KR200416807Y1 - System for sensing of self-position using sound - Google Patents

Abstract

 The present invention includes a sound beacon for providing sound detection time information and its own location information, and a sound detector for performing magnetic position detection with the time information and location information provided from the sound beacon. It relates to a magnetic position sensing device using the sound.

To this end, the present invention is a magnetic position sensing device using a sound, including at least one or more sound beacons and sound detection unit, the sound beacon is a sound generating unit for generating a sound; A first sound detector for detecting a sound generated by the sound generator; A first sound detection table storing a sound detected by the first sound detection unit; a position detection unit detecting a position of the sound beacon; And a first RF controller configured to transmit time information and location information of the sound beacon to the sound detector, wherein the sound detector comprises: a second sound detector configured to detect a sound generated by the sound generator; A second sound detection table for storing the sound detected by the second sound detection unit; A location table for storing time difference information of the sound beacon and the sound detection unit and location information of the sound beacon; A second RF controller which transmits the information received from the first RF controller to the location table; The present invention provides a magnetic position sensing apparatus using a sound including a position estimating unit configured to estimate a position using time difference information of the sound beacon and the sound detecting unit and position information of the sound beacon.

Sensor Network, Location Awareness, Sound Wave, Sound Beacon, Sound Detector

Description

System for sensing of self-position using sound}

1 is a block diagram of a magnetic position sensing device using a sound according to the present invention.

2 is an overall schematic diagram of a magnetic position sensing method using sound according to the present invention;

3 is a flow chart illustrating a process of generating and transmitting position information and time information of a sound beacon in a magnetic position sensing method using sound according to the present invention.

4 is a flowchart illustrating a calculation process of magnetic position detection of the sound detector in the magnetic position detection method using sound according to the present invention.

5 is a graph showing waveforms measured from the start of sound generation to disappearance;

<Description of the symbols for the main parts of the drawings>

100: sound beacon 101: sound generator

102: first sound detection unit 103: first sound detection table

104: position sensing unit 105: first RF control unit

200: sound detector

202: second sound detection unit 203: second sound detection table

204: position table 205: second RF control unit

206: position estimation calculator 207: neighbor position table

501: starting point of sound 502: highest point of sound

The present invention relates to a magnetic position sensing apparatus using sound, and more specifically, to a magnetic beacon (beacon) that provides sound detection time information and its own location information, and the time information and position information provided from the sound beacon. The present invention relates to a magnetic position sensing apparatus using a sound having a sound detector for performing a position sensing operation.

Research on magnetic position sensing in sensor networks is being actively conducted. The research on magnetic position sensing is divided into methods based on distance information on magnetic positions and methods not based on distance information on magnetic positions. Lose.

In particular, the strength of the radio signal, ultrasonic waves, sound waves, light, pressure, etc. are used as a means for detecting the magnetic position of the sensor network, and among them, the method using the sound wave shows a tendency over time stably compared to other means. More accurately detect magnetic position.

The magnetic position sensing method using such sound waves has been proposed to measure the time difference of sound with specific hardware or to calculate the position by synthesizing data from the center.

However, this method requires the sensor network to be equipped with expensive hardware (for example, a device such as a digital signal processor (DSP)), and calculates the information of individual nodes at the center and then returns them to individual nodes. Because of the return, there is a problem that the load is increased in the center, requires a lot of radio communication, consumes a lot of energy, and takes a long time to calculate.

In addition, a method of informing the nodes in advance of the time of sound generation and the sound propagation time in the sensor network and the sound propagation time in the sensor network has been proposed, but there is a problem in that the sound must be accurately generated at a predetermined sound propagation time.

Therefore, an object of the present invention for solving the above problems is to calculate the operation of the magnetic position detection with a sound beacon (beacon) for providing the sound detection time information and its location information and the time information and position information provided from the sound beacon The present invention provides a magnetic position detecting apparatus using a sound having a sound detector.

In order to achieve the above object, the present invention provides a magnetic position detecting device using sound, including at least one sound beacon and a sound detecting unit, wherein the sound beacon includes a sound generating unit for generating sound; A first sound detector for detecting a sound generated by the sound generator; A first sound detection table for storing the sound detected by the first sound detection unit; A position detecting unit detecting a position of the sound beacon; And a first RF controller configured to transmit time information and location information of the sound beacon to the sound detector, wherein the sound detector comprises: a second sound detector configured to detect a sound generated by the sound generator; A second sound detection table for storing the sound detected by the second sound detection unit; A location table for storing time difference information of the sound beacon and the sound detection unit and location information of the sound beacon; A second RF controller which transmits the information received from the first RF controller to the location table; And a position estimation calculator configured to estimate a position using time difference information of the sound beacon and the sound detector and position information of the sound beacon.

Preferably, the sound sensor further comprises a neighbor location table for storing information of at least one neighbor node.

Preferably, the position estimating unit is characterized in that for performing the operation using the trilateration method.

Another aspect of the present invention for achieving the above object is a magnetic position sensing method using sound, including the step of synchronizing the time, the step of detecting and transmitting the position information and time information, and the calculation step of the magnetic position detection, the position The detecting and transmitting of the information and time information may include (a) preparing to detect sound and position; (b) generating any sound; (c) detecting the sound generated in step (b) and detecting the position of a sound beacon to store information on the time of the sound and location information; (d) transmitting the time information and the location information stored in the step (c) to the sound sensor, wherein the calculating of the magnetic position detection comprises: (e) preparing to detect the sound; (f) receiving time information and location information from the step of detecting and transmitting the location information and time information; (g) detecting and storing the sound of step (e); (h) comparing the time difference between the time information of the sound beacon and the time information of the sound detection unit and the limit value, and if the value is large, proceeds to the next step; otherwise, proceeding to step (e); (i) storing the information on the time difference and the location information of the sound beacon; (j) calculating and estimating a magnetic position from the information of step (i).

Preferably, the step (j) determines whether the information stored in the step (i) is three or more, and if it is three or more, the magnetic position calculation is performed. .

Preferably, the sound generation time of the sound beacon is set to a time detected by the first sound detection unit in the detecting and transmitting of the location information and the time information.

Preferably, the limit value of step (h) is characterized by being derived by the following equation.

Limit value = (sound wave coverage or required area diameter) / (sound speed)

Preferably, the magnetic position calculation of step (i) is characterized by being derived by the following equation.

Distance between sound beacon and sound detector = time difference X sound speed

Hereinafter, with reference to the accompanying drawings, it will be described in detail a preferred embodiment of the present invention. In addition, the same reference numerals are used for the same components in the drawings, and duplicate descriptions of the same components are omitted.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, parts, or combinations thereof.

1 is a block diagram of a magnetic position sensing apparatus using a sound according to the present invention, Figure 2 is a schematic diagram of a magnetic position sensing method using a sound according to the present invention.

3 is a flowchart illustrating a process of generating and transmitting position information and time information of a sound beacon in a magnetic position sensing method using sound according to the present invention, and FIG. 4 illustrates a sound in a magnetic position sensing method using sound according to the present invention. It is a flowchart showing the calculation process of the magnetic position detection of the detector.

Referring to FIG. 1, a magnetic position detecting apparatus using sound according to the present invention includes a sound beacon 100 and a sound detecting unit 200.

The sound beacon 100 includes a sound generating unit 101, a first sound detecting unit 102, a first sound detecting table 103, a position detecting unit 104, and a first RF control unit 105. do. Here, the sound beacon 100 may operate even if there is at least one in the sensor network, and a plurality of sound beacons may be provided to reduce the time.

In addition, the sound detector 200 may include a second sound detector 202, a second sound detection table 203, a position table 204, a second RF controller 205, and a position estimation calculator 206. It is configured and may further include a neighbor location table 207. Here, the sound detection unit 200 is also composed of at least one or the same as the sound beacon (100).

The sound generator 101 refers to a sound source for generating sound, and is a device for generating sound enough to include an area required by the user of the present invention.

For example, if the area required by the user is about 10m * 10m, it will be a sound source that generates a small amount of applause, and if it is about 100m * 100m, it will be a sound source that generates a loud sound like a gunshot. will be.

The sound generated by the sound generator 101 is detected by the first sound detector 102 and the second sound detector 202, and the two first and second sound detectors 102 and 202 are microphone sensors. It is preferable to comprise.

As described above, the first sound detector 102 detects the sound of the sound generator 101 and transmits the sound to the first sound detection table 103. In addition, the first sound detector 102 detects only a sound having a value greater than a predetermined value.

Here, the time detected by the first sound detector 102 is actually a time when the sound generated by the sound generator 101 is detected, but the sound generator 101 is a component of the sound beacon 100 together. Since there is almost no difference in moving distance, the sound detection time can be viewed as the sound generation time of the sound generator 101.

In this case, the sound generation time of the conventional sound is informed and a smaller error is shown than the hardware error generated when the sound is accurately generated at a specified time.

In the conventional technique, as shown in FIG. 5, even if the sound is generated precisely at the start point 501, the node detecting the sound detects the size of a sound wave that is larger than a predetermined size, so that the node detects the sound. There is a structural error that detects the sound at a time exceeding the limit value of the sound detection sensor between the start point 501 of the sound and the highest point 502 of the sound, not the start point 501 of the sound. .

However, using the above method, since the threshold value of the sound detected by the sound beacon and the threshold value of the sound detected by the sound detection unit are the same, even though the node does not recognize the sound at the start point 501 of the sound, The difference is equal to the difference when the start point 501 of the sound is recognized.

The first sound detection table 103 stores information on the time of occurrence of the sound detected by the first sound detection unit 102 and transmits the information to the first RF control unit 105.

The position detecting unit 104 is a means for detecting the position of the sound beacon 100 and may be configured as a device for sending absolute coordinates of a position, such as a global positioning system (GPS), or calculates coordinates through a map. By inputting the coordinates manually can be configured to send a relative coordinates.

In particular, since the sound beacon 100 is a moving beacon node, the position detecting unit 104 detects its position.

The first RF control unit 105 receives the sound generation time information stored in the first sound detection table 103 and the position information detected by the position detection unit 104 to receive the second RF control unit of the sound detection unit 200. And transmits to 205. Here, the first RF controller 105 is preferably configured using an RF chip-set, and the second RF controller 205 is also the same.

As described above, the second sound detector 202 detects the sound of the sound generator 101 and transmits the sound to the second sound detection table 203. In this case, the second sound detector 202 detects only a sound having a value larger than a preset threshold.

The second sound detection table 303 stores information on the sound generation time detected by the second sound detection unit 202 and transmits the information to the location table 204.

The position table 204 is a difference between the information on the sound generation time transmitted from the second sound detection table 203 and the information on the sound generation time transmitted from the first RF control unit 105 of the sound beacon 100. Is determined to be a sound generated by the sound beacon 100 when the constant does not exceed a predetermined threshold value.

In addition, the difference information between the sound generation time stored in the first sound detection table 103 and the second sound detection table 203 and the position information of the sound beacon 100 are stored.

The second RF control unit 205 transmits coordinate information and sound generation time information received from the first RF control unit 105 to the position table 204. In addition, if the sound sensor 200 further includes a neighbor location table 207, the sound sensor 200 transmits information received from the sound beacon 100 to the neighbor location table.

The position estimating operation unit 206 calculates magnetic position sensing using a trilateration method when the information stored in the position table 204 becomes three or more through repetition in the above-described manner. In this case, regardless of the number of nodes of the sound sensing unit 200, all nodes having three or more pieces of information simultaneously estimate magnetic positions through magnetic position calculation.

The sound detector 200 may further include a neighbor location table 207, which transmits a result of the magnetic location detection to the base node or communicates with neighboring nodes after the magnetic location detection. Means for storing information about neighbor nodes.

Referring to Figure 2, it can be seen the overall schematic process of the magnetic sensing method using the sound according to the present invention. Specifically, the present invention includes a step of synchronizing time (s310), a step of detecting and transmitting location information and time information (s320), and a step of calculating magnetic location (s330).

In the time synchronization step (s310), the time synchronization between the sound beacon 100 node and the sound detection unit 200 node is performed, and such a time synchronization method may select an appropriate method according to a user's request.

The detecting and transmitting of the location information and the time information (S320) is a process performed in the sound beacon 100, which is further embodied in FIG. 3. Referring to FIG. 3, processes s321 to s324 for generating and transmitting location information and time information performed in the sound beacon 100 may be seen.

In operation S321, the first sound detector 102 detects the sound generated by the sound generator 101, and the position detector 104 prepares to detect the position of the sound beacon 100.

In operation S322, the sound generator 101 generates a sound at an arbitrary time. In operation S323, the first sound detector 102 detects the sound generated by the sound generator 101. The location information detected by the location detecting unit 104 is detected. The occurrence time information by the detected sound is stored in the first sound detection table 103, and the detected position information is stored in the position detection unit 104.

In operation S324, the first sound detector 102 and the position detector 104 receive the time information and the detected position information of the sound detected by the first RF controller 105 from the sound detector 200. ) To the second RF control unit 205.

The calculation step (s330) of the magnetic position detection is a process performed by the sound sensing unit 200, which is further embodied in FIG. Referring to FIG. 4, it can be seen that the processes S331 to S337 for the calculation of the magnetic position detection performed by the sound sensing unit 200 are performed.

In operation S331, the second sound detector 202 prepares for detecting the sound generated by the sound generator 101.

In operation s332, time information (time of occurrence of sound) and location information transmitted from the first RF controller 105 of the sound beacon 100 is received.

In operation S333, the sound generated by the sound generator 101 is detected by the second sound detector 202. Information about the detected sound generation time is stored in the second sound detection table 203.

In operation S334, when the difference between the sound generation time information stored in the second sound detection table 203 and the sound generation time information received from the sound beacon 100 has a value larger than a predetermined threshold value, the sound beacon 100 is generated. If it is determined that the sound information and then proceeds to the next step (s335), and if it has a value less than or equal to a certain value and repeats to step (s331).

Here, the equation for the difference is shown in Equation 1 below, and the equation for the limit is shown in Equation 2 below.

[Equation 1]

Time Difference (s) = Sound Detector Detection Time-Sound Beacon Detection Time

[Equation 2]

Limit value = (sound wave coverage or required area diameter) / (sound speed)

The setting of the limit value is obtained using the diameter of the required area if the required area is smaller than the sound wave reaching range, and using the sound wave reaching range if the area is larger. Herein, the diameter of the required area refers to the range (10m, 100m) of the area required by the user in the sound generating unit 101. For example, when the diameter of the area is 10m and the speed of sound is set to 331m / s. The limit value is 30 ms (excluding temperature and other requirements). The area required here may be several Km beyond the maximum reach of the designed sound wave. In this case, the sonic wave range is applied.

In operation S335, when the location table 204 determines that the information of the sound of the sound beacon 100 is determined in operation S 334, the information on the time difference between the sound beacon 100 and the sound detection unit 200 is determined. Stores location information about the sound beacon 100.

In step s336, it is determined whether there are three or more pieces of information stored in the position table 204 until step s335, and in step s337, the self position calculation is performed.

This is to calculate the magnetic position using the trilateral survey method.Trilateral surveying is a surveying method used in civil engineering.If you know the position of the reference point of three points at one point and the distance from it, you can calculate the position by vector calculation. That's how you get it. Through this calculation, the sound detector 200 estimates a magnetic position. The formula for the specific operation is shown in Equation 3 below.

[Equation 3]

Distance between sound beacon and sound detector = time difference X sound speed

Here, the time difference refers to the time difference of Equation 1, and the speed of sound considers only the characteristics according to the temperature without considering the characteristics of the medium.

[Equation 4]

Speed of sound (V) = (331 + 0.6t) m / s (t is degrees Celsius)

In summary, when a specific sound is generated through the sound generator 101, the first sound detector 102 and the second sound detector 202 detect this, and the sound beacon 100 is a sound generation time. The detector 200 detects the arrival time of the sound.

The sound beacon 100 transmits the detection time of the first sound detection unit 101 and its location information received from the position detection unit 104 to the sound detection unit 200 through the first RF control unit 106. do.

The sound detection unit 200 compares this with sound generation time information of the second sound detection table 203 that detects the existing sound, and determines that the sound is generated by the sound beacon 100 when it comes within a predetermined limit value range. The time difference of the sound detection and the position information are stored in the position table 204.

In the same manner, the sound beacon 100 repeats a process of generating a sound by moving a position, and the sound detector 200 detects the position estimation operation unit 206 when three or more pieces of information stored in the position table 204 become. Performs the operation of self position recognition.

The present invention may be variously modified and have various forms, and specific embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to the specific form disclosed, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

According to the magnetic position sensing device using the sound according to the present invention can obtain the following effects.

First, a low cost magnetic position sensing device can be implemented by not adding additional hardware.

Second, each node can extend the power usage time by reducing the load and increasing the efficiency of the battery through the distributed processing method and the small amount of radio (data) communication through the microphone sensor for detecting the sound.

Third, a wide range of motions can be detected by using a moving sound beacon.

Fourth, individual nodes receive only three pieces of sound information from the sound beacon and can calculate and estimate their positions at the same time.

Fifth, it is possible to adjust the sound generated by the sound generator according to the user's request.

Claims (3)

A magnetic position sensing device using sound, comprising at least one sound beacon and a sound sensing unit, The sound beacon A sound generator for generating sound; A first sound detector for detecting a sound generated by the sound generator; A first sound detection table for storing the sound detected by the first sound detection unit; A position detecting unit detecting a position of the sound beacon; It comprises a first RF control unit for transmitting the time information and location information of the sound beacon to the sound detection unit, The sound detection unit A second sound detector for detecting a sound generated by the sound generator; A second sound detection table for storing the sound detected by the second sound detection unit; A location table for storing time difference information of the sound beacon and the sound detection unit and location information of the sound beacon; A second RF controller which transmits the information received from the first RF controller to the location table; And a position estimation calculator configured to estimate a position using time difference information of the sound beacon and the sound detector and position information of the sound beacon. The method of claim 1, wherein the sound detection unit And a neighbor location table for storing information of at least one neighbor node. The method according to claim 1 or 2, wherein the position estimation calculation unit An apparatus for detecting magnetic position using sound, comprising performing arithmetic using a trilateration method.

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