving the ranging information of at least one positioner transmission, wherein, described ranging information is used for indicating
The distance between positioner and the destination object being provided with Bluetooth beacon equipment；
Locating module, for the ranging information being sent according at least one positioner described, it is fixed that described destination object is carried out
Position.
10. server according to claim 9 is it is characterised in that at least one positioner described at least includes first
Positioner, described receiver module is used for：
Receive the first ranging information that the first positioner sends, wherein, described first ranging information is used for indicating described first
The distance between positioner and described destination object；
In preset duration, detect whether to receive that other positioners in addition to described first positioner send corresponding to institute
State the ranging information of destination object；
Described locating module is used for：
If receiving the range finding letter corresponding to described destination object that other positioners described send in described preset duration
Breath, then according to the ranging information all corresponding to described destination object receiving, position to described destination object；Or,
If being not received by the survey corresponding to described destination object that other positioners described send in described preset duration
Away from information, then according to described first ranging information, described destination object is positioned.
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| CN109858848A (en) * | 2018-12-17 | 2019-06-07 | 杭州追新科技有限公司 | Goods system is sought in a kind of warehouse |
| CN110868536A (en) * | 2019-11-05 | 2020-03-06 | 珠海格力电器股份有限公司 | Access control system control method and access control system |
| CN112367607A (en) * | 2020-09-08 | 2021-02-12 | 深圳晒尔科技有限公司 | Non-inductive building patrol property management system, method and device based on Internet of things door lock |
| CN112468953A (en) * | 2019-09-06 | 2021-03-09 | 华为技术有限公司 | Positioning method, device and system |
| CN114745678A (en) * | 2022-02-16 | 2022-07-12 | 深圳市蓝科迅通科技有限公司 | Positioning data acquisition method, positioning method and related equipment |
| CN115190428A (en) * | 2018-09-28 | 2022-10-14 | 苹果公司 | System and method for locating wireless accessories |
| US11889302B2 (en) | 2020-08-28 | 2024-01-30 | Apple Inc. | Maintenance of wireless devices |
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