CN108377467A - Indoor positioning and interactive approach, the device and system of target object - Google Patents
Indoor positioning and interactive approach, the device and system of target object Download PDFInfo
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- CN108377467A CN108377467A CN201611026511.6A CN201611026511A CN108377467A CN 108377467 A CN108377467 A CN 108377467A CN 201611026511 A CN201611026511 A CN 201611026511A CN 108377467 A CN108377467 A CN 108377467A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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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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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of indoor positioning of target object and interactive approach, device and system.Wherein, this method includes：The label information of at least two target objects in predetermined space is obtained by least three base stations, wherein at least three base stations are located at the precalculated position in predetermined space, and label information includes at least：The identity information of identification information, target object；Using the precalculated position of at least three base stations as reference coordinate, coordinate position of the corresponding target object of each label information in reference coordinate is determined；According to the identity information of any two target object and coordinate position corresponding with identity information, the first object object controlled in any two target object conveys scheduled information to the second target object.The present invention solves the prior art and cannot achieve robot precise positioning and the intelligentized technical problem of height.
Description
Technical field
The present invention relates to indoor positioning technologies field, the indoor positioning in particular to a kind of target object and interaction
Methods, devices and systems.
Background technology
Promotion energetically with country to robotics development, in order to the hair of people's preferably show robot technology
Exhibition degree and the application prospect in future, many places in China all establish science and technology museum of robot, and are put in scientific and technological museum
Set the robot of multiple and different types.Robot allows people to experience the height intelligence of robot, accumulates with the interaction of the mankind
The scientific and technological level contained has brought strong shock and inspiration.
In order to realize the height intelligence of robot, in scientific and technological museum, the position in addition to capableing of real-time accurate measurements robot
It sets, the location information for visiting personnel is also to need to know, not only facilitates robot and visit personnel are preferably interactive, heavier
What is wanted is that can also ensure that between robot and robot and the safety of robot and personnel, plays the role of giving warning in advance.
Existing positioning is broadly divided into two classes, and one kind is the positioning based on satellite, wireless base station etc., for example, GPS, the Big Dipper,
GPRS location technologies, are only applicable to outdoor positioning；Another kind is the indoor positioning based on short range transmission technology, for example, infrared
Line, ultrasonic wave, RFID, bluetooth, Zigbee, Wi-Fi etc., although be suitable for indoor positioning, positioning accuracy in meter level, and
It is easy to by external interference.In artificial intelligence field, through realizing that robot determines external object frequently with inertial sensor
Position, but due to inertial sensor, constrained by external condition, it can only ensure precision in a short time, drift about at any time, cumulative errors
It will be very big.If being not added with color lump differentiation, existing camera also cannot achieve in certain area to multiple robots and more
A visit personnel carry out precise positioning.
For above-mentioned problem, currently no effective solution has been proposed.
Invention content
An embodiment of the present invention provides a kind of indoor positioning of target object and interactive approach, device and system, at least
It solves the prior art and cannot achieve robot precise positioning and the intelligentized technical problem of height.
One side according to the ... of the embodiment of the present invention provides a kind of indoor positioning and interactive approach of target object, packet
It includes：The label information of at least two target objects in predetermined space is obtained by least three base stations, wherein at least three bases
Erect-position is included at least in the precalculated position in predetermined space, label information：The identity information of identification information, target object；
Using the precalculated position of at least three base stations as reference coordinate, determine the corresponding target object of each label information in reference coordinate
Coordinate position；According to the identity information of any two target object and coordinate position corresponding with identity information, control is arbitrary
First object object in two target objects conveys scheduled information to the second target object.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of indoor positioning and interactive device of target object,
Including：First acquisition module, the label for obtaining at least two target objects in predetermined space by least three base stations
Information, wherein at least three base stations are located at the precalculated position in predetermined space, and label information includes at least：Identification information, target
The identity information of object；First determining module, for using the precalculated position of at least three base stations as reference coordinate, determining each mark
Sign coordinate position of the corresponding target object of information in reference coordinate；First control module, for according to any two target
The identity information of object and coordinate position corresponding with identity information control the first object object in any two target object
Scheduled information is conveyed to the second target object.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of indoor positioning and interaction systems of target object,
Including：Label is arranged on each target object, the identity information for storing target object；At least three base stations, are located at
The precalculated position of predetermined space where target object, the label for obtaining at least two target objects in predetermined space are believed
Breath, wherein label information includes at least：The identity information of identification information, each target object；Server, for at least three
The precalculated position of a base station is reference coordinate, determines coordinate bit of the corresponding target object of each label information in reference coordinate
It sets, and according to the identity information of any two target object and coordinate position corresponding with identity information, controls any two mesh
The first object object marked in object exports scheduled information to the second target object.
In embodiments of the present invention, it by the way of indoor positioning, is obtained in predetermined space by least three base stations
The label information of at least two target objects, wherein at least three base stations are located at the precalculated position in predetermined space, label
Information includes at least：The identity information of identification information, target object；Using the precalculated position of at least three base stations as reference coordinate,
Determine coordinate position of the corresponding target object of each label information in reference coordinate；According to the body of any two target object
Part information and coordinate position corresponding with identity information control first object object in any two target object to the second mesh
It marks object and conveys scheduled information, reached robot and done according to the different identity information of other robot around or visit personnel
The purpose for going out corresponding interaction to realize the technique effect of enhancing machine person to person's Interactive Experience, and then solves
The prior art cannot achieve robot precise positioning and the intelligentized technical problem of height.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the indoor positioning and interactive approach flow chart of a kind of target object according to the ... of the embodiment of the present invention；
Fig. 2 is the indoor positioning and interactive approach flow chart of a kind of optional target object according to the ... of the embodiment of the present invention；
Fig. 3 is the indoor positioning and interactive approach flow chart of a kind of optional target object according to the ... of the embodiment of the present invention；
Fig. 4 is the indoor positioning and interactive approach flow chart of a kind of optional target object according to the ... of the embodiment of the present invention；
Fig. 5 is the indoor positioning and interactive approach flow chart of a kind of optional target object according to the ... of the embodiment of the present invention；
Fig. 6 is the indoor positioning and interaction systems schematic diagram of a kind of preferred target object according to the ... of the embodiment of the present invention；
Fig. 7 is the indoor positioning and interactive device schematic diagram of a kind of target object according to the ... of the embodiment of the present invention；
Fig. 8 is the indoor positioning and interaction systems schematic diagram of a kind of target object according to the ... of the embodiment of the present invention；And
Fig. 9 is the indoor positioning and interaction systems schematic diagram of a kind of optional target object according to the ... of the embodiment of the present invention.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model that the present invention protects
It encloses.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
It includes to be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment to cover non-exclusive
Those of clearly list step or unit, but may include not listing clearly or for these processes, method, product
Or the other steps or unit that equipment is intrinsic.
Embodiment 1
According to embodiments of the present invention, a kind of indoor positioning and interactive approach embodiment of target object are provided, is needed
Bright, step shown in the flowchart of the accompanying drawings can be held in the computer system of such as a group of computer-executable instructions
Row, although also, logical order is shown in flow charts, and it in some cases, can be with different from sequence herein
Execute shown or described step.
Fig. 1 is the indoor positioning and interactive approach flow chart of a kind of target object according to the ... of the embodiment of the present invention, such as Fig. 1 institutes
Show, this method comprises the following steps：
Step S102 obtains the label information of at least two target objects in predetermined space by least three base stations,
Wherein, at least three base stations are located at the precalculated position in predetermined space, and label information includes at least：Identification information, target object
Identity information.
Specifically, in above-mentioned steps, above-mentioned predetermined space can be with a preset interior space, for example, it may be one
The interior space in a scientific exhibit shop；Above-mentioned base station can be using short range transmission technology (for example, infrared ray, ultrasonic wave,
WIFI, bluetooth, Zigbee, ultra wideband transmissions or Radio Frequency Identification Technology etc.) realize the positioning base for positioning target object physical location
Stand, the different location being deployed in predetermined space, in a kind of optional embodiment, if using Radio Frequency Identification Technology (for example,
RFID) positioning of target object is realized, which can be RFID reader, by being arranged on target object
The positioning of target object may be implemented in RFID tag.Above-mentioned target object can be robot to be positioned or visit personnel, with
Machine is distributed in above-mentioned predetermined space；Above-mentioned identification information may include：Unique ID number, the type of label for identification (RFID) tag
Deng；The identity information of above-mentioned target object may include：Information for characterizing target object, for example, the type of target object,
Title, gender, age etc..By the one or more locating base stations of installation in the default interior space, by reading in above-mentioned mesh
The label information being arranged on mark object, can obtain the label information of the above target object of any two in the default interior space.
Optionally, above-mentioned target object is not limited to robot and entity people, may include biped walking, wheel type mobile
Any action object of (comprehensive, differential mobile platform), such as can be the vehicle for transporting valuable cargo etc..
Preferably, super-broadband tech (Ultra Wideband, UWB) may be used and realize intended orientation.Actual test mistake
It is found in journey, compared to camera positioning and face identification, using super-broadband tech more precise and high efficiency, positioning accuracy reaches
Some glass walls, gypsum partition board, wood diaphragms, plastic products within 20cm, also, indoors etc. are blocked to ultra-wide
Band signal does not influence, and environmental suitability is stronger.
Herein it should be noted that using the unique ID number in the label being arranged on target object come coordinate interrelation target
Identity information so that robot can more accurate intelligent with tourist interaction.
Step S104 determines the corresponding mesh of each label information using the precalculated position of at least three base stations as reference coordinate
Mark coordinate position of the object in reference coordinate.
Specifically, in above-mentioned steps, above-mentioned base station can be using short range transmission technology (for example, infrared ray, ultrasound
Wave, WIFI, bluetooth, Zigbee, ultra wideband transmissions or Radio Frequency Identification Technology etc.) realize the positioning for positioning target object physical location
Base station, the different location being deployed in predetermined space, above-mentioned coordinate position can be the above-mentioned mesh using base station location as reference coordinate
Mark position of the object in above-mentioned predetermined space, the coordinate information of the opposite reference coordinate；It is located at by one or more predetermined
The base station in precalculated position in space, can establish reference coordinate, so that it is determined that each target being distributed in above-mentioned predetermined space
The coordinate position of object, the coordinate position and the label information being arranged on each target object correspond.
Step S106, according to the identity information of any two target object and coordinate position corresponding with identity information, control
First object object in any two target object processed conveys scheduled information to the second target object.
Specifically, in above-mentioned steps, above-mentioned target object can be robot to be positioned or visit personnel, divide at random
Cloth is in predetermined space；The identity information of above-mentioned target object may include：Information for characterizing target object, for example, mesh
Mark type, title, gender, the age etc. of object；Above-mentioned coordinate position can be the target object using base station location as reference coordinate
Coordinate of the position relative to the reference coordinate in above-mentioned predetermined space；Above-mentioned first object object can be robot；On
It can be robot to state the second target object, or visit personnel；Above-mentioned scheduled information can be preset a series of
Behavior act (for example, avoid, nod or speak)；Believed according to the identity for any two target object being distributed in predetermined space
Breath and corresponding coordinate position can control first object object (for example, robot) in two target objects to the second mesh
Mark the corresponding action of object (for example, the personnel of visit or robot) output.
Optionally, the scheduled information that above-mentioned first object object is exported to the second target object can in advance be set according to
The control instruction set or any behavior act of common term output.
In a kind of optional implement scene, according to the identity information of target object can be determined that first object object and
In the case that second target object is all robot, when judging Liang Ge robots in phase according to the coordinate position of two target objects
To walking and apart from it is close when, one of robot can be controlled and avoid another robot, and control another machine to
That robot of evacuation is said " thanks "；Preferably, Liang Ge robots can be controlled to exchange greetings, and says the name of other side
Word.
In another optional implement scene, first object object can be determined that according to the identity information of target object
In the case of being visit personnel for robot, the second target object, when judging first according to the coordinate position of two target objects
Target object (robot) and the second target object (visiting personnel) opposite walking and apart from it is close when, the first mesh can be controlled
It marks object (robot) and avoids the second target object (visiting personnel)；Preferably, when according to the second target object (visiting personnel)
Identity information when judging that the second target object (visit personnel) is women, first object object (robot) can be controlled to the
Two target objects (visiting personnel) are said：" you are good beautiful！The clothes that you wear is very good-looking！" etc., if according to the second target object
Identity information judges that the second target object (visiting personnel) is male, can control first object object (robot) to the second mesh
Mark object (visiting personnel) is said：" you are good general！" etc..
From the foregoing, it will be observed that in the above embodiments of the present application, by the way of indoor positioning, by being deployed in the interior space
At least three base stations in precalculated position obtain the label information of each label of spatial distribution indoors in real time, with indoor each
The position of base station is reference coordinate, determines the identity information and real-time coordinates of at least two target objects of spatial distribution indoors
Position, and the robot in control targe object to away from nearest neighbours robot or visit the corresponding action of personnel's output, reach
The purpose that robot makes corresponding interaction according to the different identity information of other robot around or visit personnel has been arrived,
The technique effect of enhancing machine person to person's Interactive Experience is realized, and then solves the prior art and cannot achieve robot precisely calmly
Position and the intelligentized technical problem of height.
In a kind of optional embodiment, as shown in Fig. 2, obtaining at least two in predetermined space by least three base stations
The label information of a target object, may include steps of：
Step S202, the label of at least two target objects send ultra-wide at least three base stations with predeterminated frequency and take a message
Number, wherein ultra-broadband signal carries label information；
Step S204, at least three base stations receive ultra-broadband signal.
Specifically, in the above-described embodiments, above-mentioned target object can be robot or visit personnel to be positioned, at random
It is distributed in predetermined space；Above-mentioned ultra-broadband signal can be the ultra-wideband impulse signal for carrying label information；In predetermined space
The label of at least two target objects of interior distribution can persistently be sent out at least three base stations of the predeterminated frequency into its location
Send the ultra-broadband signal of carrying label information.
By above-described embodiment, using ultra wideband location techniques, since the pulse temporal width of impulse ultra-wideband signal exists
Nanosecond has many advantages, such as that low-power consumption, penetration capacity is strong, anti-interference effect is good, can improve the precision of indoor positioning.
In a kind of optional embodiment, as shown in figure 3, with the precalculated position of at least three base stations in above-mentioned steps 104
For reference coordinate, determines coordinate position of the corresponding target object of each label information in reference coordinate, may include as follows
Step：
Label information is uploaded to server by step S302, at least three base stations in real time；
Step S304, server receives label information, and obtains the precalculated position of at least three base stations；
Step S306, server calculate the time difference that each label information reaches at least three base stations according to label information；
Step S308, server determine each according to the time difference using the precalculated position of at least three base stations as reference coordinate
The corresponding coordinate position of label information.
Specifically, in the above-described embodiments, above-mentioned server can be to be connected via wire or wirelessly with above-mentioned base station
Smart machine, for example, can be with computer；It, will be from each at least three base stations by being deployed in interior space precalculated position
After the label information of semantic object extraction is sent to server, server receives the label letter sent from least three base stations
Breath, and obtain the precalculated position of at least three base stations, then by calculate each label information reach at least three base stations when
Between it is poor, using the precalculated position of at least three base stations as reference coordinate, determine the coordinate position of each label information (target object).
Herein it should be noted that at least three base stations of space deployment indoors are real-time by the label information of target object
It is uploaded to server, realizes the concentration analysis and processing of data, it is true according to the precalculated position of at least three base stations to reach
Set the goal object coordinate position purpose.
By above-described embodiment, base station time difference is reached using each label information to estimate the coordinate bit of each label
It sets, is combined with ultra wideband location techniques, the broadband character of ultra wide band can be made full use of, enhance the effect of indoor positioning.
In a kind of optional embodiment, as shown in figure 4, using the precalculated position of at least three base stations as reference coordinate,
After determining coordinate position of the corresponding target object of each label information in reference coordinate, the above method further includes：
Step S402 determines at least two target objects in predetermined space according to the corresponding coordinate position of each label information
Distribution situation；
Step S404 passes through the application program real-time display distribution situation of client, wherein the function of application program includes
At least one of：Tag control, track inquiry, focus statistics, fence and Zone Alerts.
Specifically, in the above-described embodiments, above-mentioned client can be that computer, notebook, smart mobile phone etc. are equipped with
The intelligent terminal of above application program；In server using the precalculated position of at least three base stations as reference coordinate, determine every
It, can be by being checked in predetermined space in the corresponding application program of client after the corresponding coordinate position of a label information
It is distributed the distribution situation of all target objects, and the label of target object is managed by the application program, inquires target
The motion track of object, and carry out focus statistics, fence setting or Zone Alerts etc..
By above-described embodiment, management of the staff to scientific exhibit shop can be facilitated.
In a kind of optional embodiment, first object object is robot, and the second target object is robot and/or ginseng
Sight personnel.
In a kind of optional embodiment, as shown in figure 5, according to the body of any two target object in above-mentioned steps 106
Part information and coordinate position corresponding with identity information control first object object in any two target object to the second mesh
It marks object and conveys scheduled information, including：
Step S502 obtains the identity information of any two target object and coordinate position corresponding with identity information；
Whether step S504 judges the distance between coordinate position of first object object and the second target object default
In distance range；
Step S506, if distance is within a preset range, according to the identity information of any two target object control the
One target object conveys scheduled information to the second target object.
Specifically, in the above-described embodiments, above-mentioned target object can be robot or visit personnel to be positioned, at random
It is distributed in predetermined space；The identity information of above-mentioned target object may include：Information for characterizing target object, for example,
Type, title, gender, age of target object etc.；Above-mentioned first object object can be robot；Above-mentioned second target object
Can be robot, or visit personnel；In the body for obtaining any two target object by least three locating base stations
After part information and coordinate position corresponding with identity information, server judges the coordinate of above-mentioned first object and the second target object
Whether the distance between position is within the scope of pre-determined distance, if between the first object and the coordinate position of the second target object
Distance then controls robot to other robot within the scope of pre-determined distance according to pre-set control instruction or common term
Or it visits personnel and makes corresponding action.
By above-described embodiment, the position of personnel, remote control are realized according to robot and other robot or visited
The purpose that robot reacts to other objects.
Embodiment as one preferred can illustrate the application in conjunction with indoor positioning shown in fig. 6 and interaction systems
Above-described embodiment, as shown in Figure 6, wherein the robot of random distribution and personnel carry positioning label, Mei Gebiao in the room
Label have mutually different fixed ID number, and carry out identity information binding with target to be positioned in advance, and label is with certain brush
New rate sends ultra-broadband signal, and locating base station is fixedly arranged in around tag activity range, the ultra-wide for receiving label transmission
Band signal, and the information is uploaded to server, time difference (TDOA) principle of different base station is reached based on ultra-broadband signal, with
Indoor each base station location is reference coordinate, and the real-time location coordinates of each label are calculated in server, to realize to interior
All machine life and the real time position of personnel obtain.After server calculates the real-time position information of each label, pass through
Analyzing processing can send out corresponding control command information by wifi to indoor each robot, realize robot according to from
The identity information (gender, age etc.) of its nearest visit personnel makes corresponding action.Upper application software is according to label
Real-time position information shows Indoor Robot and visits the real time position of personnel, and has tag control, track inquiry, hot spot
Statistics, fence, the functions such as Zone Alerts.
Optionally, which includes：Base station, label and software systems three parts.The positioning system includes but not
It is limited to following several function modules：Ultra wide band locating module, master control system module, communication module, server module, motion control
Module, upper application software module.
By above-described embodiment, the present invention is a kind of solution for multirobot and personnel's indoor positioning, the solution
Certainly scheme is suitable for indoor multirobot displaying and visits the positioning of personnel, fixed using the interior of high-precision ultra wide band target object
Position and interactive approach obtain robot in real time and visit the location information of personnel, and location information be uploaded to server, through point
Command information is sent to robot after analysis processing, realizes that robot makes accordingly according to the different identity information of surrounding visit personnel
Interaction.Upper application software then can in real-time display room multirobot and personnel location information.
Herein it should be noted that the present invention multirobot and personnel targets object indoor positioning and interactive approach also
It can be used for the indoor positioning of other field, the label two-dimensional coordinate information that wherein UWB indoor location technology software layer provides
It can be used in the secondary development of concrete application.
Embodiment 2
According to embodiments of the present invention, a kind of indoor positioning and interactive device embodiment of target object are additionally provided.This hair
The indoor positioning and interactive approach of target object in bright embodiment 1 can execute in the device of the embodiment of the present invention 2.
Fig. 7 is the indoor positioning and interactive device schematic diagram of a kind of target object according to the ... of the embodiment of the present invention, such as Fig. 7 institutes
Show, which includes：First acquisition module 701, the first determining module 703 and the first control module 705.
Wherein, the first acquisition module 701, for obtaining at least two targets in predetermined space by least three base stations
The label information of object, wherein at least three base stations are located at the precalculated position in predetermined space, and label information includes at least：Mark
The identity information of knowledge information, target object；First determining module 703, for being reference with the precalculated position of at least three base stations
Coordinate determines coordinate position of the corresponding target object of each label information in reference coordinate；First control module 705 is used
According to any two target object identity information and coordinate position corresponding with identity information, control any two target pair
First object object as in conveys scheduled information to the second target object.
From the foregoing, it will be observed that in the above embodiments of the present application, by the way of indoor positioning, by being deployed in the interior space
At least three base stations in precalculated position obtain the label information of each label of spatial distribution indoors in real time, with indoor each
The position of base station is reference coordinate, determines the identity information and real-time coordinates of at least two target objects of spatial distribution indoors
Position, and the robot in control targe object to away from nearest neighbours robot or visit the corresponding action of personnel's output, reach
The purpose that robot makes corresponding interaction according to the different identity information of other robot around or visit personnel has been arrived,
The technique effect of enhancing machine person to person's Interactive Experience is realized, and then solves the prior art and cannot achieve robot precisely calmly
Position and the intelligentized technical problem of height.
In a kind of optional embodiment, above-mentioned first acquisition module includes：First sending module is used at least two mesh
It marks the label of object and ultra-broadband signal is sent at least three base stations with predeterminated frequency, wherein ultra-broadband signal carries label letter
Breath；First receiving module receives label information at least three base stations.
In a kind of optional embodiment, above-mentioned first determining module includes：Second sending module is used at least three bases
It stands and label information is uploaded to server in real time；Second receiving module receives label information for server, and obtains at least three
The precalculated position of a base station；Computing module calculates each label information and reaches at least three for server according to label information
The time difference of base station；Second determining module is reference with the precalculated position of at least three base stations for server according to the time difference
Coordinate determines the corresponding coordinate position of each label information.
In a kind of optional embodiment, above-mentioned apparatus further includes：Third determining module, for according to each label information
Corresponding coordinate position determine at least two target objects predetermined space distribution situation；Output module, for passing through client
The application program real-time display distribution situation at end, wherein the function of application program includes at least one of：Tag control, rail
Mark inquiry, focus statistics, fence and Zone Alerts.
In a kind of optional embodiment, above-mentioned first object object is robot, and above-mentioned second target object is machine
People and/or visit personnel.
In a kind of optional embodiment, above-mentioned first control module includes：Second acquisition module, for obtaining arbitrary two
The identity information of a target object and coordinate position corresponding with identity information；Judgment module, for judging first object object
Whether the distance between coordinate position of the second target object is within the scope of pre-determined distance；Second control module, if for
Distance within a preset range, then controls first object object to the second target pair according to the identity information of any two target object
As conveying scheduled information.
Embodiment 3
According to embodiments of the present invention, a kind of indoor positioning and interaction systems embodiment are additionally provided.In the embodiment of the present invention 1
Target object indoor positioning and interactive approach can be executed in the system of the embodiment of the present invention 3.
Fig. 8 is the indoor positioning and interaction systems schematic diagram of a kind of target object according to the ... of the embodiment of the present invention, such as Fig. 8 institutes
Show, which includes：Label 801, at least three base stations 803 and server 805.
Wherein, label is arranged on each target object, the identity information for storing target object；
At least three base stations are located at the precalculated position of the predetermined space where target object, for obtaining in predetermined space
At least two target objects label information, wherein label information includes at least：The body of identification information, each target object
Part information；
Server, for using the precalculated position of at least three base stations as reference coordinate, determining that each label information is corresponding
Coordinate position of the target object in reference coordinate, and according to the identity information of any two target object and with identity information pair
The coordinate position answered, the first object object controlled in any two target object export scheduled letter to the second target object
Breath.
From the foregoing, it will be observed that in the above embodiments of the present application, by the way of indoor positioning, by being deployed in the interior space
At least three base stations in precalculated position obtain the label information of each label of spatial distribution indoors in real time, with indoor each
The position of base station is reference coordinate, determines the identity information and real-time coordinates of at least two target objects of spatial distribution indoors
Position, and the robot in control targe object to away from nearest neighbours robot or visit the corresponding action of personnel's output, reach
The purpose that robot makes corresponding interaction according to the different identity information of other robot around or visit personnel has been arrived,
The technique effect of enhancing machine person to person's Interactive Experience is realized, and then solves the prior art and cannot achieve robot precisely calmly
Position and the intelligentized technical problem of height.
In a kind of optional embodiment, as shown in figure 9, above system further includes：Client 807 is used for real-time display
Distribution situation of at least two target objects in predetermined space.
In a kind of optional embodiment, above-mentioned label 801 is additionally operable to send at least three base stations with predeterminated frequency super
Broadband signal, wherein ultra-broadband signal carries label information；Above-mentioned at least three base station 803 is additionally operable to receive ultra-broadband signal.
In a kind of optional embodiment, above-mentioned at least three base station 803 is additionally operable to for label information to be uploaded to clothes in real time
Business device；Above-mentioned server 805 is additionally operable to receive label information, and obtains the precalculated position of at least three base stations；Calculate each mark
Sign the time difference that information reaches at least three base stations；According to the time difference, using the precalculated position of at least three base stations as reference coordinate
Determine the corresponding coordinate position of each label information.
In a kind of optional embodiment, above-mentioned client 807 is additionally operable to according to the corresponding coordinate bit of each label information
Set the distribution situation for determining at least two target objects in predetermined space；It is distributed feelings by the application program real-time display of client
Condition, wherein the function of application program includes at least one of：Tag control, track inquiry, focus statistics, fence and
Zone Alerts.
In a kind of optional embodiment, above-mentioned first object object is robot, and above-mentioned second target object is machine
People and/or visit personnel.
In a kind of optional embodiment, above-mentioned server 805 is additionally operable to obtain the identity letter of any two target object
Breath and coordinate position corresponding with identity information；Judge between first object object and the coordinate position of the second target object away from
From whether within the scope of pre-determined distance；If distance is within a preset range, according to the identity information of any two target object
It controls first object object and conveys scheduled information to the second target object.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
In the above embodiment of the present invention, all emphasizes particularly on different fields to the description of each embodiment, do not have in some embodiment
The part of detailed description may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, for example, the unit division, Ke Yiwei
A kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
It connects, can be electrical or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be deployed in a place, or may be distributed over more
On a unit.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes：USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can to store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (14)
1. the indoor positioning and interactive approach of a kind of target object, which is characterized in that including：
Pass through at least three base stations obtain predetermined space at least two target objects label information, wherein it is described at least
Three base stations are located at the precalculated position in the predetermined space, and the label information includes at least：Identification information, the target pair
The identity information of elephant；
Using the precalculated position of at least three base station as reference coordinate, determine the corresponding target object of each label information in institute
State the coordinate position in reference coordinate；
According to the identity information of any two target object and the coordinate position corresponding with the identity information, described in control
First object object in any two target object conveys scheduled information to the second target object.
2. according to the method described in claim 1, it is characterized in that, being obtained in predetermined space at least by least three base stations
The label information of two target objects includes：
The label of at least two target object sends ultra-broadband signal with predeterminated frequency at least three base station,
In, the ultra-broadband signal carries the label information；
At least three base station receives the ultra-broadband signal.
3. according to the method described in claim 2, it is characterized in that, being with reference to seat with the precalculated position of at least three base station
Mark, determines coordinate position of the corresponding target object of each label information in the reference coordinate, including：
The label information is uploaded to server by least three base station in real time；
The server receives the label information, and obtains the precalculated position of at least three base station；
The server calculates the time difference that each label information reaches at least three base station according to the label information；
The server determines each mark according to the time difference, by reference coordinate of the precalculated position of at least three base station
Sign the corresponding coordinate position of information.
4. according to the method described in claim 1, it is characterized in that, being reference with the precalculated position of at least three base station
Coordinate, after determining coordinate position of the corresponding target object of each label information in the reference coordinate, the method is also
Including：
Determine at least two target object in the predetermined space according to the corresponding coordinate position of each label information
Distribution situation；
Distribution situation described in application program real-time display by client, wherein the function of the application program includes following
At least one：Tag control, track inquiry, focus statistics, fence and Zone Alerts.
5. according to the method described in claim 1, it is characterized in that, the first object object be robot, second mesh
It is robot and/or visit personnel to mark object.
6. according to the method described in claim 5, it is characterized in that, according to the identity information of any two target object and with institute
The corresponding coordinate position of identity information is stated, controls first object object in any two target object to the second mesh
It marks object and conveys scheduled information, including：
Obtain the identity information of any two target object and the coordinate position corresponding with the identity information；
Judge the distance between the first object object and the coordinate position of second target object whether in pre-determined distance
In range；
If the distance is within a preset range, described first is controlled according to the identity information of any two target object
Target object conveys scheduled information to second target object.
7. the indoor positioning and interactive device of a kind of target object, which is characterized in that including：
First acquisition module, the label letter for obtaining at least two target objects in predetermined space by least three base stations
Breath, wherein at least three base station is located at the precalculated position in the predetermined space, and the label information includes at least：Mark
The identity information of knowledge information, the target object；
First determining module, for using the precalculated position of at least three base station as reference coordinate, determining each label information
Coordinate position of the corresponding target object in the reference coordinate；
First control module, for according to the identity information of any two target object and corresponding with the identity information described
Coordinate position, the first object object controlled in any two target object convey scheduled letter to the second target object
Breath.
8. device according to claim 7, which is characterized in that first acquisition module further includes：
First sending module, the label at least two target object are sent out with predeterminated frequency at least three base station
Send ultra-broadband signal, wherein the ultra-broadband signal carries the label information；
First receiving module receives the label information at least three base station.
9. device according to claim 8, which is characterized in that first determining module includes：
The label information is uploaded to server by the second sending module in real time at least three base station；
Second receiving module receives the label information for the server, and obtains the predetermined of at least three base station
Position；
Computing module calculates each label information and reaches described at least three for the server according to the label information
The time difference of base station；
Second determining module, for the server according to the time difference, the precalculated position at least three base station is
Reference coordinate determines the corresponding coordinate position of each label information.
10. device according to claim 7, which is characterized in that described device further includes：
Third determining module, for determining at least two mesh according to the corresponding coordinate position of each label information
Distribution situation of the mark object in the predetermined space；
Output module, for distribution situation described in the application program real-time display by client, wherein the application program
Function includes at least one of：Tag control, track inquiry, focus statistics, fence and Zone Alerts.
11. device according to claim 7, which is characterized in that the first object object is robot, second mesh
It is robot and/or visit personnel to mark object.
12. according to the devices described in claim 11, which is characterized in that first control module includes：
Second acquisition module, identity information for obtaining any two target object and corresponding with the identity information
The coordinate position；
Judgment module, for judging that the distance between the coordinate position of the first object object and second target object is
It is no within the scope of pre-determined distance；
Second control module, if within a preset range for the distance, according to the body of any two target object
Part information controls the first object object and conveys scheduled information to second target object.
13. the indoor positioning and interaction systems of a kind of target object, which is characterized in that including：
Label is arranged on each target object, the identity information for storing the target object；
At least three base stations are located at the precalculated position of the predetermined space where the target object, for obtaining the predetermined sky
The label information of at least two interior target objects, wherein the label information includes at least：Identification information, each target
The identity information of object；
Server, for using the precalculated position of at least three base station as reference coordinate, determining that each label information is corresponding
Coordinate position of the target object in the reference coordinate, and according to the identity information of any two target object and with the body
The corresponding coordinate position of part information controls first object object in any two target object to the second target pair
As exporting scheduled information.
14. system according to claim 13, which is characterized in that the system also includes：
Client is used at least two target objects described in real-time display in the distribution situation of the predetermined space.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611026511.6A CN108377467B (en) | 2016-11-21 | 2016-11-21 | Indoor positioning and interaction method, device and system for target object |
| PCT/CN2017/092033 WO2018090645A1 (en) | 2016-11-21 | 2017-07-06 | Indoor positioning and interaction method, apparatus and system for target object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611026511.6A CN108377467B (en) | 2016-11-21 | 2016-11-21 | Indoor positioning and interaction method, device and system for target object |
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| CN108377467B CN108377467B (en) | 2021-05-14 |
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| CN201611026511.6A Active CN108377467B (en) | 2016-11-21 | 2016-11-21 | Indoor positioning and interaction method, device and system for target object |
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| WO (1) | WO2018090645A1 (en) |
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| Publication number | Publication date |
|---|---|
| CN108377467B (en) | 2021-05-14 |
| WO2018090645A1 (en) | 2018-05-24 |
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