CN112763970A - Positioning method and device, beacon, positioning system, storage medium and mobile terminal - Google Patents
Positioning method and device, beacon, positioning system, storage medium and mobile terminal Download PDFInfo
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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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
- G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
- G06K19/06187—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with magnetically detectable marking
Abstract
The disclosure provides a positioning method, a positioning device, a beacon, a positioning system, a computer readable storage medium and a mobile terminal, and belongs to the technical field of computers. The method is applied to a mobile terminal, and the mobile terminal comprises a proximity sensor and a tag reader; the method comprises the following steps: when the mobile terminal moves in a scene provided with beacons, in response to the proximity sensor sensing a trigger signal when approaching at least one beacon, controlling the tag reader to read tag information of the at least one beacon; and determining the position of the mobile terminal according to the label information. The method and the device can accurately and effectively position the position of the mobile terminal in various scenes.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a positioning method, a positioning apparatus, a beacon, a positioning system, a computer-readable storage medium, and a mobile terminal.
Background
With the progress of society and the development of technology, the positioning technology gradually permeates into the aspects of social life, and becomes an indispensable important application in daily life of people, such as people searching, position finding, vehicle navigation and route planning, and the like by positioning a mobile terminal. For example, in a market, a station, a hotel, a hospital, or other scenes, a robot may be set to provide services such as guidance, question answering, and the like for a user, and due to a situation that the position of the robot is lost due to a scene change or other factors, the robot often needs to be positioned to ensure the accuracy of providing the position service.
The existing positioning method is often based on an Ultra Wide Band (UWB) communication positioning technology to position a mobile terminal, that is, a certain number of UWB base stations are arranged in a scene, and a UWB receiving device is installed on the mobile terminal to position the mobile terminal according to a triangulation positioning principle, however, this method not only needs to consume a high cost, but also causes an inaccurate positioning problem of the mobile terminal when the UWB base stations are subjected to certain interference, for example, are shielded.
Therefore, how to accurately position the mobile terminal is an urgent problem to be solved in the prior art.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The disclosure provides a positioning method, a positioning device, a beacon, a positioning system, a computer readable storage medium and a mobile terminal, thereby improving the problem of inaccurate positioning of terminal equipment in the prior art at least to a certain extent.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
According to a first aspect of the present disclosure, there is provided a positioning method applied to a mobile terminal including a proximity sensor and a tag reader; the method comprises the following steps: when the mobile terminal moves in a scene provided with beacons, in response to the proximity sensor sensing a trigger signal when approaching at least one beacon, controlling the tag reader to read tag information of the at least one beacon; and determining the position of the mobile terminal according to the label information.
In an exemplary embodiment of the present disclosure, the controlling the tag reader to read tag information of at least one beacon includes: controlling the tag reader to communicate at a first preset power to read tag information of at least one beacon.
In an exemplary embodiment of the present disclosure, a communication distance of the tag reader at the first preset power is less than a first preset distance.
In an exemplary embodiment of the present disclosure, the proximity sensor senses the trigger signal when entering a proximity sensing area of any beacon; the first preset distance is the sum of the size of the proximity sensing area and a second preset distance.
In an exemplary embodiment of the present disclosure, the method further comprises: when the proximity sensor does not sense the trigger signal, controlling the tag reader to communicate at a second preset power so as to read tag information of at least one beacon; and determining the area where the mobile terminal is located according to the tag information read by the tag reader under the second preset power.
In an exemplary embodiment of the present disclosure, the mobile terminal further includes a navigation positioning system; the method further comprises the following steps: and when the tag reader does not read the tag information, determining the position of the mobile terminal through the navigation positioning system.
In an exemplary embodiment of the present disclosure, the tag reader includes a radio frequency identification sensor.
In an exemplary embodiment of the present disclosure, the proximity sensor includes a magnetic proximity sensor.
According to a second aspect of the present disclosure, there is provided a positioning apparatus configured to a mobile terminal including a proximity sensor and a tag reader; the device comprises: the mobile terminal comprises a tag information acquisition module, a tag reader and a control module, wherein the tag information acquisition module is used for responding to a trigger signal sensed by the proximity sensor when the mobile terminal moves in a scene with beacons, and controlling the tag reader to read tag information of at least one beacon; and the position determining module is used for determining the position of the mobile terminal according to the label information.
In an exemplary embodiment of the present disclosure, a tag information obtaining module includes: the mobile terminal comprises a first communication unit and a second communication unit, wherein the first communication unit is used for controlling the tag reader to communicate at a first preset power to read the tag information of at least one beacon in response to the proximity sensor sensing a trigger signal when approaching the at least one beacon when the mobile terminal moves in a scene provided with the beacon.
In an exemplary embodiment of the present disclosure, a communication distance of the tag reader at the first preset power is less than a first preset distance.
In an exemplary embodiment of the present disclosure, the proximity sensor senses the trigger signal when entering a proximity sensing area of any beacon; the first preset distance is the sum of the size of the proximity sensing area and a second preset distance.
In an exemplary embodiment of the present disclosure, the positioning apparatus further includes: the second communication unit is used for controlling the tag reader to communicate under a second preset power when the proximity sensor does not sense the trigger signal so as to read the tag information of at least one beacon, wherein the second preset power is larger than the first preset power; and determining the area where the mobile terminal is located according to the tag information read by the tag reader under the second preset power.
In an exemplary embodiment of the present disclosure, the mobile terminal further includes a navigation positioning system; the positioning device further comprises: and the navigation positioning module is used for determining the position of the mobile terminal through the navigation positioning system when the tag reader does not read the tag information.
In an exemplary embodiment of the present disclosure, the tag reader includes a radio frequency identification sensor.
In an exemplary embodiment of the present disclosure, the proximity sensor includes a magnetic proximity sensor.
According to a third aspect of the present disclosure, there is provided a beacon comprising: an electronic tag for communicating with a tag reader to cause the tag reader to read tag information of the beacon; and the induction ring is arranged around the electronic tag and used for triggering the proximity sensor to induce a trigger signal.
In an exemplary embodiment of the present disclosure, the inductor loop comprises a magnetic inductor loop.
In an exemplary embodiment of the present disclosure, the center of the induction loop is located at the electronic tag.
According to a fourth aspect of the present disclosure, there is provided a positioning system comprising the positioning apparatus according to the second aspect and the beacon according to the third aspect disposed in a scene.
According to a fifth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of the above.
According to a sixth aspect of the present disclosure, there is provided a mobile terminal comprising a processor; a memory for storing executable instructions of the processor; a proximity sensor for sensing a trigger signal when approaching at least one beacon; and a tag reader for reading tag information of the at least one beacon; wherein the processor is configured to perform the method of any one of the above via execution of the executable instructions.
Exemplary embodiments of the present disclosure have the following advantageous effects:
the positioning method and the positioning device are applied to the mobile terminal, and the mobile terminal comprises a proximity sensor and a tag reader; when the mobile terminal moves in a scene provided with beacons, in response to the proximity sensor sensing a trigger signal when approaching at least one beacon, controlling a tag reader to read tag information of the at least one beacon; and determining the position of the mobile terminal according to the label information. On one hand, the exemplary embodiment may perform sensing on one or more beacons in a scene environment through the proximity sensor to locate the mobile terminal, and the beacons distributed in the scene include corresponding tag information, so that the mobile terminal may accurately determine current location information according to the tag information; on the other hand, when the mobile terminal approaches the beacon, the proximity sensor can sense the trigger signal, so that the tag reader is controlled to read the tag information of the beacon to position the mobile terminal, wherein the mobile terminal can adjust the positioning of one or more beacons in the proximity scene, and the accuracy is high and the cost is low; on the other hand, the exemplary embodiment is not affected by the scene characteristics, can normally and accurately position the mobile terminal in a large indoor scene, a similar scene or a scene with dark light, and has a wide application range.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
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. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.
FIG. 1 schematically illustrates a system architecture diagram of the operating environment of the present exemplary embodiment;
fig. 2 schematically shows a flow chart of a positioning method in the present exemplary embodiment;
fig. 3 schematically illustrates a sub-flow diagram of a positioning method in the present exemplary embodiment;
fig. 4 schematically shows a block schematic of a robot in the present exemplary embodiment;
fig. 5 is a schematic diagram schematically illustrating a beacon in the present exemplary embodiment;
fig. 6 is a scene diagram schematically illustrating a positioning method of a robot in the present exemplary embodiment;
FIG. 7 schematically illustrates a schematic view of a positioning system in the present exemplary embodiment;
fig. 8 is a block diagram schematically showing the structure of a positioning apparatus in the present exemplary embodiment;
fig. 9 schematically illustrates a mobile terminal for implementing the above method in the present exemplary embodiment.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In the related art, the mobile terminal often depends on a navigation system composed of a laser radar or an inertial navigation sensor for positioning. And for a large scene indoor environment beyond the range of laser radar ranging or an environment with a plurality of similar maps in the scene, the problem of position loss may occur.
Based on this, exemplary embodiments of the present disclosure first provide a positioning method. Fig. 1 is a system architecture diagram illustrating an operating environment of the exemplary embodiment, and referring to fig. 1, the system 100 may include a mobile terminal 110 and a beacon 120. The mobile terminal 110 may be a mobile electronic device such as a robot or an unmanned vehicle that needs to be located, and the mobile electronic device is configured with a proximity sensor 111 and a tag reader 112, where the proximity sensor may sense a trigger signal when approaching a beacon, so that the mobile terminal 110 may control the tag reader 112 to read tag information of the beacon 120. It should be understood that the data of each device shown in fig. 1 is merely exemplary, and any number of mobile terminals or beacons may be provided according to actual needs.
Based on the above description, the method in the present exemplary embodiment may be applied to the mobile terminal 110 shown in fig. 1, which refers to a device that can move in a specific scene and has a positioning requirement, such as a robot used for providing guidance or navigation service in a mall or a hospital; or a warehouse, an unmanned vehicle used for goods transportation or delivery in a factory, etc. The mobile terminal may include a proximity sensor and a tag reader, wherein the proximity sensor is configured to trigger generation of a specific input or output signal by a trigger switch, so that the mobile terminal or a mobile terminal processor performs a corresponding operation, for example, when the magnetic proximity sensor is close to a magnetic object, a trigger signal is generated, and the processor processes the trigger signal; the tag reader may be used to read specific tag data, etc., such as tag data of RFID (Radio Frequency Identification) or tag data of bluetooth, etc. Application scenarios of the present exemplary embodiment include, but are not limited to: in a shopping mall, when the robot drifts through laser radar ranging positioning, the current position information is calibrated through the present exemplary embodiment; or in a factory, the current position is located by the present exemplary embodiment when the unmanned vehicle is transporting goods, and so on.
The exemplary embodiment is further described with reference to fig. 2, and as shown in fig. 2, the positioning method may include the following steps S210 to S220:
and step S210, when the mobile terminal moves in a scene provided with beacons, responding to the proximity sensor sensing a trigger signal when approaching at least one beacon, and controlling the tag reader to read the tag information of the at least one beacon.
The scene is an environmental scene in which the mobile terminal is located in the present exemplary embodiment, and in particular, the scene may be a large indoor scene beyond a laser radar ranging range, or an indoor scene in which a plurality of similar maps are provided in the scene, or a scene which is relatively dark and is affected by an illumination environment, and the like, and the mobile terminal may freely move in any direction in the scene. In the above scenario, a plurality of beacons may be provided, a beacon being a device for transmitting information to the mobile terminal, for example, it may transmit RFID identification information or an inductive signal of a proximity sensor, etc. to the mobile terminal. The beacon may be comprised of a tag, which may include information such as a beacon identification, and a sensing object, which may be used to sense with the proximity sensor, such as a trigger signal when the magnetic proximity sensor is in proximity to a magnetic object. The distribution of beacons in the scene may be a uniform distribution based on a certain rule, for example, a predetermined number of beacons are uniformly distributed in the horizontal direction and the vertical direction by a predetermined step size; or, the actual scenes may need to be randomly distributed, for example, dense beacons are set in a region with a high activity degree of the motion of the mobile terminal, sparse beacons are set in a region with a low activity degree, and the like. The setting of the beacon can also be updated according to the moving condition of the mobile terminal, for example, the beacon distribution of a certain sub-area in the scene is increased or decreased to adapt to the positioning requirement of the actual scene.
The proximity sensor is a sensor for detecting a magnetic object without touching the object to be detected, instead of a contact detection method such as a limit switch, and may trigger a switch signal to be output when the magnetic object is detected. In addition, the proximity sensor may also be other types of proximity sensors, such as an optoelectronic proximity sensor, a laser proximity sensor, or a capacitive proximity sensor, which is not specifically limited by the present disclosure. The tag reader may be an RFID sensor, and the RFID sensor may be configured to identify a tag in a close-range environment to acquire tag information, where the tag information may include tag data such as identification information of the tag and location information of the tag, and when the tag reader is the RFID sensor, the corresponding tag is an RFID tag. In addition, the tag reader may also be other types of readers, for example, an NFC (Near Field Communication) reader, and the corresponding tag is an NFC tag, which is not specifically limited in this disclosure.
In this exemplary embodiment, when the mobile terminal moves in a scene in which a beacon is arranged, surrounding beacons may be sensed by the proximity sensor, and when the mobile terminal moves to a trigger position corresponding to the proximity sensor trigger switch, the proximity sensor may sense a trigger signal, for example, if the proximity sensor is a magnetic proximity sensor, the magnetic proximity sensor trigger switch may be a magnetic object, such as iron, disposed on the beacon, and when the mobile terminal moves the trigger position corresponding to the magnetic object, the magnetic object may trigger the magnetic proximity sensor to generate the trigger signal, and the magnetic proximity sensor is triggered to sense the trigger signal. In consideration of the specific distribution positions of the beacons, the sensing attributes of the proximity sensors and other factors, in practical application, when the mobile terminal moves in a scene, the proximity sensors can sense the trigger signals simultaneously or sequentially when approaching one or more beacons, and control the tag reader to read the tag information of the one or more beacons, for example, two adjacent and closer beacons, when the mobile terminal approaches the two beacons, the situation that the two beacons are sensed may occur, and at this time, the tag reader can be controlled simultaneously or sequentially to read the tag information of the two beacons and the like.
And step S220, determining the position of the mobile terminal according to the label information.
In this exemplary embodiment, the mobile terminal may determine the current location information according to the read tag information, for example, the mobile terminal may read the identification information of the RFID tag through the tag reader, and determine, through the processor, the location information corresponding to the current identification information in the pre-configured correspondence database between the identification information and the scene location, and perform positioning or location calibration on the mobile terminal based on the location information.
Based on the above description, in the present exemplary embodiment, application to a mobile terminal including a proximity sensor and a tag reader; when the mobile terminal moves in a scene provided with beacons, in response to the proximity sensor sensing a trigger signal when approaching at least one beacon, controlling a tag reader to read tag information of the at least one beacon; and determining the position of the mobile terminal according to the label information. On one hand, the exemplary embodiment may perform sensing on one or more beacons in a scene environment through the proximity sensor to locate the mobile terminal, and the beacons distributed in the scene include corresponding tag information, so that the mobile terminal may accurately determine current location information according to the tag information; on the other hand, when the mobile terminal approaches the beacon, the proximity sensor can sense the trigger signal, so that the tag reader is controlled to read the tag information of the beacon to position the mobile terminal, wherein the mobile terminal can adjust the positioning of one or more beacons in the proximity scene, and the accuracy is high and the cost is low; on the other hand, the exemplary embodiment is not affected by the scene characteristics, can normally and accurately position the mobile terminal in a large indoor scene, a similar scene or a scene with dark light, and has a wide application range.
In an exemplary embodiment, the controlling the tag reader to read the tag information of the at least one beacon in step S210 may include the following steps:
and controlling the tag reader to communicate at a first preset power to read the tag information of at least one beacon.
When the mobile terminal moves in a scene, the communication power of the tag reader in the scene can be controlled, and the larger the power is, the larger the scanning range is. The first preset power, that is, the preset power for controlling the tag reader to read the tag information of the beacon in the present exemplary embodiment, may be determined according to an actually required scanning range, for example, if the required RFID scanning range is smaller than 0.5 meter, the first preset power may be adjusted to a power size corresponding to the scanning range smaller than 0.5 meter.
In an exemplary embodiment, the communication distance of the tag reader at the first preset power is smaller than the first preset distance.
In this exemplary embodiment, the first preset distance is a preset range that the tag reader can scan, for example, the RFID scanning range is less than 0.5 meter, and the first preset distance is 0.5 meter.
In an exemplary embodiment, the proximity sensor senses the trigger signal when entering the proximity sensing area of any beacon; the first preset distance is the sum of the size of the proximity sensing area and the second preset distance.
The proximity sensing area refers to a preset range around the beacon, within which the tag reader can read the tag information of the beacon, and in this exemplary embodiment, the proximity sensing area may be an area between a position of a tag of the beacon and a sensing object of the proximity sensor, for example, when the beacon includes the tag and a magnetic object (such as a magnetic induction ring surrounding the tag), the proximity sensing area may be an area between the tag and the magnetic induction ring, and when the magnetic sensor approaches the beacon and enters the proximity sensing area, the tag reader can read the tag information of the beacon. In practical application, the proximity sensor can sense the trigger signal when being close to the sensing object, for example, the magnetic proximity sensor does not need to enter the proximity sensing area, and can sense the trigger signal when being close to a small distance near the magnetic object, so as to control the tag reader to read the tag information of the beacon. The small distance near the sensing object is a second preset distance, which may be regarded as a minute distance increment Δ L, for example, when the magnetic proximity sensor is 2 cm away from the periphery of the magnetic induction ring, the triggering signal may be sensed. The first predetermined distance L can be actually regarded as the sum of the dimension R close to the sensing region and the second predetermined distance Δ L, and can be expressed as L ═ R +/Δ L, and when Δ L ≠ 0, L > R. The dimension R of the proximity sensing area may be less than or equal to the positioning accuracy of the mobile terminal, for example, 10 cm.
In an exemplary embodiment, as shown in fig. 3, the positioning method may further include the following steps:
step S310, when the proximity sensor does not sense the trigger signal, controlling the tag reader to communicate at a second preset power so as to read the tag information of at least one beacon, wherein the second preset power is greater than the first preset power;
step S320, determining an area where the mobile terminal is located according to the tag information read by the tag reader under the second preset power.
Considering that when the mobile terminal moves in a scene, it may happen that there is no beacon in the vicinity thereof, for example, when the current position of the robot is far away from a preset beacon distance, the trigger signal cannot be sensed, the tag reader may be controlled to perform communication at the second preset power. The second preset power is general power of the mobile terminal when the mobile terminal moves in a scene, and compared with the first preset power, the second preset power is higher and the scanning range is larger. When the communication is carried out at the second preset power, the label information of one or more beacons with longer distances can be read, and the initial positioning is carried out according to the read label information. That is, the exemplary embodiment may enlarge the positioning range of the mobile terminal by setting the second preset power, so that the mobile terminal can perform a rough positioning process in an area according to the information of the plurality of tags, and further, when the trigger signal is sensed, it is considered that the current mobile terminal is closer to one or more beacons, at this time, the power of the tag reader may be adjusted, that is, the scanning range of the tag reader is reduced, the tag reader is controlled to communicate with the first preset power, and an accurate positioning process is further performed according to the read tag information of the nearby beacons, so that the mobile terminal is ensured to be positioned under various environments or scene conditions, and a situation of positioning failure or position information loss is avoided. When positioning is performed according to a plurality of tag information, the position data of the current mobile terminal can be determined in a manner of performing weighted calculation on the positioning data corresponding to the plurality of tag information, the setting of the weight can be determined according to the distance between each beacon and the current mobile terminal, the setting of the weight that is closer to the current mobile terminal is higher, and otherwise, the setting of the weight that is lower, and the like.
Taking a mobile terminal as an example of a robot, fig. 4 shows a schematic diagram of the module principle of a robot in this exemplary embodiment, which includes a robot controller 410, a navigation system 420, a power system 430, an RFID antenna 440, an RFID sensor 450, a magnetic proximity sensor 460, and a comparator 470. The power system 430 provides operation power for the robot, so that the robot can move freely, and comprises an encoder 431 for encoding image or video data; the motor 432 and the motor driver 433 are used for electric energy conversion or transmission; reducer 434, i.e., a reducer; and a power wheel 435. The navigation system 420 provides a map for the robot, locating itself. The RFID antenna 440 may scan RFID tags within a range and transmit the received RFID tags to the RFID sensor 450 for data reading, and the read information is transmitted to the robot controller 410; the magnetic proximity sensor 460 is sensitive to magnetic substances, and when the magnetic substances approach, the level change of the magnetic proximity sensor 460 is triggered, and the signal is adjusted and converted by the comparator 470 and transmitted to the robot controller 410.
In an exemplary embodiment, the mobile terminal further comprises a navigation positioning system; the positioning method may further include:
and when the tag reader does not read the tag information, determining the position of the mobile terminal through a navigation positioning system.
That is, the exemplary embodiment may further configure another device for performing positioning inside the mobile terminal, for example, a navigation positioning system composed of a laser radar or an inertial navigation sensor, so that when the mobile terminal cannot normally read the tag information, for example, the mobile terminal is far away from the beacon, the tag information of the beacon cannot be read, or the beacon is blocked, the position of the mobile terminal can be determined by the navigation positioning system.
Exemplary embodiments of the present disclosure also provide a beacon. Referring to fig. 5, the beacon 500 may include:
and an electronic tag 510 for communicating with the tag reader to enable the tag reader to read the tag information of the beacon.
The electronic tag may include multiple types according to the communication mode, for example, it may be a bluetooth tag or an RFID tag, and the electronic tag may send information to the mobile terminal, so that the mobile terminal reads the tag information, for example, the RFID tag communicates with the RFID sensor, so that the RFID sensor reads the identification information of the RFID tag.
And the induction ring 520 is arranged around the electronic tag and used for triggering the proximity sensor to sense the triggering signal.
The inductive loop may be an inductive object having a corresponding relationship with the proximity sensor, for example, when the proximity sensor is a magnetic proximity sensor, the inductive loop may be a magnetic inductive loop; when the proximity sensor is a capacitive proximity sensor, the inductive loop may be a capacitive inductive loop or the like. The inductive loop may be disposed around the electronic tag, and the inductive loop may be completely surrounded or semi-surrounded with respect to the electronic tag, and the form of the surrounding disposition is not specifically limited by the present disclosure. In addition, the shape of the induction ring can be circular, square or other ring shape, etc. The proximity sensor can be triggered to sense the trigger signal when the proximity sensor approaches the induction ring, so as to control the tag reader to read corresponding tag information.
In particular, the present exemplary embodiment may provide that the induction ring is a magnetic induction ring, and the corresponding proximity magnetic sensor is a magnetic proximity sensor.
In addition, in an exemplary embodiment, the center of the induction loop is located at the electronic tag, that is, the electronic tag may be disposed in a region coinciding with the center of the induction loop. For example, when the induction ring is circular, the electronic tag can be arranged at the center of the induction ring, so that when the mobile terminal is close to the electronic tag, the tag information can be triggered and read under the same distance condition no matter which direction the mobile terminal is close to the electronic tag, and the positioning consistency and accuracy can be ensured when the mobile terminal moves in each direction.
Based on the above description, by providing a beacon including an electronic tag for communicating with a tag reader, the tag reader is caused to read tag information of the beacon; and the induction ring is arranged around the electronic tag and used for triggering the proximity sensor to induce a trigger signal. On one hand, the induction ring of the beacon can be induced in the scene environment through the proximity sensor of the mobile terminal, so that the accurate positioning of the mobile terminal can be realized; on the other hand, when the mobile terminal approaches the beacons, the proximity sensor can sense the trigger signal, so that the tag reader is controlled to read tag information of the electronic tag to position the mobile terminal, one or more beacons can be set in a scene, the mobile terminal can adjust self positioning by approaching the beacons, and the mobile terminal is high in precision and low in cost; on the other hand, the exemplary embodiment is not affected by the characteristics of the scene, and can set a plurality of beacons in a large indoor scene, a similar scene or a scene with dark light, so that the mobile terminal can be accurately positioned, and the application range is wide.
Fig. 6 shows a schematic view of a robot positioning method, where a robot 610 is configured with a magnetic proximity sensor 611 and an RFID sensor 612, and a plurality of beacons 620 are arranged in the scene, where the beacons 620 include an RFID tag 621 and a magnetic induction ring 622. When the robot 610 moves in the scene, the magnetic proximity sensor 611 may sense the trigger signal when approaching the magnetic induction ring 622 of the beacon 620, and further, the robot 610 may control the RFID sensor 612 to read the information of the RFID tag 621 in the beacon 620 and locate the robot 610 based on the information.
An exemplary embodiment of the present disclosure also provides a positioning system, referring to fig. 7, the positioning system 700 includes the above-mentioned positioning apparatus and a beacon 720 set in a scene, and the positioning apparatus may be configured in a mobile terminal 710.
The mobile terminal 710 includes:
a proximity sensor 711 for sensing a trigger signal when approaching at least one beacon;
a processor 712 for controlling the tag reader in response to the trigger signal;
a tag reader 713 for reading tag information of at least one beacon under the control of the processor;
the processor is further configured to determine a location of the mobile terminal based on the tag information.
In the positioning system of the present exemplary embodiment, when the mobile terminal moves in a scene, the proximity sensor may sense a trigger signal when approaching the beacon, and the processor may perform a control operation of the tag reader in response to the trigger signal, control the tag reader to read tag information of the beacon, and position the mobile terminal based on the tag information.
Based on the above description, the positioning system includes a positioning device configured in the mobile terminal and a beacon set in the scene. Wherein, mobile terminal includes: a proximity sensor for sensing a trigger signal when approaching at least one beacon; a processor for controlling the tag reader in response to the trigger signal; a tag reader for reading tag information of at least one beacon under the control of the processor; the processor is further configured to determine a location of the mobile terminal based on the tag information. On one hand, the exemplary embodiment may perform sensing on one or more beacons in a scene environment through the proximity sensor to locate the mobile terminal, and the beacons distributed in the scene include corresponding tag information, so that the mobile terminal may accurately determine current location information according to the tag information; on the other hand, when the mobile terminal approaches the beacon, the proximity sensor can sense the trigger signal, so that the tag reader is controlled to read the tag information of the beacon to position the mobile terminal, wherein the mobile terminal can adjust the positioning of one or more beacons in the proximity scene, and the accuracy is high and the cost is low; on the other hand, the exemplary embodiment is not affected by the scene characteristics, can normally and accurately position the mobile terminal in a large indoor scene, a similar scene or a scene with dark light, and has a wide application range.
Exemplary embodiments of the present disclosure also provide a positioning apparatus configured to a mobile terminal including a proximity sensor and a tag reader. Referring to fig. 8, the positioning apparatus 800 may include: a tag information obtaining module 810, configured to, when the mobile terminal moves in a scene where beacons are set, respond to that the proximity sensor senses a trigger signal when approaching at least one beacon, and control the tag reader to read tag information of the at least one beacon; a location determining module 820, configured to determine a location of the mobile terminal according to the tag information.
In an exemplary embodiment of the present disclosure, a tag information obtaining module includes: the mobile terminal comprises a first communication unit and a second communication unit, wherein the first communication unit is used for controlling the tag reader to communicate at a first preset power to read the tag information of at least one beacon in response to the proximity sensor sensing a trigger signal when approaching the at least one beacon when the mobile terminal moves in a scene provided with the beacon.
In one exemplary embodiment of the present disclosure, a communication distance of the tag reader at the first preset power is less than the first preset distance.
In an exemplary embodiment of the present disclosure, the proximity sensor senses a trigger signal when entering a proximity sensing area of any beacon; the first preset distance is the sum of the size of the proximity sensing area and the second preset distance.
In an exemplary embodiment of the present disclosure, the positioning apparatus further includes: the second communication unit is used for controlling the tag reader to communicate under a second preset power when the proximity sensor does not sense the trigger signal so as to read the tag information of at least one beacon, wherein the second preset power is larger than the first preset power; and determining the area where the mobile terminal is located according to the tag information read by the tag reader under the second preset power.
In an exemplary embodiment of the present disclosure, the mobile terminal further includes a navigation positioning system; the positioning device further comprises: and the navigation positioning module is used for determining the position of the mobile terminal through the navigation positioning system when the tag reader does not read the tag information.
In one exemplary embodiment of the present disclosure, the tag reader includes a radio frequency identification sensor.
In an exemplary embodiment of the present disclosure, the proximity sensor includes a magnetic proximity sensor.
The specific details of each module/unit in the above-mentioned apparatus have been described in detail in the embodiment of the method section, and the details that are not disclosed may refer to the contents of the embodiment of the method section, and therefore are not described herein again.
Exemplary embodiments of the present disclosure also provide a mobile terminal capable of implementing the above method.
As will be appreciated by one skilled in the art, aspects of the present disclosure may be embodied as a system, method or program product. Accordingly, various aspects of the present disclosure may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.
A mobile terminal 900 according to such an exemplary embodiment of the present disclosure is described below with reference to fig. 9. The mobile terminal 900 shown in fig. 9 is only an example and should not bring any limitation to the function and scope of use of the embodiments of the present disclosure.
As shown in fig. 9, mobile terminal 900 is embodied in a general purpose computing device. Components of mobile terminal 900 may include, but are not limited to: the at least one processing unit 910, the at least one memory unit 920, a bus 930 connecting different system components (including the memory unit 920 and the processing unit 910), a display unit 940, a proximity sensor 970, and a tag reader 980.
Where the storage unit stores program code, the program code may be executed by the processing unit 910 to cause the processing unit 910 to perform the steps according to various exemplary embodiments of the present disclosure described in the above-mentioned "exemplary methods" section of this specification. For example, the processing unit 910 may perform the steps shown in fig. 2 or fig. 3, and the like.
The storage unit 920 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)921 and/or a cache memory unit 922, and may further include a read only memory unit (ROM) 923.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the exemplary embodiments of the present disclosure.
Exemplary embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon a program product capable of implementing the above-described method of the present specification. In some possible embodiments, various aspects of the disclosure may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the disclosure described in the above-mentioned "exemplary methods" section of this specification, when the program product is run on the terminal device.
Exemplary embodiments of the present disclosure also provide a program product for implementing the above method, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
Furthermore, the above-described figures are merely schematic illustrations of processes included in methods according to exemplary embodiments of the present disclosure, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit according to an exemplary embodiment of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
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 disclosure 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 disclosure being indicated by the following claims.
It will be understood that the present disclosure 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 present disclosure is to be limited only by the terms of the appended claims.
Claims (15)
1. The positioning method is applied to a mobile terminal, wherein the mobile terminal comprises a proximity sensor and a tag reader; the method comprises the following steps:
when the mobile terminal moves in a scene provided with beacons, in response to the proximity sensor sensing a trigger signal when approaching at least one beacon, controlling the tag reader to read tag information of the at least one beacon;
and determining the position of the mobile terminal according to the label information.
2. The method of claim 1, wherein the controlling the tag reader to read tag information of at least one beacon comprises:
controlling the tag reader to communicate at a first preset power to read tag information of at least one beacon.
3. The method of claim 2, wherein the tag reader has a communication distance at the first predetermined power that is less than a first predetermined distance.
4. The method of claim 3, wherein the trigger signal is sensed when the proximity sensor enters a proximity sensing area of any beacon; the first preset distance is the sum of the size of the proximity sensing area and a second preset distance.
5. The method of claim 2, further comprising:
when the proximity sensor does not sense the trigger signal, controlling the tag reader to communicate at a second preset power to read tag information of at least one beacon, wherein the second preset power is greater than the first preset power;
and determining the area where the mobile terminal is located according to the tag information read by the tag reader under the second preset power.
6. The method of claim 1, wherein the mobile terminal further comprises a navigational positioning system; the method further comprises the following steps:
and when the tag reader does not read the tag information, determining the position of the mobile terminal through the navigation positioning system.
7. A positioning device, configured for a mobile terminal, the mobile terminal comprising a proximity sensor and a tag reader; the device comprises:
the mobile terminal comprises a tag information acquisition module, a tag reader and a control module, wherein the tag information acquisition module is used for responding to a trigger signal sensed by the proximity sensor when the mobile terminal moves in a scene with beacons, and controlling the tag reader to read tag information of at least one beacon;
and the position determining module is used for determining the position of the mobile terminal according to the label information.
8. The apparatus of any of claims 7, wherein the tag reader comprises a radio frequency identification sensor.
9. The apparatus of any of claims 7, wherein the proximity sensor comprises a magnetic proximity sensor.
10. A beacon, comprising:
an electronic tag for communicating with a tag reader to cause the tag reader to read tag information of the beacon;
and the induction ring is arranged around the electronic tag and used for triggering the proximity sensor to induce a trigger signal.
11. A beacon as claimed in claim 10, in which the inductive loop comprises a magnetic inductive loop.
12. A beacon as claimed in claim 10, in which the inductive loop is centred at the electronic tag.
13. A positioning system comprising a positioning device according to claim 7 and a beacon according to claim 10 arranged in a scene.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 1 to 6.
15. A mobile terminal, comprising:
a processor;
a memory for storing executable instructions of the processor;
a proximity sensor for sensing a trigger signal when approaching at least one beacon; and
a tag reader for reading tag information of the at least one beacon;
wherein the processor is configured to perform the method of any of claims 1 to 6 via execution of the executable instructions.
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| CN202011563467.9A CN112763970A (en) | 2020-12-25 | 2020-12-25 | Positioning method and device, beacon, positioning system, storage medium and mobile terminal |
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| CN202011563467.9A CN112763970A (en) | 2020-12-25 | 2020-12-25 | Positioning method and device, beacon, positioning system, storage medium and mobile terminal |
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