CN205541339U - Prevent losing monitored control system and positioner - Google Patents
Prevent losing monitored control system and positioner Download PDFInfo
- Publication number
- CN205541339U CN205541339U CN201620343392.6U CN201620343392U CN205541339U CN 205541339 U CN205541339 U CN 205541339U CN 201620343392 U CN201620343392 U CN 201620343392U CN 205541339 U CN205541339 U CN 205541339U
- Authority
- CN
- China
- Prior art keywords
- module
- positioning device
- relative distance
- ultrasonic
- radio
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000012545 processing Methods 0.000 claims description 44
- 238000004891 communication Methods 0.000 claims description 36
- 230000002265 prevention Effects 0.000 claims description 7
- 238000002604 ultrasonography Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000003556 assay Methods 0.000 abstract 1
- 210000002683 foot Anatomy 0.000 description 51
- 238000000034 method Methods 0.000 description 24
- 210000003423 ankle Anatomy 0.000 description 18
- 238000012544 monitoring process Methods 0.000 description 14
- 238000009434 installation Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 241001166076 Diapheromera femorata Species 0.000 description 2
- 208000004067 Flatfoot Diseases 0.000 description 2
- 206010061159 Foot deformity Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Emergency Alarm Devices (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model discloses a prevent losing monitored control system and positioner, it obtains supervisor and a relative distance by the supervisor and obtains two relative distance between them based on the RSSI algorithm based on pedestrian track made good originally to prevent losing monitored control system, then judges that assay obtains current relative distance between them, if current relative distance exceeds and presets security range, then sends out the police dispatch newspaper, is convenient for to remind the supervisor and prevents the emergence of dangerous accident. Simple and convenient, the easy realization of this system, safe distance is adjustable, the precision is high, but the reaction is fast and automatic alarm.
Description
Technical Field
The utility model relates to a location navigation field has especially related to a prevent losing monitored control system and positioner.
Background
In reality, a parent often brings one or more children aged 2-10 to visit a shopping mall and a park. It is a difficult problem how parents determine their relative distance and direction to children. The range of activities of children includes both indoors and outdoors, and because the children cannot receive GPS signals indoors, the children are prone to inaccurate positioning even if the children cannot use the children. The technology capable of simultaneously positioning indoors and outdoors is mainly a cellular network mobile positioning technology, but the technology still cannot find an algorithm which is generally applicable under various conditions and is resistant to the influence of indirect waves, and the positioning accuracy is about 150 meters. And the current bluetooth prevents losing the paster in the market, and the positioning range does not have under the condition of sheltering from only 20 meters, and bluetooth poor stability, often even can not go up, and non-line of sight disturbs seriously. The indoor wireless positioning technology requires that the positions of all base stations are set in advance, and once the environment changes or the network coverage area changes, the finally obtained positioning result has serious errors. Because children are a mobile group and the environment of indoor and outdoor places changes all the time, how to realize the positioning of the children group without depending on a fixed base station environment is a problem to be solved urgently.
SUMMERY OF THE UTILITY MODEL
In order to solve the not enough of above-mentioned prior art, the utility model provides a prevent losing monitored control system, it obtains the monitoring person and the first relative distance by the monitoring person and obtains second relative distance between them based on the RSSI algorithm based on pedestrian's dead reckoning, then judges the analysis and obtains current relative distance between them, if current relative distance surpasss and predetermines safety range, then sends out the police dispatch newspaper, is convenient for remind the monitoring person and prevent the emergence of dangerous accident. The system is simple and convenient, easy to realize, adjustable in safety distance, high in precision, fast in response and capable of automatically giving an alarm. The utility model also provides a positioner.
The utility model discloses the technical problem that will solve realizes through following technical scheme:
a loss prevention system comprises an intelligent terminal, a monitor positioning device and at least one monitored positioning device, wherein the intelligent terminal is at least in communication connection with the monitor positioning device, and the monitor positioning device is in communication connection with each monitored positioning device; wherein,
each monitored person positioning device comprises a left foot ring and a right foot ring; the left foot ring is used as a signal sending end and comprises a first main controller, a radio emission module, an ultrasonic emission module and a first magnetic compass, wherein the radio emission module, the ultrasonic emission module and the first magnetic compass are connected with the first main controller; the right foot ring is used as a signal receiving and processing end and comprises a second main controller, a radio receiving module, an ultrasonic receiving module, a second magnetic compass, a wireless communication module and an alarm module, wherein the radio receiving module, the ultrasonic receiving module, the second magnetic compass, the wireless communication module and the alarm module are connected with the second main controller;
The monitor positioning device is different from the monitored positioning device in that: the second main controller also comprises a data processing module, an RSSI ranging module, a first judgment module and a second judgment module; the data processing module is used for calculating and obtaining a first relative distance and a first relative orientation of the current position coordinate of the monitor positioning device and the received current position coordinate of the monitored positioning device according to the current position coordinate of the monitor positioning device and obtaining the current relative distance of the current position coordinate of the monitored positioning device and the received current position coordinate of the monitored positioning device according to the judgment result sent by the first judgment module; the RSSI ranging module is used for calculating a second relative distance between the monitor positioning device and the monitored positioning device according to the strength of the received signal; the first judgment module is connected with the RSSI ranging module and the data processing module and is used for judging whether the second relative distance exceeds a preset threshold value and sending a judgment result to the data processing module; the second judgment module is connected with the data processing module and used for judging whether the first relative distance exceeds a preset safety range.
Furthermore, the ultrasonic transmitting module and the ultrasonic receiving module form an ultrasonic receiving and transmitting module; the horizontal plane transceiving angle of the ultrasonic transceiving module is 100-180 degrees, and the vertical plane transceiving angle is 100-180 degrees.
Further, the ultrasonic transceiver module is a group of ultrasonic transceiver modules or a plurality of groups of ultrasonic transceiver modules.
Furthermore, the radio transmitting module and the radio receiving module form a radio transceiving module; the radio transceiver module is a Zigbee transceiver module.
A positioning device comprises a left foot ring and a right foot ring; the left foot ring is used as a signal sending end and comprises a first main controller, a radio emission module, an ultrasonic emission module and a first magnetic compass, wherein the radio emission module, the ultrasonic emission module and the first magnetic compass are connected with the first main controller; the right foot ring is used as a signal receiving and processing end and comprises a second main controller, a radio receiving module, an ultrasonic receiving module, a second magnetic compass, a wireless communication module and an alarm module, wherein the radio receiving module, the ultrasonic receiving module, the second magnetic compass, the wireless communication module and the alarm module are connected with the second main controller, and the second main controller is mainly used for controlling the modules and is responsible for receiving radio signals and ultrasonic signals, processing the signals and calculating pedestrian position coordinates of pedestrian tracks.
Furthermore, the second main controller further comprises a data processing module, an RSSI ranging module, a first judgment module and a second judgment module; the data processing module is used for calculating and obtaining a first relative distance and a direction of the current position coordinate of the positioning device and the received current position coordinate of other positioning devices according to the current position coordinate of the positioning device and obtaining the current relative distance of the current position coordinate of the positioning device and the received current position coordinate of other positioning devices according to a judgment result sent by the first judgment module; the RSSI ranging module is used for calculating a second relative distance between the positioning device and other positioning devices according to the strength of the received signal; the first judgment module is connected with the RSSI ranging module and the data processing module and is used for judging whether the second relative distance exceeds a preset threshold value and sending a judgment result to the data processing module; the second judgment module is connected with the data processing module and used for judging whether the first relative distance exceeds a preset safety range.
Furthermore, the ultrasonic transmitting module and the ultrasonic receiving module form an ultrasonic receiving and transmitting module; the horizontal plane transceiving angle of the ultrasonic transceiving module is 100-180 degrees, and the vertical plane transceiving angle is 100-180 degrees.
Further, the ultrasonic transceiver module is a group of ultrasonic transceiver modules or a plurality of groups of ultrasonic transceiver modules.
Furthermore, the radio transmitting module and the radio receiving module form a radio transceiving module; the radio transceiver module is a Zigbee transceiver module.
Further, the wireless communication module is any one of a bluetooth module or a Zigbee communication module.
The utility model discloses following beneficial effect has:
(1) the anti-loss monitoring system obtains a first relative distance between a monitor and a monitored person based on pedestrian dead reckoning and obtains a second relative distance between the monitor and the monitored person based on an RSSI algorithm, then judges and analyzes the first relative distance and the second relative distance to obtain the current relative distance between the monitor and the monitored person, and sends out an alarm if the current relative distance exceeds a preset safety range, so that the monitor can be reminded conveniently and dangerous accidents can be prevented. The system is simple and convenient, easy to realize, adjustable in safety distance, high in precision, quick in response and capable of automatically giving an alarm;
(2) The pedestrian positioning device is a foot ring which is convenient to wear on the body of a monitor and a monitored person, namely hardware is integrated on the foot ring, so that the pedestrian positioning device is convenient to disassemble and assemble, is convenient to carry, has strong anti-interference capability, high reliability and stability, has high universality, does not need complex installation and connection, is directly disassembled and assembled and is suitable for anyone, and is particularly suitable for children and the old; the problems that hardware of the existing positioning method is complex to install, inconvenient to carry and disassemble, strong in interference, weak in stability and incapable of achieving universality are solved; meanwhile, the problem of inertial drift is avoided, the method does not depend on a fixed base station, non-line-of-sight interference is avoided, indoor and outdoor autonomous positioning can be achieved, the problems that the existing indoor and outdoor seamless positioning depends on the fixed base station, the inertial drift and the interference are strong are solved, and accurate positioning of people groups is achieved under the environment which does not depend on the fixed base station; the tracking range is only limited by the communication range of Zigbee, generally 1km, which is far better than the existing 20 m-50 m, so that when the monitored person exceeds the preset safety range, effective tracking and positioning can still be carried out.
Drawings
Fig. 1 is a schematic flow chart of the loss prevention monitoring method of the present invention;
FIG. 2 is a schematic diagram of the anti-loss monitoring method of the present invention, wherein the pedestrian positioning device is a foot ring capable of recording track coordinates;
FIG. 3 is a schematic structural view of the left foot ring of the positioning device for a person to be monitored according to the present invention;
FIG. 4 is a side view of FIG. 3;
FIG. 5 is a schematic structural view of the right foot ring of the positioning device for a monitored person of the present invention;
fig. 6 is a schematic view of a horizontal transceiving angle of the ultrasonic transceiving module of the present invention;
fig. 7 is a schematic view of a vertical transceiving angle of the ultrasonic transceiving module of the present invention;
fig. 8 is a schematic flow chart of the positioning method of the pedestrian positioning device according to the present invention;
FIG. 9 is a schematic view of the course angle calculation in the positioning method of the pedestrian positioning apparatus of the present invention;
fig. 10 is a schematic view of a stride variation curve in the positioning method of the pedestrian positioning apparatus of the present invention;
fig. 11 is a schematic block diagram of the loss prevention monitoring system of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1, a loss prevention monitoring method includes the following steps:
(1) the method comprises the following steps that a monitor and at least one monitored person respectively obtain respective current position coordinates through a monitor positioning device and at least one monitored person positioning device worn by the monitor and the monitored person, and the monitor positioning device receives position coordinate signals sent by each monitored person positioning device and calculates to obtain a first relative distance and a first relative direction of the monitor and the monitored person; the two are the monitor and each monitored.
(2) The monitor positioning device calculates relative distance information according to an RSSI (received signal strength indication) value of the received signal, namely a second relative distance between the RSSI and the second relative distance, and the second relative distance is obtained based on an RSSI ranging algorithm;
obtaining the second relative distance based on the RSSI ranging algorithm is prior art and is not described herein again.
(3) Judging whether the second relative distance exceeds a preset threshold value, if so, performing weighted calculation on the first relative distance and the second relative distance to obtain the current relative distance between the first relative distance and the second relative distance, and sending the current relative distance and the direction to the intelligent terminal, and entering the step (4); if the current relative distance exceeds the preset threshold value, the first relative distance is used as the current relative distance of the first relative distance and the second relative distance, the current relative distance and the direction are sent to the intelligent terminal, and the step (4) is carried out;
the predetermined threshold is preferably, but not limited to, 5-15 meters, and can be appropriately adjusted according to actual conditions such as hardware conditions and application environments. And when the second relative distance is lower than a preset threshold value, the distance between the monitor and the monitored person is very close, no obstacle is arranged in the middle of the distance, the reliability of the second relative distance measured based on the RSSI ranging algorithm is high, the first relative distance and the second relative distance are weighted to calculate to obtain the current relative distance of the monitor and the monitored person, and the current relative distance, the direction and the current position coordinates of the monitor are sent to an intelligent terminal of the monitor to be displayed and stored as a history. Preferably, the weight proportion of the first relative distance is 0-50%, the weight proportion of the second relative distance is 50-100%, more preferably, the weight proportion of the first relative distance is 10-30%, the weight proportion of the second relative distance is 70-90%, most preferably, the weight proportion of the first relative distance is 20%, and the weight proportion of the second relative distance is 80%.
(4) Judging whether the current relative distance exceeds a preset safety range or not, and returning to the step (1) if the current relative distance does not exceed the preset safety range; if the safety range is exceeded, the monitor positioning device and the monitored positioning device both send out alarms.
It is worth noting that the current position coordinates of the monitor and the monitored person received by the monitor positioning device, the current relative distance and the direction obtained by calculation are all sent to the intelligent terminal, and the relative distance and the direction of the monitor and the monitored person and the respective walking tracks are displayed. After the monitor receives the alarm, the current relative distance between the monitor and the intelligent terminal of the monitor and the current position coordinate of the monitored can be obtained, so that the monitored can be effectively and safely monitored in real time, and dangerous accidents caused by the fact that the monitored exceeds the safety range can be prevented. When the monitored receives the alarm, the monitored can stop at the current position and the like, and the monitored can move to the direction close to the monitored to return to the safety range, and the adopted mode is not limited to the above. The safety range can be automatically modified and set at the intelligent terminal to meet different environmental conditions, and the modification of the safety range is replaced by the prior art, which is not described herein again.
The monitoring person positioning device and the monitored person positioning device can be a WIFI positioning device, a Bluetooth positioning device, a Zigbee positioning device, a mobile communication network positioning device, a positioning device relying on a GPS/Beidou signal indoor forwarding device and the like, and can also be a real-time positioning device designed based on a pedestrian dead reckoning PDR algorithm, but not limited to the positioning device. The invention preferably relates to a real-time positioning device designed based on a pedestrian dead reckoning PDR algorithm, and the adopted positioning device is a foot ring capable of recording track coordinates, and the principle of realizing the anti-loss monitoring method based on the foot ring is shown in FIG. 2.
The real-time positioning device designed based on the pedestrian dead reckoning PDR algorithm is further explained as follows:
each monitored person positioning device comprises a left foot ring and a right foot ring which are respectively worn on the left ankle and the right ankle of the monitored person positioning device.
As shown in fig. 3 and 4, the left foot ring is used as a signal transmitting end, and includes: a first annular carrier 1, and a radio transmitting module 11, an ultrasonic transmitting module 12, a first magnetic compass 13, a first main controller 14 and a first battery module 15 which are arranged on the first annular carrier 1; the first ring-shaped carrier 1 has an opening, and is C-shaped in a top view, but not limited thereto; the left ankle is worn on the left ankle through the opening, the opening is opposite to the arc top of the annular bearing body, the radio emission module 11 is arranged at the arc top of the first annular bearing body 1, the ultrasonic emission module 12 is close to the radio emission module 11, and the first magnetic compass 13 is vertically arranged on one side of the first annular bearing body 1 relative to the radio emission module 11; the first main controller 14 is in communication connection with the radio transmitting module 11, the ultrasonic transmitting module 12, the first magnetic compass 13 and the first battery module 15, and is mainly used for controlling the modules and responsible for sending radio signals and ultrasonic signals simultaneously;
As shown in fig. 5, the right foot ring is used as a signal receiving and processing end, and includes: a second annular carrier 2, and a radio receiving module 21, an ultrasonic receiving module 22, a second magnetic compass 23, a second main controller 24, a second battery module 25, an alarm module (not shown) and a Zigbee communication module 26 which are arranged on the second annular carrier 2. The second ring carrier 2 has an opening, and is C-shaped in a top view, but not limited thereto; the right ankle is worn through the opening, the opening is opposite to the arc top of the annular bearing body, the radio receiving module 21 is arranged at the arc top of the second annular bearing body 2, the ultrasonic receiving module 22 is close to the radio receiving module 21, and the second magnetic compass 23 is vertically arranged on one side of the second annular bearing body 2 relative to the radio receiving module 21; the second main controller 24 is in communication connection with the radio receiving module 21, the ultrasonic receiving module 22, the second magnetic compass 23, the second battery module 25, the alarm module (not shown) and the Zigbee communication module 26, and is mainly used for controlling the modules, receiving radio signals and ultrasonic signals, processing the signals, and calculating pedestrian position coordinates of a pedestrian track.
The monitor positioning device is different from the monitored positioning device in that: the second main controller also comprises a data receiving module, a data processing module, an RSSI ranging module, a first judging module and a second judging module; the data receiving module is respectively in communication connection with each monitored person positioning device and the data processing module, and is used for receiving the current position coordinates of the monitored person and sending the current position coordinates to the data processing module; the data processing module is used for calculating the current position coordinate of the monitor and the received current position coordinate of the monitored to obtain a first relative distance and a direction, and is also used for obtaining the current relative distance between the monitor and the monitored according to a judgment result sent by the first judgment module, if the judgment result does not exceed a preset threshold value, the first relative distance and the second relative distance are weighted and fused to be used as the current relative distance between the monitor and the monitored, and if the judgment result exceeds the preset threshold value, the first relative distance is used as the current relative distance between the monitor and the monitored; the RSSI ranging module is used for calculating relative distance information of the received signals according to RSSI (received signal strength indication) values of the received signals, namely a second relative distance between the received signals and the RSSI ranging module; the first judgment module is connected with the RSSI ranging module and the data processing module and is used for judging whether the second relative distance exceeds a preset threshold value and sending a judgment result to the data processing module; the second judgment module is connected with the data processing module and used for judging whether the first relative distance exceeds a preset safety range.
It should be noted that, in order to improve the detection accuracy and reduce the interference, when the left and right foot rings are worn on the ankle, the ultrasonic wave emitting module and the ultrasonic wave receiving module are required to face the inner sides of both feet, the first magnetic compass and the second magnetic compass face the front of the walking of the person, i.e. the direction of the toe of the person, and more preferably, the radio emitting module and the radio receiving module respectively sleeved on the two foot rings of both ankles are required to be aligned with each other when worn.
It should be noted that, referring to fig. 6 and 7, the ultrasonic transceiver module (the transmitting module and the receiving module) has the characteristics of strong directivity and limited transmitting angle, and the transmitting and receiving angle of the ultrasonic transceiver module of the present invention is preferably 100 to 180 ° in the horizontal plane, 100 to 180 ° in the vertical plane, more preferably 180 ° in the horizontal plane and 180 ° in the vertical plane; according to the practical situation, a proper horizontal plane transceiving angle and a proper vertical plane transceiving angle can be selected and set, for example, when the walking stick is used in a normal walking state, the horizontal plane transceiving angle is preferably 100 degrees, and the vertical plane transceiving angle is preferably 100 degrees; when the device is used in a severe exercise state, the horizontal plane transceiving angle is preferably 180 degrees, and the vertical plane transceiving angle is preferably 180 degrees. The invention preferably adopts a plurality of transceiving sensors to carry out TDOA ranging, so that the transceiving angle of the ultrasonic signal is as large as possible, more preferably low, and four groups of ultrasonic transceiving modules are adopted; it is also possible to use an ultrasound transceiver module, which is close to the radio transceiver module; but not limited to, the number of the ultrasonic transceiver modules and the installation angle are changed according to the types and parameters of the ultrasonic transceiver modules.
In this embodiment, the Zigbee communication module may be installed on the right foot ring or the left foot ring, preferably on the right foot ring. Can be according to user's walking habit, left foot ring and right foot ring can be exchanged and dresses on right ankle and left ankle, can do the selection according to actual conditions. The radio transmitting module and the receiving module are preferably but not limited to Zigbee transceiver modules, and other radio transceiver modules can be selected according to actual conditions; the alarm module is preferably, but not limited to, a vibrating motor, and may also be a buzzer or the like.
It should be noted that, the modules in the left and right foot rings all adopt the existing modules, and the connection relationship between the modules is easily and clearly obtained by those skilled in the art according to the functions of the modules and the actually adopted module types, and the details are not repeated herein.
The method for acquiring the current position coordinates of the monitor and the monitored person and calculating and acquiring the first relative distance and the first relative direction of the monitor and the monitored person by the pedestrian positioning device (the monitor positioning device and each monitored person positioning device) based on the foot ring comprises the following steps:
(1) the monitor positioning device and each monitored positioning device are bound with each other based on a communication protocol, and the current position coordinate acquired by each monitored positioning device is sent to the monitor positioning device in real time;
It should be noted that, if there are multiple monitored users, a unique code or mark is added to the communication protocol of each monitored user, which is the prior art and is not described herein again.
(2) The method for positioning the pedestrian positioning device includes the following specific steps that a monitor and a monitored person respectively wear corresponding foot rings, namely the monitor positioning device and the monitored person positioning device, and the pedestrian positioning device can acquire the current position coordinate of the wearer in real time, namely the positioning method of the pedestrian positioning device, as shown in fig. 8:
(2.1) TDOA distance measurement is carried out based on the ultrasonic wave transceiver module and the Zigbee transceiver module, and the real-time distance between two feet in a walking cycle is obtained, wherein the steps are as follows: initializing, sending and receiving ultrasonic signals and radio signals, and timing and counting the arrival time difference distance by a timer of the second main controller. When the ultrasonic wave and the radio signal are transmitted, two signals need to be transmitted at the same time, and when the ultrasonic wave and the radio signal are specifically implemented, the ultrasonic wave and the radio signal can be transmitted according to a certain timing period, for example, the ultrasonic wave and the radio signal are transmitted once every 50ms, but the ultrasonic wave and the radio signal are not limited to the above; the transmission speed of the wireless signal isWhen the Zigbee receiving module is reached first, a timer is started to start counting; the propagation velocity of the ultrasonic signal is aboutThen, the ultrasonic wave receiving module is reached, and the counting is stopped after the ultrasonic wave receiving module is reached and the triggering timing is finished; multiplying the timing time by Namely the distance between the two feet, and the real-time distance between the two feet when the person walks is realized.
(2.2) detecting the heading angle based on the double-magnetic compass, wherein the steps are as follows: initialization setting, kalman filtering error compensation and double-magnetic compass error correction. The error correction of the double-magnetic compass relates to the splayfoot error when a person walks, the final heading angle is the average value of the heading angles of the two feet and is used as a mean heading angle so as to eliminate the splayfoot error when the person walks, and the error correction is shown in figure 9.
It should be noted that, in general, walking along one direction has a constant course angle, and the course angle changes only when turning, but because the double-magnetic compass is bound at the ankle, the course angle measured in one walking cycle also changes correspondingly for one cycle. In the same walking period, the mean heading angle corresponds to the distance between the two feet measured by TDOA one by one, namely, each distance between the two feet corresponds to one mean heading angle.
(2.3) obtaining the stride of the pedestrian track based on the steps (2.1) and (2.2)And calculating the course angle(ii) a The method specifically comprises the following steps: obtaining a stride change curve according to the measured real-time distance between two feet in the walking period, wherein the stride change curve is formed by alternating sine waves and square waves (ii) a Taking the peak value of sine wave as the stride of pedestrian track in the current walking periodAnd taking the course angle at the maximum stride time (namely the course angle corresponding to the sine wave peak value time) as the calculated course angle. Due to the directionality of ultrasonic wave propagation, the ultrasonic wave generator is installed on the inner side of the ankle of the pedestrian; when the ultrasonic signal is normally received, the measured distance between the two pins changes in a sine wave manner, and when the ultrasonic signal cannot be received, the measured distance between the two pins changes in a rectangular wave manner. In actual walking, sine waves and square waves appear alternately in a periodic manner, as shown in fig. 10.
(2.4) dividing the stride of the step (2.3)And calculating the course angleSubstituting into a calculation formula of the pedestrian dead reckoning, namely a north coordinate:east coordinate:the tracking and positioning of the pedestrian track can be realized, namely the position coordinates of the pedestrians are updated in real time; wherein,the initial position of the pedestrian can be (0,0), and can also be obtained by GPS positioning, and the obtaining method is not limited to this; i represents the ith walking cycle; n represents n walking cycles.
It should be noted that steps (2.1) to (2.4) show a method for tracking and positioning a pedestrian trajectory in a walking cycle, specifically, continuous walking cycles are performed during walking, that is, steps (2.1) to (2.4) are repeated, and a position coordinate connecting each walking cycle is a pedestrian trajectory.
(3) The monitored person positioning device acquires the current position coordinate and sends the current position coordinate to the monitored person positioning device, and the monitored person positioning device receives the current position coordinate of the monitored person and calculates to obtain the relative distance and the orientation of the monitored person and the monitored person, namely the first relative distance and the orientation.
It should be noted that, it is prior art to obtain a heading angle by kalman filtering error compensation in heading angle detection based on a magnetic compass, and details are not repeated here.
In the present invention, the monitor may be a teacher or a parent or a tour guide, etc., and the monitored person may be a child or an old person or a student or a visitor, etc., but is not limited thereto.
The anti-loss monitoring method obtains the first relative distance between the monitor and the monitored person based on the pedestrian dead reckoning and obtains the second relative distance between the monitor and the monitored person based on the RSSI algorithm, then judges and analyzes to obtain the current relative distance between the monitor and the monitored person, and sends out an alarm if the current relative distance exceeds a preset safety range, so that the monitor is reminded to prevent dangerous accidents. The method is simple and convenient, easy to realize, adjustable in safety distance, high in precision, quick in response and capable of automatically giving an alarm; the pedestrian positioning device adopted by the method is a foot ring which is convenient to wear on the body of a monitor and a monitored person, namely hardware is integrated on the foot ring, so that the pedestrian positioning device is convenient to disassemble and assemble and convenient to carry, has strong anti-interference capability, high reliability and stability, has high universality, does not need complex installation and connection, is directly disassembled and assembled and is suitable for anyone, and particularly is suitable for children and old people; the problems that hardware of the existing positioning method is complex to install, inconvenient to carry and disassemble, strong in interference, weak in stability and incapable of achieving universality are solved; meanwhile, the problem of inertial drift is avoided, the method does not depend on a fixed base station, non-line-of-sight interference is avoided, indoor and outdoor autonomous positioning can be achieved, the problems that the existing indoor and outdoor seamless positioning depends on the fixed base station, the inertial drift and the interference are strong are solved, and accurate positioning of people groups is achieved under the environment which does not depend on the fixed base station; the tracking range of the pedestrian positioning device is only limited by the communication range of Zigbee, generally 1km, which is far superior to the existing 20 m-50 m, so that when the monitored person exceeds the preset safety range, effective tracking and positioning can still be carried out.
Example 2
As shown in fig. 11, an anti-loss monitoring system includes an intelligent terminal, a monitor positioning device and at least one monitored positioning device, wherein the monitor positioning device is in communication connection with each monitored positioning device, and the intelligent terminal is in communication connection with the monitor positioning device to display the current position coordinates, the walking track, and the current relative distance and the direction of the two in real time, so that the monitor can know the relative distance between the monitored and the monitored in real time, and the monitor can prevent dangerous accidents. The intelligent terminal can also be in communication connection with each monitored person positioning device.
Each monitored person positioning device comprises a left foot ring and a right foot ring which are respectively worn on the left ankle and the right ankle of the monitored person positioning device.
As shown in fig. 3 and 4, the left foot ring is used as a signal transmitting end, and includes: a first annular carrier 1, and a radio transmitting module 11, an ultrasonic transmitting module 12, a first magnetic compass 13, a first main controller 14 and a first battery module 15 which are arranged on the first annular carrier 1; the first ring-shaped carrier 1 has an opening, and is C-shaped in a top view, but not limited thereto; the left ankle is worn on the left ankle through the opening, the opening is opposite to the arc top of the annular bearing body, the radio emission module 11 is arranged at the arc top of the first annular bearing body 1, the ultrasonic emission module 12 is close to the radio emission module 11, and the first magnetic compass 13 is vertically arranged on one side of the first annular bearing body 1 relative to the radio emission module 11; the first main controller 14 is in communication connection with the radio transmitting module 11, the ultrasonic transmitting module 12, the first magnetic compass 13 and the first battery module 15, and is mainly used for controlling the modules and responsible for sending radio signals and ultrasonic signals simultaneously;
As shown in fig. 5, the right foot ring is used as a signal receiving and processing end, and includes: a second ring-shaped carrier 2, and a radio receiving module 21, an ultrasonic receiving module 22, a second magnetic compass 23, a second main controller 24, a second battery module 25, an alarm module (not shown), and a radio communication module 26 provided on the second ring-shaped carrier 2. The second ring carrier 2 has an opening, and is C-shaped in a top view, but not limited thereto; the right ankle is worn through the opening, the opening is opposite to the arc top of the annular bearing body, the radio receiving module 21 is arranged at the arc top of the second annular bearing body 2, the ultrasonic receiving module 22 is close to the radio receiving module 21, and the second magnetic compass 23 is vertically arranged on one side of the second annular bearing body 2 relative to the radio receiving module 21; the second main controller 24 is respectively connected to the radio receiving module 21, the ultrasonic receiving module 22, the second magnetic compass 23, the second battery module 25, the alarm module (not shown) and the radio communication module 26 in a communication manner, and is mainly used for controlling the modules and receiving radio signals and ultrasonic signals, processing the signals and calculating pedestrian position coordinates of a pedestrian track.
The monitor positioning device is different from the monitored positioning device in that: the second main controller also comprises a data receiving module, a data processing module, an RSSI ranging module, a first judging module and a second judging module; the data receiving module is respectively in communication connection with each monitored person positioning device and the data processing module, and is used for receiving the current position coordinates of the monitored person and sending the current position coordinates to the data processing module; the data processing module is used for calculating the current position coordinate of the monitor and the received current position coordinate of the monitored to obtain a first relative distance and a direction, and is also used for obtaining the current relative distance between the monitor and the monitored according to a judgment result sent by the first judgment module, if the judgment result does not exceed a preset threshold value, the first relative distance and the second relative distance are weighted and fused to be used as the current relative distance between the monitor and the monitored, and if the judgment result exceeds the preset threshold value, the first relative distance is used as the current relative distance between the monitor and the monitored; the RSSI ranging module is used for calculating relative distance information of the received signals according to RSSI (received signal strength indication) values of the received signals, namely a second relative distance between the received signals and the RSSI ranging module; the first judgment module is connected with the RSSI ranging module and the data processing module and is used for judging whether the second relative distance exceeds a preset threshold value and sending a judgment result to the data processing module; the second judgment module is connected with the data processing module and used for judging whether the first relative distance exceeds a preset safety range.
It should be noted that, referring to fig. 6 and 7, the ultrasonic transceiver module (the transmitting module and the receiving module) has the characteristics of strong directivity and limited transmitting angle, and the transmitting and receiving angle of the ultrasonic transceiver module of the present invention is preferably 100 to 180 ° in the horizontal plane, 100 to 180 ° in the vertical plane, more preferably 180 ° in the horizontal plane and 180 ° in the vertical plane; according to the practical situation, a proper horizontal plane transceiving angle and a proper vertical plane transceiving angle can be selected and set, for example, when the walking stick is used in a normal walking state, the horizontal plane transceiving angle is preferably 100 degrees, and the vertical plane transceiving angle is preferably 100 degrees; when the device is used in a severe exercise state, the horizontal plane transceiving angle is preferably 180 degrees, and the vertical plane transceiving angle is preferably 180 degrees. The invention preferably adopts a plurality of transceiving sensors to carry out TDOA ranging, so that the transceiving angle of the ultrasonic signal is as large as possible, more preferably low, and four groups of ultrasonic transceiving modules are adopted; it is also possible to use an ultrasound transceiver module, which is close to the radio transceiver module; but not limited to, the number of the ultrasonic transceiver modules and the installation angle are changed according to the types and parameters of the ultrasonic transceiver modules.
In this embodiment, the Zigbee communication module may be installed on the right foot ring or the left foot ring, preferably on the right foot ring. Can be according to user's walking habit, left foot ring and right foot ring can be exchanged and dresses on right ankle and left ankle, can do the selection according to actual conditions. The radio transmitting module and the receiving module are preferably but not limited to Zigbee transceiver modules, and other radio transceiver modules can be selected according to actual conditions; the alarm module is preferably, but not limited to, a vibrating motor, and may also be a buzzer or the like. The RSSI ranging module is based on the RSSI ranging principle for ranging, which is a prior art and is easy to implement, and is not described herein again.
It should be noted that, the modules in the left and right foot rings all adopt the existing modules, and the connection relationship between the modules is easily and clearly obtained by those skilled in the art according to the functions of the modules and the actually adopted module types, and the details are not repeated herein.
The anti-loss monitoring system obtains a first relative distance between a monitor and a monitored person based on pedestrian dead reckoning and a second relative distance between the monitor and the monitored person based on an RSSI algorithm, then judges and analyzes the first relative distance and the second relative distance to obtain the current relative distance between the monitor and the monitored person, and sends out an alarm if the current relative distance exceeds a preset safety range, so that the monitor is reminded conveniently and dangerous accidents are prevented; the method is simple and convenient, easy to realize, adjustable in safety distance, high in precision, quick in response and capable of automatically giving an alarm; the used pedestrian positioning device is a foot ring which is convenient to wear on the body of a monitor and a monitored person, namely hardware is integrated on the foot ring, so that the pedestrian positioning device is convenient to disassemble and assemble, is convenient to carry, has strong anti-interference capability, high reliability and stability, has high universality, does not need complex installation and connection, is directly disassembled and assembled and is suitable for anyone, and is particularly suitable for children and the old; the problems that hardware of the existing positioning method is complex to install, inconvenient to carry and disassemble, strong in interference, weak in stability and incapable of achieving universality are solved; meanwhile, the problem of inertial drift is avoided, the method does not depend on a fixed base station, non-line-of-sight interference is avoided, indoor and outdoor autonomous positioning can be achieved, the problems that the existing indoor and outdoor seamless positioning depends on the fixed base station, the inertial drift and the interference are strong are solved, and accurate positioning of people groups is achieved under the environment which does not depend on the fixed base station; the tracking range of the pedestrian positioning device is only limited by the communication range of Zigbee, generally 1km, which is far superior to the existing 20 m-50 m, so that when the monitored person exceeds the preset safety range, effective tracking and positioning can still be carried out.
The above-mentioned embodiments only express the embodiments of the present invention, and the description thereof is specific and detailed, but the invention can not be understood as the limitation of the patent scope of the present invention, but all the technical solutions obtained by adopting the equivalent substitution or equivalent transformation should fall within the protection scope of the present invention.
Claims (10)
1. An anti-loss system is characterized by comprising an intelligent terminal, a monitor positioning device and at least one monitored positioning device, wherein the intelligent terminal is at least in communication connection with the monitor positioning device, and the monitor positioning device is in communication connection with each monitored positioning device; wherein,
each monitored person positioning device comprises a left foot ring and a right foot ring; the left foot ring is used as a signal sending end and comprises a first main controller, a radio emission module, an ultrasonic emission module and a first magnetic compass, wherein the radio emission module, the ultrasonic emission module and the first magnetic compass are connected with the first main controller; the right foot ring is used as a signal receiving and processing end and comprises a second main controller, a radio receiving module, an ultrasonic receiving module, a second magnetic compass, a wireless communication module and an alarm module, wherein the radio receiving module, the ultrasonic receiving module, the second magnetic compass, the wireless communication module and the alarm module are connected with the second main controller;
the monitor positioning device is different from the monitored positioning device in that: the second main controller also comprises a data processing module, an RSSI ranging module, a first judgment module and a second judgment module; the data processing module is used for calculating and obtaining a first relative distance and a first relative orientation of the current position coordinate of the monitor positioning device and the received current position coordinate of each monitored positioning device, and is also used for obtaining the current relative distance of the current position coordinate of the monitored positioning device and the received current position coordinate of each monitored positioning device according to the judgment result sent by the first judgment module; the RSSI ranging module is used for calculating a second relative distance between the received signal and the received signal according to the strength of the received signal; the first judgment module is connected with the RSSI ranging module and the data processing module and is used for judging whether the second relative distance exceeds a preset threshold value and sending a judgment result to the data processing module; the second judgment module is connected with the data processing module and used for judging whether the first relative distance exceeds a preset safety range.
2. The loss prevention system according to claim 1, wherein the ultrasonic transmitting module and the ultrasonic receiving module constitute an ultrasonic transceiver module; the horizontal plane transceiving angle of the ultrasonic transceiving module is 100-180 degrees, and the vertical plane transceiving angle is 100-180 degrees.
3. The loss prevention system of claim 2 wherein the ultrasound transceiver modules are one or more sets of ultrasound transceiver modules.
4. The loss prevention system of claim 1, wherein the radio transmission module and the radio reception module constitute a radio transceiver module; the radio transceiver module is a Zigbee transceiver module.
5. A positioning device is characterized by comprising a left foot ring and a right foot ring; the left foot ring is used as a signal sending end and comprises a first main controller, a radio emission module, an ultrasonic emission module and a first magnetic compass, wherein the radio emission module, the ultrasonic emission module and the first magnetic compass are connected with the first main controller; the right foot ring is used as a signal receiving and processing end and comprises a second main controller, a radio receiving module, an ultrasonic receiving module, a second magnetic compass, a wireless communication module and an alarm module, wherein the radio receiving module, the ultrasonic receiving module, the second magnetic compass, the wireless communication module and the alarm module are connected with the second main controller, and the second main controller is mainly used for controlling the modules and is responsible for receiving radio signals and ultrasonic signals, processing the signals and calculating pedestrian position coordinates of pedestrian tracks.
6. The positioning device according to claim 5, wherein the second master controller further comprises a data processing module, an RSSI ranging module, a first judging module, and a second judging module; the data processing module is used for calculating and obtaining a first relative distance and a direction of the current position coordinate of the positioning device and the received current position coordinate of other positioning devices according to the current position coordinate of the positioning device and obtaining the current relative distance of the current position coordinate of the positioning device and the received current position coordinate of other positioning devices according to a judgment result sent by the first judgment module; the RSSI ranging module is used for calculating a second relative distance between the positioning device and other positioning devices according to the strength of the received signal; the first judgment module is connected with the RSSI ranging module and the data processing module and is used for judging whether the second relative distance exceeds a preset threshold value and sending a judgment result to the data processing module; the second judgment module is connected with the data processing module and used for judging whether the first relative distance exceeds a preset safety range.
7. The positioning device according to claim 5 or 6, wherein the ultrasonic transmitting module and the ultrasonic receiving module constitute an ultrasonic transceiving module; the horizontal plane transceiving angle of the ultrasonic transceiving module is 100-180 degrees, and the vertical plane transceiving angle is 100-180 degrees.
8. The positioning device of claim 7, wherein the ultrasound transceiver module is a set of ultrasound transceiver modules or a plurality of sets of ultrasound transceiver modules.
9. The positioning device according to claim 5 or 6, wherein the radio transmitting module and the radio receiving module constitute a radio transceiver module; the radio transceiver module is a Zigbee transceiver module.
10. The positioning device as claimed in claim 5 or 6, wherein the wireless communication module is any one of a Bluetooth module or a Zigbee communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620343392.6U CN205541339U (en) | 2016-04-22 | 2016-04-22 | Prevent losing monitored control system and positioner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620343392.6U CN205541339U (en) | 2016-04-22 | 2016-04-22 | Prevent losing monitored control system and positioner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205541339U true CN205541339U (en) | 2016-08-31 |
Family
ID=56795960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620343392.6U Expired - Fee Related CN205541339U (en) | 2016-04-22 | 2016-04-22 | Prevent losing monitored control system and positioner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205541339U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109872503A (en) * | 2019-02-19 | 2019-06-11 | 广东省海洋工程装备技术研究所 | A kind of preventing child is wandered away wearable device and its control method |
| CN112349080A (en) * | 2019-08-07 | 2021-02-09 | 超互联科技股份有限公司 | Bidirectional tracking system and bidirectional tracking method |
-
2016
- 2016-04-22 CN CN201620343392.6U patent/CN205541339U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109872503A (en) * | 2019-02-19 | 2019-06-11 | 广东省海洋工程装备技术研究所 | A kind of preventing child is wandered away wearable device and its control method |
| CN112349080A (en) * | 2019-08-07 | 2021-02-09 | 超互联科技股份有限公司 | Bidirectional tracking system and bidirectional tracking method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105785352B (en) | A kind of anti-lost monitoring method and positioner | |
| CN109282811B (en) | Indoor and outdoor positioning system and method for interconnecting UWB (ultra wide band) and smart phone | |
| CN102419180B (en) | Indoor positioning method based on inertial navigation system and WIFI (wireless fidelity) | |
| CA3050639C (en) | Tracking and accountability device and system | |
| CN106851578B (en) | Personnel positioning system and method in complex unknown indoor environment | |
| KR101033200B1 (en) | RFID and system and method for the mobile station location identication service using communication network | |
| US6414629B1 (en) | Tracking device | |
| CN107036597A (en) | A kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone | |
| CN102089622A (en) | System and method of determining the location of mobile personnel | |
| CN105783920A (en) | Indoor and outdoor positioning method, positioning system, and positioning foot rings | |
| CN106937377B (en) | Method, device and equipment for realizing graded positioning aiming at monitoring target | |
| CN106134269A (en) | Control the beacon in alignment system | |
| US9728056B2 (en) | Proximity alerting systems and methods | |
| US20090174546A1 (en) | System and method for determining location of objects | |
| CN106412836A (en) | Indoor positioning method and device | |
| CN103688188B (en) | For determine method and the node of the position of node at wireless network | |
| CN109100768A (en) | A kind of synthesized positioning method and positioning label | |
| EP3287808A1 (en) | Apparatus for providing position information, and node network | |
| CN205541339U (en) | Prevent losing monitored control system and positioner | |
| CN112890781A (en) | Dynamic positioning real-time supervision system for personnel in underground closed construction site of urban rail | |
| D'Souza et al. | Wireless localisation network for patient tracking | |
| US20190130721A1 (en) | Detection system for detecting moving object crossing border and method thereof | |
| US9858791B1 (en) | Tracking and accountability device and system | |
| KR101164712B1 (en) | System and method for pursuit a lost child | |
| CN205808423U (en) | A kind of location uses foot ring and indoor and outdoor alignment system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160831 Termination date: 20180422 |