KR101695904B1 - System for tracking location of construction equipments using beacon and receiver, and method for the same - Google Patents

Abstract

Provided are a system for tracking location of construction equipment by using a beacon and a receiver, and a method thereof. Based on beacon technology using ultra wide band(UHF) and ultra high frequency (UHF), the location of construction equipment put into a construction site can be tracked in the 3D space of XYZ, and can be used for the management of construction equipment such as the current location of construction equipment, on-site movement of the construction equipment. In addition, by using the beacon using UWB UHF, it is possible to track the location of construction equipment more economically and more accurately than GPS-RTK. The system includes a first beacon, a second beacon, a first receiver, a second receiver, and a server.

Description

TECHNICAL FIELD [0001] The present invention relates to a system and method for locating a construction equipment using a beacon and a receiver,

The present invention relates to a construction equipment location tracking system, and more particularly, to a construction equipment location tracking system that uses a beacon and a receiver capable of short-range wireless communication to display the location of construction equipment in a construction site in three- And more particularly, to a system and method for locating construction equipment using beacons and receivers capable of tracking the location of construction equipment.

Generally, the construction site will be equipped with construction equipment such as excavators (forklifts), dump trucks, bulldozers, cranes, augers, and forklifts. In such a construction site, RFID (Radio Frequency Identification) technology and USN (Ubiquitous Sensor Network) technology are generally used as a technology for locating construction equipment.

However, RFID technology establishes a gate on entry and exit routes, and recognizes only the construction equipment passing through it through a reader. This is because the large-scale construction site has a lot of entry and exit, and there is a possibility that there will be damage to the building of the gate and the secondary cargo due to it.

In the case of USN, battery consumption is required because continuous communication is required for real-time recognition. Further, since the communication distance is not constant depending on the wireless environment, there is a problem in that reliability for a plurality of specific areas can not be secured.

In recent years, GPS-RTK (Real Time Kinematics) has been used to track the location of construction equipment, but these GPS-RTK devices are very expensive and cost a lot.

On the other hand, as a prior art, Korean Patent No. 10-658817 discloses an invention entitled " Positioning method and position indicating system and construction machine for construction machine ", which will be described with reference to FIG.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a basic overall configuration of a construction machine management system to which a location display system according to a conventional technology is applied.

1, a construction machine management system according to the related art includes a construction machine 1 having a control unit, a position measurement unit, and a first communication device, a second communication device, a storage unit, and a location information providing unit And a center server provided with a center server, wherein the ratio of the construction machine (1) is measured at the same time periodically by the position measuring unit at a predetermined time interval, The control unit and the first communication device transmit to the center server the current position data, the measurement date and time data, and the data concerning the scheduled movement of the construction machine.

The center server receives the current position data, the measurement date data, and the data relating to the movement schedule of the construction machine periodically transmitted from the construction machine (1) to the second communication device, The present position data providing unit performs presenting of the position checkable state by using the current position data and the measurement date data, and at the same time, displays the current position data of the construction machine It is determined whether the change in position is normal or abnormal.

Specifically, the construction machine 1 mounts a GPS device, and the GPS device includes a GPS controller, a transceiver, and an antenna.

This GPS apparatus is a position measuring apparatus that receives signals from at least three of the GPS satellites 24a, 24b and 24c and measures the current position of the construction machine 1 using the signals. This measurement of the current position is performed at appropriate time intervals that are needed. The current position data of the construction machine 1 measured at a set time interval based on the GPS device is transmitted to the control device and stored in a memory built in the control device together with the measurement date and time data. Further, the control device again transmits the data of the current position and the measurement date and time at the transmission timing set for the center server of the base station using the data processing function of the control device, the communication function and the communication line. Data relating to the current position of the construction machine 1 is created in the form of a position movement data format and is transmitted as position movement data. Also, the transmission timing can be maintained at a constant period, and the interval of the transmission timing can be changed as necessary.

According to the construction machine management system to which the position display system according to the related art is applied, the construction machine located away from the worksite periodically measures and calculates the current position data, and the current position data and the measurement date and time data are transmitted to the management server In the management server, when the construction machine moves, the position change can be confirmed on the map. Further, the movement of the construction machine can be tracked, and the position of the construction machine at the remote location can be confirmed and prevented from being stolen .

However, in the case of the construction machine management system to which the location display system according to the related art is applied, there is a problem that an expensive GPS device must be used as described above.

As another prior art, Korean Patent Laid-Open Publication No. 2011-40345 discloses an invention entitled " System and method for tracking location of construction equipment ", which will be described with reference to FIG.

2 is a block diagram of a position tracking system for a construction equipment according to the prior art.

Referring to FIG. 2, a positioning system for a construction equipment according to the related art includes a construction equipment 40, a management server 50 for remotely managing information of construction equipment, and a tracking vehicle 60. At this time, the construction equipment 40 communicates with the management server 50 or the tracking vehicle 60 via a network (mobile communication network or satellite communication network).

First, the construction equipment 40 includes a control unit 41, a GPS unit 42, and a communication modem 43.

The GPS unit 42 receives the signals transmitted from the plurality of GPS satellites and determines the position of the construction equipment. That is, the position information of the construction equipment 40 can be calculated through the GPS unit 42.

The communication modem 43 may include a satellite communication modem for transmitting / receiving data through a satellite communication network or a mobile communication modem for transmitting / receiving data through a mobile communication network. The communication modem 43 transmits and receives location information of the construction equipment to the tracking vehicle 60 or the management server 50 at a predetermined transmission cycle.

The control unit 41 transmits the position information of the construction equipment 40 calculated by the GPS unit 42 to the tracking vehicle 60 or the management server 50 through the communication modem 43 at a preset transmission cycle.

The management server 50 includes a control unit 51 and a communication unit 52. [

First, the communication unit 52 transmits and receives information at a predetermined transmission cycle from the communication modem 43 on the construction equipment side and the communication modem 62 on the tracking vehicle side via the network.

The control unit 51 calculates the distance between the construction equipment 40 and the tracking vehicle 60 from the position information of the construction equipment 40 and the tracking vehicle 60 received through the communication unit 52. Thereafter, when the calculated distance value is smaller than the predetermined distance value, the communication modem 43 of the construction equipment side instructs the position transmission period of the construction equipment to be shorter than the preset transmission period.

The control unit 51 stores the location information of the construction equipment 40 received from the communication modem 43 of the construction equipment and compares the information with the current location information of the construction equipment 40 transmitted in real time. Thereafter, when the position information of the construction equipment 40 is changed, the position information transmission period of the construction equipment 40 is commanded to be shorter than a preset transmission period. At this time, the command is transmitted to the communication modem 43 on the side of the construction equipment 40 through the communication unit 52.

The tracking vehicle 60 includes a control section 61, a communication modem 62, a GPS section 63 and a display section 64. [

The communication modem 62 may include a satellite communication modem for transmitting and receiving data through a satellite communication network or a mobile communication modem for transmitting and receiving data through a mobile communication network. The communication modem 62 transmits and receives the location information of the tracking vehicle 60 to the construction device 40 and the management server 50 at a predetermined transmission cycle.

The GPS unit 63 receives the signals transmitted from the plurality of GPS satellites and determines the position of the tracking vehicle 60. That is, the position information of the tracking vehicle 60 can be calculated through the GPS unit 63. [

The display unit 64 may be formed of a liquid crystal display (LCD) or the like and may display the position information of the construction equipment 40 or display the position information of the construction equipment and the position information of the tracking vehicle 60. It is also possible to display only the direction and distance to be displayed, or to display the position information on the electronic map Map.

The control unit 61 calculates the distance between the tracking vehicle 60 and the construction equipment 40 from the position information received from the communication modem 43 on the construction equipment side and the position information provided from the tracking vehicle GPS unit 63 . Thereafter, when the calculated distance value is smaller than the predetermined distance value, the communication modem 43 of the construction equipment side commands the position transmission period of the construction equipment 40 to be shorter than a preset transmission period. At this time, the command is transmitted via the communication modem 62 to the communication modem 43 of the construction equipment side.

The control unit 61 stores the position information of the construction equipment 40 received from the communication modem 43 of the construction equipment and compares the current location information of the construction equipment 40 received in real time. When the position information of the construction equipment 40 is changed as a result of the comparison, the position information transmission period of the construction equipment 40 is instructed to be shorter than a preset transmission period.

Meanwhile, when the construction equipment 40 is stolen, only the location related information may be transmitted to the management server 50 or the tracking vehicle 60, and other maintenance and repair related information may be reduced to reduce the communication cost.

According to the position tracking system of the construction equipment according to the conventional technology, it is possible to reduce the communication cost compared to the conventional method in which the transmission period is shortened when the position of the construction equipment is tracked, and also, The position can be quickly and easily tracked.

However, in the case of the positioning system for construction equipment according to the conventional technology, an expensive GPS device should be used. That is, as described above, according to the conventional technology, GPS-RTK (Real Time Kinematics) is used to track the location of construction equipment, but since such GPS-RTK equipment is too expensive, a large budget is required .

Korean Patent Publication No. 2011-40345 (published on April 20, 2011), entitled "Positioning system and method for tracking construction equipment" Korean Patent No. 10-658817 filed on Jan. 9, 2004, entitled "Method and position indicating system for construction machinery and construction machine" Korean Patent No. 10-1305386 filed on Dec. 15, 2006, entitled "Reduced attenuation method and system for object tracking using RF technology" Korean Patent No. 10-1106387 filed on April 13, 2007, entitled " SYSTEM AND METHOD FOR DETERMINING POSITION IN SETTING ENVIRONMENT " Korean Patent No. 10-1385093 filed on Jan. 29, 2013, entitled "SYSTEM AND METHOD FOR DETERMINING POSITION IN A SETTING ENVIRONMENT A MEMS INS-based 3D positioning system and 3D Positioning method " Korean Patent No. 2011-123317 (Published on Nov. 15, 2011) Title of invention: "Positioning system for construction site using microwave and RF ID"

The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a UWB UHF-based beacon technology for tracking the position of a construction equipment inserted in a construction site in a 3D space of XYZ, The present invention relates to a system and method for tracking a position of a construction equipment using a beacon and a receiver, which can be utilized for management of construction equipment such as on-site movement.

Another technical problem to be solved by the present invention is to use UWB UHF beacon to track the location of construction equipment more economically and more accurately than GPS-RTK (Real Time Kinematics) The present invention provides a system and method for locating a construction equipment using a beacon and a receiver.

According to another aspect of the present invention, there is provided a short-range wireless communication module including: a first beacon installed on a first point, which is a temporary point of a construction site; 1. A local wireless communication module, comprising: a second beacon spaced apart from the first beacon and installed on a second point that is a temporary point of a construction site; A first receiver mounted on a construction equipment input to a construction site, the first receiver receiving a beacon ID and a signal strength from the first and second beacons, respectively; A second receiver mounted on a construction equipment operated at a construction site, the second receiver installed at a predetermined distance in a direction perpendicular to the first receiver, and receiving a beacon ID and a signal strength from the first and second beacons, respectively; And a position of the construction equipment connected to the first and second receivers by radio communication, respectively, based on the beacon ID and the signal strength received by the first and second receivers, respectively, Wherein the first and second receivers are dual receivers mounted on the construction equipment and the server is configured to determine the beacon ID and the signal strength received at the first and second receivers, And calculating the z value (level) of the construction site digital map according to the two-dimensional current location coordinates of the construction equipment by applying the construction site digital map after calculating the two-dimensional current location coordinates of the construction equipment, Dimensional position coordinate of the construction equipment is designated by using the z value on the map.

Here, the first and second beacons are short-range wireless communication modules each having a communication range of 50 to 70 m based on a Bluetooth 4.0 LE (Low Energy) based, and the UWB (Ultra Wide Band) UHF And communication is performed.

delete

The construction equipment may further include a communication unit for wirelessly transmitting beacon ID and signal strength data received from the first and second receivers to the server.

According to another aspect of the present invention, there is provided a short-range wireless communication module for use in a construction equipment tracking system using a beacon and a receiver according to the present invention, 1 beacon; 1. A local wireless communication module, comprising: a second beacon spaced apart from the first beacon and installed on a second point that is a temporary point of a construction site; 1. A local wireless communication module, comprising: a third beacon spaced apart from a first beacon and a second beacon and installed on a third point, which is a temporary point of a construction site; A single receiver mounted on the construction equipment put into the construction site, each receiving a beacon ID and a signal strength from the first to third beacons; And tracking the position of the construction equipment by displaying the position of the construction equipment in three-dimensional position coordinates based on the beacon ID and the signal strength respectively received by the single receiver by wireless communication with the single receiver Wherein the server determines the position of the position of the single receiver based on the beacon ID and the signal strength respectively received by the single receiver and then determines the position of the single receiver based on the distance between the single receiver and the reference point of the construction equipment Dimensional position coordinates of the construction equipment.

According to another aspect of the present invention, there is provided a method of tracking a location of a construction equipment using a beacon and a receiver, the method comprising: a) inputting a UWB UHF first and second beacon to a construction site Installing a dual receiver comprising first and second receivers in the construction equipment; b) receiving a beacon ID and a signal strength from the first and second beacons, respectively, by the first and second receivers installed in the construction equipment; c) a server communicating wirelessly with the first and second receivers calculating two-dimensional current location coordinates of the construction equipment according to the beacon ID and signal strength received at the first and second receivers; d) applying the constructed construction site numerical map to the server; e) the server calculating a z value (level) of a construction site numerical map according to the two-dimensional current location coordinates of the construction equipment; f) the server designating the three-dimensional location coordinates of the construction equipment using the z value on the construction site numerical map; And g) the server tracking the location of the construction equipment in accordance with the three-dimensional location coordinates of the construction equipment, wherein the first and second receivers are dual receivers mounted on the construction equipment .

According to another aspect of the present invention, there is provided a method for tracking a position of a construction equipment using a beacon and a receiver, the method comprising the steps of: (a) locating a first, second, and third beacon of UWB UHF Installing a single receiver on the construction equipment; b) receiving a beacon ID and a signal strength from the first, second and third beacons, respectively, by a single receiver installed in the construction equipment; c) a server communicating wirelessly with the single receiver calculates two-dimensional current location coordinates of the construction equipment according to the beacon ID and signal strength received at the single receiver; d) applying the constructed construction site numerical map to the server; e) the server calculating a z value (level) of a construction site numerical map according to the two-dimensional current location coordinates of the construction equipment; f) the server designating the three-dimensional location coordinates of the construction equipment using the z value on the construction site numerical map; And g) the server tracking the location of the construction equipment in accordance with the three-dimensional location coordinates of the construction equipment, wherein the server is configured to determine, based on the beacon ID and signal strength received by the single receiver, Dimensional position coordinate of the construction equipment according to the distance between the single receiver and the reference point of the construction equipment after determining the position of the construction equipment.

According to the present invention, it is possible to track the position of the construction equipment put into the construction site based on the beacon technology using UWB UHF in the 3D space of XYZ, and to utilize it in the management of the construction equipment such as the current location of the construction equipment have.

According to the present invention, by using beacon using UWB UHF, it is possible to track the location of construction equipment more economically and more accurately than GPS-RTK (Real Time Kinematics) device for tracking existing construction equipment location.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a basic overall configuration of a construction machine management system to which a location display system according to a conventional technology is applied.
2 is a block diagram of a position tracking system for a construction equipment according to the prior art.
3 is a diagram illustrating a construction equipment location tracking system using two beacons and a dual receiver according to an embodiment of the present invention.
Figure 4 is a top view of the construction equipment location tracking system shown in Figure 3;
5 is a flowchart illustrating a method of tracking a location of a construction equipment using two beacons and a dual receiver according to an embodiment of the present invention.
Figure 6 is a diagram of a construction equipment location system using three beacons and a single receiver in accordance with an embodiment of the present invention.
Figure 7 is a top view of the construction equipment location tracking system shown in Figure 6;
8 is a flowchart illustrating a method of tracking a location of a construction equipment using three beacons and a single receiver according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise. Also, the term "part" or the like, as described in the specification, means a unit for processing at least one function or operation, and may be implemented by hardware, software, or a combination of hardware and software.

The system for locating a construction equipment using a beacon and a receiver according to an embodiment of the present invention is a system for locating a construction equipment to be placed on a construction site based on beacon technology using UWB (Ultra Wide Band) UHF (Ultra High Frequency) In the 3D space of XYZ to utilize it for the management of construction equipment such as the current location of the construction equipment and the field move.

At this time, the existing construction site is operating a TBM (Temporary Benchmark) which knows the XY coordinates and level, and the construction equipment location tracking system using the beacon and the receiver according to the embodiment of the present invention uses UWB UHF Beacons can be used to operate temporal coordinates based on temporary points, and can easily track the location of construction equipment at low cost based on UWB UHF Beacon technology.

A construction equipment location tracking system using a beacon and a receiver according to an embodiment of the present invention may be implemented using two beacons and a dual receiver or three beacons and a single receiver. Referring to FIG. 5, a construction equipment locating system 100 and its method using two beacons and a dual receiver will be described, and a construction equipment location using three beacons and a single receiver with reference to FIGS. The tracking system 300 and its method will be described in detail.

[Construction equipment location tracking system using two beacons and dual receivers]

FIG. 3 is a view showing a construction equipment location tracking system using two beacons and a dual receiver according to an embodiment of the present invention, and FIG. 4 is a plan view of the construction equipment location tracking system shown in FIG.

Referring to FIGS. 3 and 4, a construction equipment location tracking system 100 using two beacons and a dual receiver according to an embodiment of the present invention includes a first beacon 110, a second beacon 120, A receiver 130, a second receiver 140 and a server 150. [

The first beacon 110 is a short-range wireless communication module and is installed on a first point (x1, y1, z1) which is a temporary point of a construction site.

The second beacon 120 is a short-range wireless communication module and is installed on a second point (x2, y2, z2), which is a temporary point of the construction site, separated from the first beacon 110. [ At this time, as described above, the construction site operates a TBM (Temporary Benchmark) which knows the XY coordinates and the level. By using the UWB UHF beacons 110 and 120, Coordinates. The first and second beacons 110 and 120 are short-range wireless communication modules each having a communication range of 50 to 70 m based on a Bluetooth 4.0 LE (Low Energy). The first and second beacons 110 and 120 are UWB (Ultra Wide Band) UHF High Frequency) method, but the present invention is not limited thereto.

The first receiver 130 is mounted on a construction equipment 200 installed at a construction site and receives a beacon ID and a signal strength from the first and second beacons 110 and 120, respectively.

The second receiver 140 is mounted on the construction equipment 200 operated at the construction site and is installed at a predetermined distance in the vertical direction from the first receiver 130. The first and second beacons 110 and 120 And the beacon ID and the signal strength, respectively. At this time, the first and second receivers 130 and 140 are dual receivers mounted on the construction equipment 200. Here, the construction equipment 200 may further include a communication unit (not shown) for wirelessly transmitting the beacon ID and the signal strength data received from the first and second receivers 130 and 140 to the server 150 .

The server 150 is connected to the first and second receivers 130 and 140 by radio communication and is based on the beacon ID and the signal strength respectively received by the first and second receivers 130 and 140, (X, y, z) to track the position of the construction equipment (200). Specifically, the server 150 calculates the two-dimensional current position coordinates (x, y) of the construction equipment 200 according to the beacon ID and the signal strength received from the first and second receivers 130 and 140 (Level) of the construction site numerical map 160 according to the two-dimensional current location coordinates (x, y) of the construction equipment 200 by applying the construction site digital map 160 to the construction site digital map 160, The three-dimensional position coordinates (x, y, z) of the construction equipment 200 can be designated using the z value on the field digital map 160. [

3 and 4, a construction equipment location tracking system 100 using two beacons and a dual receiver according to an embodiment of the present invention includes two beacons 110 and 120, 2 receivers 130 and 140, respectively.

For example, if the three-dimensional position coordinate of the construction equipment 200 is (x, y, z), the three-dimensional coordinates of the first point of the construction site are given as (x1, y1, z1) (X2, y2, z2). At this time, the XY coordinates and level of each of the first point (x1, y1, z1) provided with the first beacon 110 and the second point (x2, y2, z2) It is a known point through surveying.

과 상기 제1 비콘(110)과 제2 수신기(130) 사이의 거리인

는 제1 및 제2 비콘(110, 120)을 통하여 각각 구할 수 있는 거리이다. Here, the distance between the first beacon 110 and the first receiver 130

And the distance between the first beacon 110 and the second receiver 130

Is a distance that can be obtained through the first and second beacons 110 and 120, respectively.

은 제1 수신기(130)와 제2 수신기(140) 사이의 거리로서, 고정값으로 주어지며,

는 제1 측점에 위치한 제1 비콘(110)의 높이를 나타내는 고정값이고,

는 제1 수신기(130)부터 건설장비(200)의 기준점까지의 거리이며 고정값이다.Also,

Is the distance between the first receiver 130 and the second receiver 140 and is given as a fixed value,

Is a fixed value indicating the height of the first beacon 110 located at the first point,

Is the distance from the first receiver 130 to the reference point of the construction equipment 200 and is a fixed value.

,

및

이 주어줬을 때,

는 다음의 수학식 1과 같이 구할 수 있다.Therefore,

,

And

When given,

Can be obtained by the following equation (1).

가 주었을 때,

는 다음의 수학식 2와 같이 구할 수 있다.Next,

When given,

Can be obtained by the following equation (2).

가 주어지면, 제1 측점에 위치한 제1 비콘(110)의 높이를 나타내는

는 다음의 수학식 3과 같이 구할 수 있다.Next,

Given the height of the first beacon 110 located at the first point,

Can be obtained by the following equation (3).

Accordingly, the height (z) of the reference point of the construction equipment 200 can be obtained by the following Equation (4).

은 제1 비콘(110)과 건설장비(200)까지의 수평거리를 나타내고,

는 제2 비콘(120)과 건설장비(200)까지의 수평거리를 나타내며,

는 제1 비콘(110)과 제2 비콘(120) 사이의 거리를 나타낸다. 이때, 상기 제1 측점과 제2 측점의 좌표위치를 이미 알고 있으므로, 상기

는 계산을 통하여 구할 수 있는 주어진 값이다. On the other hand, as shown in FIG. 4,

Represents the horizontal distance between the first beacon 110 and the construction equipment 200,

Represents the horizontal distance between the second beacon 120 and the construction equipment 200,

Represents the distance between the first beacon 110 and the second beacon 120. At this time, since the coordinate positions of the first point and the second point are already known,

Is a given value that can be obtained through computation.

은 다음의 수학식 5와 같이 구할 수 있다.Here, the horizontal distance between the first beacon 110 and the construction equipment 200

Can be obtained by the following equation (5).

는 상기

을 구한 방법과 동일한 방법으로 구할 수 있다.The horizontal distance between the second beacon 120 and the construction equipment 200

Quot;

Can be obtained in the same manner as in the method of obtaining.

를 구할 수 있으며,

를 이용하여 건설장비 위치의 XY 좌표를 구하고, 상기에서 구한 z값을 적용하여 건설장비(200)의 위치좌표(x, y, z)를 구할 수 있다.Next, in the same manner as described above

, ≪ / RTI >

The position coordinates (x, y, z) of the construction equipment 200 can be obtained by obtaining the XY coordinates of the position of the construction equipment using the z value obtained in the above.

In other words, the (x, y) coordinates of the reference point of the construction equipment 200 are obtained using the first and second beacons 110 and 120 and the dual receivers 130 and 140, The z value on the construction site numerical map 160 is searched. Thus, the three-dimensional position coordinates (x, y, z) of the construction equipment 200 can be obtained by applying the (x, y) coordinate and the z value.

[How to locate construction equipment using 2 beacons and dual receivers]

5 is a flowchart illustrating a method of tracking a location of a construction equipment using two beacons and a dual receiver according to an embodiment of the present invention.

Referring to FIG. 5, a construction equipment location tracking method using two beacons and a dual receiver according to an embodiment of the present invention includes: first, first and second beacons of an Ultra Wide Band (UWB) UHF A dual receiver including first and second receivers 130 and 140 is installed in a construction equipment 200 installed in a construction site where the first and second receivers 110 and 120 are installed at step S110. The first and second beacons 110 and 120 are short-range wireless communication modules each having a communication range of 50 to 70 m based on Bluetooth 4.0 LE (Low Energy). The first and second beacons 110 and 120 are UWB (Ultra Wide Band) UHF High Frequency) method.

Next, the first and second receivers 130 and 140 installed in the construction equipment 200 receive the beacon ID and the signal strength from the first and second beacons 110 and 120, respectively (S120).

Next, a server 150 that wirelessly communicates with the first and second receivers 130 and 140 receives the beacon ID and signal strength received from the first and second receivers 130 and 140, (X, y) of the two-dimensional current position coordinate system 200 (S130).

Next, the server 150 applies the constructed construction site numerical map 160 (S140).

Next, the server 150 calculates the z value (level) of the construction site numerical map 160 according to the two-dimensional current location coordinates (x, y) of the construction equipment 200 (S150).

Next, the server 150 designates the three-dimensional position coordinates (x, y, z) of the construction equipment 200 using the z value on the construction site numerical map (S160).

Next, the server 150 tracks the position of the construction equipment 200 according to the three-dimensional position coordinates (x, y, z) of the construction equipment 200 (S170).

According to a system and method for tracking a construction equipment using two beacons and a dual receiver according to an embodiment of the present invention, the position of a construction equipment put on a construction site based on beacon technology using UWB UHF is referred to as XYZ It can be traced in 3D space, and can be used to manage construction equipment such as the current location of construction equipment and on-site movement.

[Construction equipment location tracking system using 3 beacons and single receiver]

FIG. 6 is a diagram showing a construction equipment location system using three beacons and a single receiver according to an embodiment of the present invention, and FIG. 7 is a plan view of the construction equipment location system shown in FIG.

Referring to FIGS. 6 and 7, a construction equipment location system 300 using three beacons and a single receiver according to an embodiment of the present invention includes a first beacon 310, a second beacon 320, A beacon 330, a single receiver 340, and a server 350.

The first beacon 310 is a short-range wireless communication module and is installed on a first point (x1, y1, z1) which is a temporary point of a construction site.

The second beacon 320 is a short-range wireless communication module and is installed on a second point (x2, y2, z2) which is a temporary point of the construction site, which is separated from the first beacon 310. [

The third beacon 330 is a short-range wireless communication module and is installed on a third point (x3, y3, z3), which is a temporary point of the construction site, separated from the first beacon 310 and the second beacon 320 . The first, second, and third beacons 310, 320, and 330 are short-range wireless communication modules having a communication range of 50 to 70 m based on Bluetooth 4.0 LE (Low Energy) Band) UHF (Ultra High Frequency) method, but the present invention is not limited thereto. Although three beacons 310, 320, and 330 are used in the embodiment of the present invention, it is possible to more accurately determine the three-dimensional position coordinates of the construction equipment by using three or more beacons.

A single receiver 340 is mounted on the construction equipment 200 placed at a construction site and receives beacon IDs and signal strengths from the first to third beacons 310, 320 and 330, respectively. The construction equipment 200 may further include a communication unit (not shown) for wirelessly transmitting the beacon ID and the signal strength data received from the single receiver 340 to the server 350.

The server 350 is connected to the single receiver 340 in a wireless communication respectively and transmits the position of the construction equipment 200 to the three-dimensional receiver 340 based on the beacon ID and the signal strength respectively received by the single receiver 340 And the position of the construction equipment 200 is tracked by indicating the position coordinates (x, y, z). Specifically, the server 350 determines the position of the single receiver 340 (x ', y', z ') based on the beacon ID and signal strength received by the single receiver 340, respectively Dimensional positional coordinates (x, y, z) of the construction equipment 200 may be determined according to the distance between the single receiver 340 and the reference point of the construction equipment 200.

delete

6 and 7, a construction equipment location system 300 using three beacons and a single receiver according to an embodiment of the present invention includes three beacons 310, 320, and 330 and a single (X2, y2, z2) where the second beacon 320 is installed, and the third beacon 330 (x2, y2, z2) using the receiver 340 and the first beacon 310, (X3, y3, z3) of the third point (x3, y3, z3) are already known through the reference survey.

,

및

는 각각 제1 내지 제3 비콘(310, 320, 330) 및 단일수신기(340)를 통하여 구할 수 있는 거리이다. 또한,

은 상기 단일수신기(340)와 상기 건설장비(200)의 기준점 사이의 거리로서, 고정값으로 주어진다.Here, as shown in FIG. 6,

,

And

Is a distance that can be obtained through the first to third beacons 310, 320, and 330 and the single receiver 340, respectively. Also,

Is the distance between the single receiver 340 and the reference point of the construction equipment 200 and is given as a fixed value.

,

및

가 주어졌을 때 상기 단일수신기(340)의 3차원 위치좌표(x', y', z')를 각각 다음의 수학식 6 내지 8과 같이 나타낼 수 있다.Therefore,

,

And

(X ', y', z ') of the single receiver 340 can be expressed by the following equations (6) to (8), respectively.

는 제2 측점의 x좌표값(x2)을 나타낸다.here,

Represents the x-coordinate value (x2) of the second point.

는 제3 측점의 x좌표값(x3)이며,

은 제3 측점의 y좌표값(y3)을 나타낸다.here,

Is the x coordinate value (x3) of the third point,

Represents the y coordinate value (y3) of the third point.

,

,

이 되고, 다음의 수학식 9와 같이 나타낼 수 있다.As described above, when the position coordinates (x ', y', z ') of the single receiver 340 are obtained, the three-dimensional position coordinates (x, y, z) of the construction equipment 200 are

,

,

And can be expressed by the following equation (9).

According to the construction equipment location tracking system using three beacons and a single receiver according to the embodiment of the present invention, the location of the construction equipment put on the construction site based on the beacon technology using UWB UHF is shown in the 3D space of XYZ And can be used to manage the construction equipment such as the current location of the construction equipment and the on-site movement.

[How to locate construction equipment using three beacons and a single receiver]

8 is a flowchart illustrating a method of tracking a location of a construction equipment using three beacons and a single receiver according to an embodiment of the present invention.

Referring to FIG. 8, a construction equipment location tracking method using three beacons and a single receiver according to an embodiment of the present invention includes first, second and third UWB (Ultra Wide Band) UHF (Ultra High Frequency) A single receiver 340 is installed in the construction equipment 200 at the construction site where the third beacons 310, 320, and 330 are installed (S210). The first, second and third beacons 310, 320 and 330 are short-range wireless communication modules each having a communication range of 50 to 70 m based on Bluetooth 4.0 LE (Low Energy) Band UHF (Ultra High Frequency) method.

Next, a single receiver 340 installed in the construction equipment 200 receives the beacon ID and the signal strength from the first, second and third beacons 310, 320 and 330, respectively (S220).

The server 350 communicating wirelessly with the single receiver 340 may then determine the two-dimensional current position coordinates x, y of the construction equipment 200 according to the beacon ID and signal strength received at the single receiver 340, y) is calculated (S230).

Next, the server 350 applies the constructed construction site numerical map 360 (S240).

Next, the server 350 calculates the z value (level) of the construction site numerical map 360 according to the two-dimensional current location coordinates (x, y) of the construction equipment 200 (S250).

Next, the server 350 designates the three-dimensional position coordinates (x, y, z) of the construction equipment 200 using the z value on the construction site numerical map 360 at step S260.

Next, the server 350 tracks the location of the construction equipment 200 according to the three-dimensional position coordinates (x, y, z) of the construction equipment 200 (S270).

In other words, the server 350 determines the position (x ', y (k)) of the single receiver 340 in accordance with Equations 6 to 8 described above based on the beacon ID and signal strength received by the single receiver 340, (x, y, z) of the construction equipment 200 according to the distance between the single receiver 340 and the reference point of the construction equipment 200 after determining the position of the construction equipment 200, Can be determined as shown in Equation (9).

As a result, according to the embodiment of the present invention, it is possible to track the position of the construction equipment put into the construction site based on the beacon technology using UWB UHF in the 3D space of XYZ, UWB UHF beacon is used to track the location of construction equipment more economically and more accurately than GPS-RTK (Real Time Kinematics) for tracking existing construction equipment location. .

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100: Construction equipment location tracking system (First embodiment)
200: Construction equipment
110: 1st beacon
120: Second beacon
130: first receiver
140: second receiver
150: Server
160: Construction site numerical map
300: Construction equipment location tracking system (second embodiment)
310: 1st beacon
320: Second beacon
330: Third beacon
340: Single receiver
350: Server
360: Construction site numerical map

Claims (12)

A short-range wireless communication module, comprising: a first beacon (110) installed on a first point (x1, y1, z1) as a temporary point of a construction site;
A short range wireless communication module, comprising: a second beacon (120) installed on a second point (x2, y2, z2) spaced apart from the first beacon (110) and being a temporary point of a construction site;
A first receiver (130) mounted on a construction equipment (200) placed at a construction site and receiving a beacon ID and a signal strength from the first and second beacons (110, 120), respectively;
A beacon ID and a signal strength from the first and second beacons 110 and 120. The first and second beacons 110 and 120 are installed on a construction equipment 200 operated at a construction site, A second receiver (140) for receiving the first and second signals, respectively; And
A second receiver coupled to the first receiver and the second receiver by wireless communication based on the beacon ID and the signal strength respectively received by the first and second receivers, A server 150 for tracking the position of the construction equipment 200 by displaying the position of the construction equipment 200 as three-dimensional position coordinates (x, y, z)
, ≪ / RTI &
The first and second receivers (130, 140) are dual receivers mounted on the construction equipment (200);
The server 150 calculates the two-dimensional current position coordinates (x, y) of the construction equipment 200 according to the beacon ID and the signal strength received from the first and second receivers 130 and 140, (Level) of the construction site numerical map 160 according to the two-dimensional current position coordinates (x, y) of the construction equipment 200 by applying the on-site numerical data map 160, Dimensional position coordinates (x, y, z) of the construction equipment (200) using z values on the construction equipment (200). The method according to claim 1,
The first and second beacons 110 and 120 are short-range wireless communication modules each having a communication range of 50 to 70 m based on a Bluetooth 4.0 LE (Low Energy) based. The UWB (Ultra Wide Band) ) System in which a plurality of beacons and a dual receiver are used. delete The method according to claim 1,
The construction equipment 200 further includes a communication unit for wirelessly transmitting beacon ID and signal strength data received from the first and second receivers 130 and 140 to the server 150, Positioning system for construction equipment using receiver. A short range wireless communication module, comprising: a first beacon (310) installed on a first point (x1, y1, z1) which is a temporary point of a construction site;
A short range wireless communication module, comprising: a second beacon (320) installed on a second point (x2, y2, z2) spaced apart from the first beacon (310) and being a temporary point of a construction site;
A third beacon (330) installed on a third point (x3, y3, z3), which is a temporary point of the construction site, spaced apart from the first beacon (310) and the second beacon (320);
A single receiver (340) mounted on a construction equipment (200) placed at a construction site and receiving a beacon ID and a signal strength from the first to third beacons (310, 320, 330), respectively; And
(X, y) of the construction equipment (200) based on the beacon ID and the signal strength received by the single receiver (340), respectively, in wireless communication with the single receiver (340) y, z) to track the location of the construction equipment 200,
, ≪ / RTI &
The server 350 determines the position of the position (x ', y', z ') of the single receiver 340 based on the beacon ID and the signal strength respectively received by the single receiver 340, (X, y, z) of the construction equipment (200) according to a distance between a single receiver (340) and a reference point of the construction equipment (200) Construction Equipment Location Tracking System Using. 6. The method of claim 5,
The first, second, and third beacons 310, 320, and 330 are short-range wireless communication modules each having a communication range of 50 to 70 m based on Bluetooth 4.0 LE (Low Energy) A system for locating a construction equipment using three beacons and a single receiver, characterized by communicating in an UHF (Ultra High Frequency) manner. delete 6. The method of claim 5,
The construction equipment 200 includes three beacons including a communication unit for wirelessly transmitting beacon ID and signal strength data received from the single receiver 340 to the server 350, Tracking system. a) First and second receivers (130, 140) are connected to a construction equipment (200) installed in a construction site where first and second beacons (110, 120) of a UWB (Ultra Wide Band) Installing a dual receiver comprising:
b) receiving a beacon ID and a signal strength from the first and second beacons (110, 120), respectively, of the first and second receivers (130, 140) installed in the construction equipment (200);
c) a server (150) that wirelessly communicates with the first and second receivers (130, 140) receives the beacon ID and signal strength received at the first and second receivers (130, 140) (X, y) of the two-dimensional current position coordinates (x, y);
d) applying the constructed construction site numerical map 160 to the server 150;
e) calculating the z value (level) of the construction site numerical map 160 according to the two-dimensional current position coordinate (x, y) of the construction equipment 200;
f) specifying the three-dimensional location coordinates (x, y, z) of the construction equipment (200) using the z value on the construction site numerical map; And
g) The server 150 tracks the position of the construction equipment 200 according to the three-dimensional position coordinates (x, y, z) of the construction equipment 200
, ≪ / RTI &
Wherein the first and second receivers (130, 140) are dual receivers mounted on the construction equipment (200). 10. The method of claim 9,
The first and second beacons 110 and 120 in the step a) are short-range wireless communication modules each having a communication range of 50 to 70 m based on a Bluetooth 4.0 LE (Low Energy) based. The UWB (Ultra Wide Band) UHF (Ultra High Frequency) method. The method of positioning a construction equipment using two beacons and a dual receiver. a) A single receiver 340 is installed in the construction equipment 200 at a construction site where first, second and third beacons 310, 320 and 330 of UWB (Ultra Wide Band) UHF (Ultra High Frequency) ;
b) receiving a beacon ID and a signal strength from the first, second and third beacons (310, 320, 330), respectively, by a single receiver (340) installed in the construction equipment (200);
c) a server 350 communicating wirelessly with the single receiver 340 receives the two-dimensional current location coordinates (x, y) of the construction equipment 200 according to the beacon ID and signal strength received at the single receiver 340 );
d) applying the constructed construction site numerical map 360 to the server 350;
e) calculating the z value (level) of the construction site numerical map 360 according to the two-dimensional current location coordinate (x, y) of the construction equipment 200;
f) the server (350) designating the three-dimensional position coordinates (x, y, z) of the construction equipment (200) using the z value on the construction site numerical map (360); And
g) the server 350 tracks the position of the construction equipment 200 according to the three-dimensional position coordinates (x, y, z) of the construction equipment 200
A method of tracking a construction equipment location using three beacons and a single receiver. 12. The method of claim 11,
The first, second, and third beacons 310, 320, and 330 of the a) are each implemented as a Bluetooth 4.0 LE (Low Energy) based wireless communication module having a communication range of 50 to 70 m. Ultra Wide Band) UHF (Ultra High Frequency) communication method using three beacons and a single receiver.

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