CN112284392A - Indoor positioning system - Google Patents
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- CN112284392A CN112284392A CN202011111376.1A CN202011111376A CN112284392A CN 112284392 A CN112284392 A CN 112284392A CN 202011111376 A CN202011111376 A CN 202011111376A CN 112284392 A CN112284392 A CN 112284392A
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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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- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
The application provides an indoor positioning system. The system comprises an optical base station for emitting an infrared coded beam; the optical base station is used for realizing two-dimensional positioning and attitude determination; the optical label is used for receiving the infrared coded light beam, carrying out pretreatment on the infrared coded light beam and outputting an optical signal; the optical label is arranged on equipment to be positioned when in use; the locator is used for receiving the optical signal and finishing the real-time decoding of the optical signal to obtain the horizontal position information of the optical label; the master control device is in signal connection with the optical base stations and the positioner and is used for controlling the operation of the optical base stations and receiving the horizontal position information sent by the positioner; the main control device is also in communication connection with a mobile client so as to send the horizontal position information to the mobile client. The application provides an indoor positioning system can improve the precision of indoor location, solves the poor problem of positioning effect that current indoor location technique exists.
Description
Technical Field
The application relates to a positioning technology, in particular to an indoor positioning system.
Background
In various complex indoor environments such as large markets, exhibitions, hospitals, terminal buildings, garages and warehouses, people often need to accurately position indoor position information of equipment to be positioned by means of a mobile terminal. The GPS (global positioning system) technology is widely used in the field of outdoor positioning and navigation because of its all-weather, high-precision and automatic measurement characteristics, but cannot work normally indoors because of its weak satellite signal penetration force and difficulty in penetrating through reinforced concrete. With the continuous and rapid increase of the demand of modern society for data services and multimedia services, the demand of people for positioning and navigation services is increasing, and particularly in the aspect of indoor navigation, the indoor navigation realizes the navigation of a mobile terminal by accurately acquiring the position information of the mobile terminal or a holder, facilities and articles thereof in a room, such as rapidly guiding the holder of the mobile terminal to a destination in the complex indoor environment. The demand for indoor navigation has driven the continuous and rapid development of indoor positioning technology.
However, the existing indoor positioning technology has the problem of poor positioning effect.
Disclosure of Invention
The application provides an indoor location for solve the poor problem of positioning effect that current indoor location technique exists.
In one aspect, the present application provides an indoor positioning system, comprising:
the optical base station is used for emitting infrared coded light beams, the code of the light in each spatial direction is different, and the code of the light in each spatial direction is unique; the optical base station is used for realizing two-dimensional positioning and attitude determination.
The optical label is used for receiving the infrared coded light beam, preprocessing the infrared coded light beam and outputting an optical signal; the optical label is arranged on equipment to be positioned when in use;
the locator is used for receiving the optical signal and completing real-time decoding of the optical signal to obtain a vertical angle and a horizontal angle of the optical label relative to the optical base station so as to obtain horizontal position information of the optical label;
the master control device is in signal connection with the optical base stations and the positioner and is used for controlling the plurality of optical base stations to operate and receiving the horizontal position information sent by the positioner; the main control device is also in communication connection with a mobile client so as to send the horizontal position information to the mobile client.
In one embodiment, the optical base station comprises a base station communication module, a frequency modulation continuous wave generator, a base station amplifier and a base station antenna, and the signal flow direction sequentially comprises the base station communication module, the frequency modulation continuous wave generator, the base station amplifier and the base station antenna.
In one embodiment, the master control device is in signal connection with the optical base station through a 485 communication protocol.
In one embodiment, the master control device is connected to the optical base station by wire.
In one embodiment, the method further comprises:
and the power supply of the positioner is arranged on the equipment to be positioned.
In one embodiment, the optical tag is connected to the locator by a mesh wire.
In one embodiment, the method further comprises:
the Bluetooth positioning equipment is arranged on the equipment to be positioned when in use;
the Bluetooth positioning equipment is in communication connection with the master control device.
In one embodiment, the method further comprises:
the wireless positioning equipment is arranged on the equipment to be positioned when in use;
the wireless positioning equipment is in communication connection with the main control device.
In one embodiment, the net wire is a through T568B wire-order standard net wire.
In one embodiment, the method further comprises:
and the base station mounting bracket is used for fixing the optical base station at a preset mounting position.
The application provides an indoor positioning system, including optics basic station, optics label, locator and master control set. The optical base station is used for emitting infrared coded light beams, the code of light in each space direction is different, and the code of light in each space direction is unique; the optical base station is used for realizing two-dimensional positioning and attitude determination. The optical label is used for receiving the infrared coded light beam, carrying out pretreatment on the infrared coded light beam and outputting an optical signal; the optical label is arranged on equipment to be positioned when in use; the locator is used for receiving the optical signal and completing real-time decoding of the optical signal to obtain a vertical angle and a horizontal angle of the optical label relative to the optical base station so as to obtain horizontal position information of the optical label; the master control device is in signal connection with the optical base stations and the positioner and is used for controlling the plurality of optical base stations to operate and receiving the horizontal position information sent by the positioner; the main control device is also in communication connection with a mobile client so as to send the horizontal position information to the mobile client. In this way, a person holding a mobile client can find the device to be positioned through the horizontal position information. Besides, the application also provides Bluetooth positioning equipment and wireless positioning equipment, so that the accuracy of the position information of the equipment to be positioned can be improved, and the indoor positioning effect is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic diagram of an indoor positioning system provided in the present application.
Description of the reference numerals
Base station communication module 110
Frequency modulated continuous wave generator 120
Base station mounting bracket 150
Locator power supply 310
Bluetooth positioning device 500
Wireless positioning device 600
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Referring to fig. 1, the present application provides an indoor positioning system 10, which includes an optical base station 100, an optical tag 200, a locator 300, and a master control device 400. The indoor positioning system 10 can be applied to cluster robot sorting, large logistics sorting bins and indoor parking.
The optical base station 100 is configured to emit infrared coded light beams, the coding of the light in each spatial direction is different, and the coding of the light in each spatial direction is unique. The optical base station 100 is used to achieve two-dimensional positioning and attitude determination. In an alternative embodiment, the optical base station 100 uses 850nm eye-safe infrared light, the light code in each spatial direction is unique and unique, and a single base station can perform two-dimensional positioning and pose determination.
The optical tag 200 is configured to receive the ir-encoded light beam, perform pre-processing on the ir-encoded light beam, and output an optical signal. The optical tag 200 is intended to be placed in a device to be positioned during use. The optical tag 200 is responsible for receiving coded light, which refers to an optical signal output by the optical base station 100, and performing coded signal preprocessing. When the optical label 200 is used, the optical label is arranged on the device to be positioned, and the specific arrangement position can be selected according to actual needs, which is not limited in the application. The optical tag 200 may also be an optical photoelectric tag sensor, and the specification and model of the optical photoelectric tag sensor may be selected according to actual needs, which is not limited in this application.
The locator 300 is configured to receive the optical signal and complete real-time decoding of the optical signal, so as to obtain a vertical angle and a horizontal angle of the optical tag 200 with respect to the optical base station 100, and further obtain horizontal position information of the optical tag 200. The height information of the optical label 200 can be directly acquired at this time. Because the optical tag 200 is disposed on the device to be positioned, the position information of the device to be positioned can be obtained after the horizontal position information of the optical tag 200 is obtained. The coverage area of each optical base station 100 is a circle, and the radius of the circle depends on the vertical height difference between the optical base station 100 and the optical tag 200, i.e. R is 2.5 h. All the locators 300 in the coverage area can independently receive the optical signals and decode and calculate the current horizontal position information of the optical label, and the refresh rate can reach 35Hz (Hertz).
The master control device 400 is in signal connection with the optical base stations 100 and the locators 200, and the master control device 400 is used for controlling a plurality of optical base stations 100 to operate and receiving the horizontal position information sent by the locators 200; the host 400 is also communicatively connected to a mobile client to send the horizontal location information to the mobile client. Such as a mobile phone, a vehicle-mounted smart device, etc. In an alternative embodiment, the master control device 400 has a built-in base station grouping algorithm for scheduling the light emitting order among multiple base stations. After the main control device 400 sends the horizontal position information to the mobile client, the mobile client generates navigation information to guide the user to reach the location represented by the horizontal position information, so as to quickly find the device to be positioned. The equipment to be positioned can be a vehicle and a portable robot, such as a robot for classified transportation of express in an operating room.
In an alternative embodiment, the model of the optical base station 100 may be LT-BS100, and the repeated positioning accuracy of the optical base station 100 of the model may reach millimeter level, where a typical scenario is ± 5 mm. The optical base station 100 contains an LED (Light Emitting Diode) Light source for 850nm infrared Light. The emission angle of the LED light source was 150 °. The optical base station 100 takes power from the field end, and the system is provided with a 220V voltage converter.
The optical tag 200 may be selected as model number LT-S100. The optical tag 200 is connected to the positioner 300 through a network port without separate power supply. The optical tag 200 can only sense 850nm infrared light, and the incident angle of the accessible light is 140 degrees. The optical tag 200 is fixed to the top end of the device to be positioned, which in an alternative embodiment is a vehicle, and the optical tag 200 is fixed to the vehicle end. The vehicle end can be provided with a plurality of optical tags 200 at intervals, two optical tags 200 are arranged at intervals, the interval distance needs to be more than 50 cm, and a heading angle can be output. The optical label 200 operates at a temperature of-20 c to-80 c.
The locator 300 may be selected as model LT-LOC 100. The locator data refresh rate of the locator 300 can be up to 35Hz (hertz). The locator 300 is secured to the device to be located, which in an alternative embodiment may be a vehicle. The retainer 300 is secured to the vehicle end. The input voltage of the locator 300 is direct current of 10V-36V, and the locator 300 can directly get electricity from the vehicle.
The host 400 may select the model LT-CTRL 100. The main control device 400 is configured with the procedures of optical base station configuration parameters, field calibration process management, positioning data output and track check, positioning data output interface configuration, common fault diagnosis, and the like. The optical base stations 100 are connected by 485 wires, and the optical base stations 100 are further connected to the main control device 400 in the indoor positioning system 10. The master control apparatus 400 is placed at the field end, and one master control apparatus 400 can manage more than 1000 optical base stations 100.
The indoor positioning system 10 provided in this embodiment includes an optical base station 100, an optical tag 200, a locator 300, and a main control device 400. The optical base station 100 is configured to emit infrared coded light beams, where the code of light in each spatial direction is different and unique; the optical base station 100 is used to achieve two-dimensional positioning and attitude determination. The optical tag 200 is configured to receive the infrared encoded light beam, perform preprocessing on the infrared encoded light beam, and output an optical signal; the optical tag 200 is intended to be placed in a device to be positioned when in use; the locator 300 is configured to receive the optical signal and complete real-time decoding of the optical signal, so as to obtain a vertical angle and a horizontal angle of the optical tag 200 with respect to the optical base station 100, and further obtain horizontal position information of the optical tag 200; the master control device 400 is in signal connection with the optical base stations 100 and the locators 300, and the master control device 400 is configured to control a plurality of optical base stations 100 to operate and receive the horizontal position information sent by the locators 300; the host 400 is also communicatively connected to a mobile client to send the horizontal location information to the mobile client. Thus, the person holding the mobile client can find the device to be positioned through the horizontal position information. Besides, the application also provides the Bluetooth positioning equipment and the wireless positioning equipment, so that the accuracy of the position information of the equipment to be positioned can be improved, and the indoor positioning effect is improved. Experiments prove that the coverage range of the indoor positioning system 10 can reach more than 50 meters, the access capability is not limited, the positioning accuracy can reach millimeter level, and the positioning mode can reach an angle. The indoor positioning system 10 provided by the application has the advantages of convenience in deployment, light interference resistance, independence on environmental characteristics and the like.
In one embodiment of the present application, the optical base station 100 is composed of a base station communication module 110, a fm continuous wave generator 120, a base station amplifier 130, and a base station antenna 140, and the signal flow direction is sequentially the base station communication module 110, the fm continuous wave generator 120, the base station amplifier 130, and the base station antenna 140. The fm continuous wave generator 120 can generate fm continuous waves or receive fm continuous waves from the fm continuous wave generator 120. The base station amplifier 130 is capable of amplifying the frequency modulated continuous wave output from the base station frequency modulated continuous wave generator. The base station communication module 110 can communicate with a communication module in the main control device.
In one embodiment of the present application, the host 400 is in signal connection with the optical base station via 485 communication protocol. In an alternative embodiment, the master control device 400 is connected to the optical base station 100 by wire, and may use a dual-glue line connection inside a network cable, such as: the orange line is connected with the 485A interface of the base station to the 485A interface of the master control, and the orange line is connected with the 485B interface of the base station to the 485B interface of the master control.
In one embodiment of the present application, the indoor positioning system 10 further includes a positioner power supply 310, and the positioner power supply 310 is disposed on the device to be positioned. The fixture 300 is powered using a 24V adapter or USB charger, and in an alternative embodiment, the optical label 200 is connected to the fixture 300 by a network cable, and the fixture 300 and the optical label 200 are connected by a pass-through T568B standard network cable. The single optical label can only be inserted into the port IN1, and the network port at the optical label end can be inserted into any one port. The locator power supply 310 is connected to a 24V power supply of a vehicle body or a robot, the horizontal position information is transmitted through a signal interface such as CAN, two optical labels 200 are placed on the robot or a vehicle roof to expose a receiving head, and the two optical labels 200 are respectively connected to an IN1/IN2 port of the locator 300 through network cables.
In one embodiment of the present application, the indoor positioning system 10 further comprises a bluetooth positioning device 500, and the bluetooth positioning device 500 is disposed in the device to be positioned when in use, for example, in a vehicle or on a robot. The bluetooth positioning apparatus 500 is communicatively connected to the main control apparatus 400. The bluetooth positioning apparatus 500 performs positioning based on the RSSII (Received Signal Strength Indication) value by using the triangulation positioning principle. The bluetooth positioning apparatus 500 includes a bluetooth beacon node, a bluetooth gateway, a wireless lan, and a backend data server, and the main control device 400 can be understood as the backend data server. This bluetooth positioning device 500 can fix a position this equipment of pending location, like the vehicle, the positional information of robot, this bluetooth beacon node of rethread, bluetooth gateway, wireless local area network sends this positional information to this master control set 400, is sent this positional information to this removal customer service end through high in the clouds or local by this master control set 400. Therefore, the user can obtain the position information of the vehicle or the robot in operation through the mobile phone or the personal computer, and the user can quickly reach the position represented by the position information through navigation.
In an embodiment of the present application, the indoor positioning system 10 further includes a wireless positioning device 600, where the wireless positioning device 600 is disposed in the device to be positioned during use, and the wireless positioning device is communicatively connected to the main control apparatus 400. The WIreless positioning device 600 is a WiFi (WIreless-Fidelity) positioning device. The wireless location device 600 may be a wireless router, and the effective range of the radio coverage of the wireless router may be networked using a WiFi connection. The wireless positioning device 600 is in signal connection with the main control device 400, the wireless positioning device 600 sends the position information of the device to be positioned to the main control device 400, the main control device 400 sends the position information to the mobile client, and the mobile client generates navigation information and then guides the user to reach a place corresponding to the position information.
In one embodiment of the present application, the indoor positioning system 10 further includes a base station mounting bracket 150, and in an alternative embodiment, the base station mounting bracket 150 may be an i-beam bracket.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. An indoor positioning system, comprising:
the optical base station is used for emitting infrared coded light beams, the code of the light in each spatial direction is different, and the code of the light in each spatial direction is unique; the optical base station is used for realizing two-dimensional positioning and attitude determination;
the optical label is used for receiving the infrared coded light beam, preprocessing the infrared coded light beam and outputting an optical signal; the optical label is arranged on equipment to be positioned when in use;
the locator is used for receiving the optical signal and completing real-time decoding of the optical signal to obtain a vertical angle and a horizontal angle of the optical label relative to the optical base station so as to obtain horizontal position information of the optical label;
the master control device is in signal connection with the optical base stations and the positioner and is used for controlling the plurality of optical base stations to operate and receiving the horizontal position information sent by the positioner; the main control device is also in communication connection with a mobile client so as to send the horizontal position information to the mobile client.
2. The indoor positioning system of claim 1, wherein the optical base station is composed of a base station communication module, a frequency modulation continuous wave generator, a base station amplifier and a base station antenna, and the signal flow direction is sequentially the base station communication module, the frequency modulation continuous wave generator, the base station amplifier and the base station antenna.
3. The indoor positioning system of claim 1, wherein the master control device is in signal connection with the optical base station via 485 communication protocol.
4. The indoor positioning system of claim 1, wherein the master control device is in wired connection with the optical base station.
5. The indoor positioning system of claim 1, further comprising:
and the power supply of the positioner is arranged on the equipment to be positioned.
6. The indoor positioning system of claim 1, wherein the optical tag is connected to the positioner by a network cable.
7. The indoor positioning system of claim 6, wherein the net wires are through T568B wire-order standard net wires.
8. The indoor positioning system of claim 1, further comprising:
the Bluetooth positioning equipment is arranged on the equipment to be positioned when in use;
the Bluetooth positioning equipment is in communication connection with the master control device.
9. The indoor positioning system of claim 1, further comprising:
the wireless positioning equipment is arranged on the equipment to be positioned when in use;
the wireless positioning equipment is in communication connection with the main control device.
10. The indoor positioning system of claim 1, further comprising:
and the base station mounting bracket is used for fixing the optical base station at a preset mounting position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011111376.1A CN112284392A (en) | 2020-10-16 | 2020-10-16 | Indoor positioning system |
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| CN202011111376.1A CN112284392A (en) | 2020-10-16 | 2020-10-16 | Indoor positioning system |
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2020
- 2020-10-16 CN CN202011111376.1A patent/CN112284392A/en active Pending
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