KR20160124312A - System for train position detection by using efficient wireless power transmission and the method thereof - Google Patents

System for train position detection by using efficient wireless power transmission and the method thereof Download PDF

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KR20160124312A
KR20160124312A KR1020150053979A KR20150053979A KR20160124312A KR 20160124312 A KR20160124312 A KR 20160124312A KR 1020150053979 A KR1020150053979 A KR 1020150053979A KR 20150053979 A KR20150053979 A KR 20150053979A KR 20160124312 A KR20160124312 A KR 20160124312A
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signal
tag
power
tone
power signal
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KR1020150053979A
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Korean (ko)
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KR101784683B1 (en
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김진규
박상이
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(주)티엘씨테크놀로지
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/04—Indicating or recording train identities
    • B61L25/045—Indicating or recording train identities using reradiating tags
    • H02J17/00—

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Near-Field Transmission Systems (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

In a system for detecting a position of a train, an RFID tag providing fundamental information thereof is installed on a train track, and the system does not possess a power supply device in itself, so the system wirelessly receives power from the RFID reader to operate. Therefore, the present invention provides train position detecting system using efficient wireless power transmission and a method thereof, which transmit energy of several frequency elements at once.

Description

TECHNICAL FIELD [0001] The present invention relates to a system and method for detecting a train position using an efficient wireless power transmission,

The present invention relates to a high-precision train position detection system and method using efficient wireless power transmission, and in particular, to a terminal installed in a train for detecting the position of a train through an RFID transponder installed in a railway, Receives the signal of the RFID tag installed on the track, and detects the position of the train based on the received information. However, since the RFID tag does not have a power supply device itself and can not perform normal operation if power exceeding a certain level can not be transmitted, the RFID tag operates by receiving power exceeding a certain level from the RFID reader installed in the terminal. Accordingly, the present invention relates to a system and method for detecting a position of a train by transmitting energy of several frequency components at a time and using efficient wireless power transmission.

In order to safely operate a train, it is essential to accurately locate all the trains operating within the entire track of the train line. In order to precisely locate a train, a train always transmits and receives a signal to and from an RFID tag installed on the railway. The RFID tag stores its own identification number, and the train receiving the RFID tag stores the identification number information So that the exact position of the train can be grasped.

However, the RFID tag does not have a power supply device itself, and has a structure that operates by receiving power wirelessly from an RFID reader of a terminal installed in the train. The RFID tag can operate normally only when a certain amount of power is transmitted, and accordingly, the RFID reader must constantly deliver the minimum power to the RFID tag.

In order not only to control trains but also to find accurate and reliable train location information that is basic information that can be used in the field of railway transportation such as accident prevention, cargo transportation, and train operation monitoring, It is essential to transmit power continuously from the RFID reader of the terminal installed in the train to the RFID tag.

Conventionally, in a method of transmitting a power signal to an RFID tag installed in a railway in a train, a method of transmitting energy using only one tone signal of an amplifier is used. In the method of transmitting energy by using only one tone signal, the structure of the RFID tag can be simplified, and it is possible to obtain some effect in cost reduction in installing a plurality of RFID tags in the line. However, the method of transmitting energy by using only one tone signal of the amplifier is difficult to transmit a large amount of energy, and the RFID tags in the line that have not received sufficient power may not be operated, The unique identification number of each RFID tag can not be steadily received and it is rather inefficient to grasp the exact position of the train on the basis thereof.

Therefore, the present invention provides efficient energy transfer by transmitting energy of various frequency components at a time, rather than sending a one-tone signal as one frequency component.

Next, a brief description will be given of the prior arts that exist in the technical field of the present invention, and technical matters which the present invention intends to differentiate from the prior arts will be described.

Korean Patent Registration No. 1343573 (2013.12.20) relates to wireless power transmission using a magnetic field, and relates to a technique relating to sensing and controlling wireless power transmission between a wireless power transmitter and a wireless power receiver using magnetic field communication technology .

Korean Patent Laid-Open Publication No. 2009-0050457 (May 20, 2009) relates to a power transmission network system, in which a protocol for charging a battery is defined by using a power signal transmitted / received between a transmitter and a receiver wirelessly , A flow of a power signal wirelessly transmitted and received between a transmitting apparatus and a receiving apparatus is efficiently performed to smoothly charge the battery.

Korean Patent Registration No. 1006187 (Jan. 1, 2011) is related to a wireless resonance power charging system, in which a power signal is wirelessly transmitted to a wireless power receiving apparatus spaced apart from an inductive power transmission apparatus, The resonant power transmission system includes a resonant power transmission system for transmitting an induced magnetic field generated by an inductive power transmission device, converting the received induced magnetic field into a resonant power signal, Receiving the signal and converting it into an induction magnetic field and transmitting the signal to the wireless power receiving device so as to be received by the induced electromotive force to be charged.

All of the above prior arts have similarities to some technical fields of the present invention in that they transmit power signals through wireless communication, receive the power signals, generate power using them, and use energy. However, In the same way, the technical features to obtain the effect of efficient energy transmission by transmitting multitone signals of various frequency components at one time, rather than sending one tone signal, which is one frequency component in the RFID reader, Or not.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a method for quickly and steadily transmitting and receiving a terminal installed in a train and an RFID tag installed in a railway line.

The present invention also relates to a method for transmitting a multi-tone signal of a plurality of frequency components in order to transmit a large amount of energy to a plurality of RFID tags installed in a train, Thereby providing more efficient energy transfer than sending a one-tone signal as a frequency component.

In an RFID reader using an efficient wireless power transmission according to an embodiment of the present invention, a RFID reader installed in a train for transmitting a power signal and transmitting a power signal to an RFID tag includes a multi- A multi-tone power transmission module for generating and transmitting the multi-tone power; And an RFID receiving module installed in the track of the train and receiving information from the RFID tag transmitting its unique identification number and detecting the identification number. The multitone power transmission module generates a multitone power signal having at least two frequency components and transmits the multitone power signal to the RFID tag installed in the line.

The multi-tone power transmission module may further include at least two oscillators for generating a power signal according to at least two angular frequencies; A multitone power signal generator for generating a power signal generated by the oscillator as a multitone power signal; A multi-tone power signal combiner for combining the multi-tone power signals generated by the multi-tone power signal generator into one signal; And a multitone power signal transmitter for transmitting the power signal generated through the combiner, and transmitting the multitone power signal to the RFID tag installed in the line.

Also, the multi-tone power signal generator may combine the signals generated in the oscillator to at least two signals to transmit energy of various frequency components to the power signal, Can be set.

Also, the combiner combines at least one or more power signals synthesized from the multi-tone power signal generator into a single signal.

In addition, the RFID receiving module is configured to detect an RFID receiver and an RFID, and the RFID receiver receives a tag signal in the form of an analog signal including a unique identification number of the corresponding RFID tag transmitted from the RFID tag, And extracts a unique identification number from the received tag signal.

Also, the RFID tag installed in the line, generating the energy by receiving the generated power signal, and transmitting the tag signal of the analog signal type by using its own unique identification number, receives the generated power signal and generates energy A multi-tone power receiving module; And an RFID transmission module. The RFID transmission module may further include a processor for reading a unique identification number of the RFID tag; A DAC (Digital-to-Analog Conversion) for modulating the read unique identification number into an analog signal; An amplifier for amplifying the modulated analog signal; And a transmitter for transmitting the amplified analog signal.

The multi-tone power receiving module may further include at least one filter for receiving a power signal from the RFID reader from a receiving antenna and filtering the received multi-tone power signal into a signal having one frequency, respectively; At least two rectifiers for converting the filtered signals from ac to dc; And an energy synthesizer for synthesizing the DC signals generated through the rectifier and supplying power to the RFI tag.

The filter is a band-pass filter, and passes only a signal between specific frequencies within a specific band.

Also, the rectifier refers to a full-wave rectifier, and the full-wave rectification method includes an intermediate tap full wave rectification method, a bridge full wave rectification method, and a full power bridge full wave rectification method. The present invention does not limit the method of the full wave rectifier. Further, the rectifying circuit is characterized by maximizing the energy efficiency by extracting both the positive and negative portions of the signal.

The energy combining unit combines the converted DC signals and supplies power to the RFID tag.

Also, the processor is driven by receiving energy from the energy composition unit, reads a unique identification number of the RFID tag, and the DAC changes information of the RFID tag read from the processor into an analog signal, The analog signal generated by the DAC is amplified, and the transmitter transmits the analog signal to the RFID reader installed in the train.

According to another aspect of the present invention, there is provided a method of transmitting a multi-tone power signal generated by an RFID reader to an RFID tag, the method comprising: generating signals according to respective frequencies using at least two oscillators; A multi-tone power signal generation step of combining the multi-tone power signals; A multi-tone power signal combining step of coupling and combining the generated multi-tone power signals with one signal; And a multitone power signal transmission step of transmitting the combined multitone signal to the RFID tag.

Further, the multi-tone power signal generating step may combine at least two signals, and the method may include a method of presetting or modifying or changing the setting by an instruction from itself or from a network.

A method of transmitting an RFID signal in the RFID tag includes receiving a multi-tone power signal including a plurality of frequencies; A filtering step (BPF) for each frequency; A rectifying step of converting an AC to a DC with respect to the filtered signal; An energy synthesis step of synthesizing and converting the converted DC signals to supply power to the tag; And a tag signal transmission step of transmitting the RFID tag signal using the supplied power.

Further, the filtering step uses a band pass filter (BPF) method for filtering the multitone power signal for each frequency.

Further, the rectifying step uses a full-wave rectifying circuit that extracts the + portion and the - portion of the filtered signal from AC to DC, and there is no limitation in the method of configuring the full-wave rectifying circuit.

The present invention configured as described above is directed to a system and method for detecting a position of a train using efficient wireless power transmission, and an RFID reader installed in a train is used for efficiently driving an RFID tag installed in a siro, Tone signal using only a frequency of one frequency band and transmitting the energy of one tone using a multitone signal using various frequency components without transmitting energy, There is an effect that transmission can be performed.

1 is a conceptual diagram for explaining an RFID reader for transmitting a power signal and an RFID tag for receiving the power signal in a train position detection system using efficient wireless power transmission according to an embodiment of the present invention.
2 is a block diagram illustrating the configuration of an RFID reader and an RFID tag in a train position detection system using efficient wireless power transmission according to an embodiment of the present invention.
FIG. 3 is an exemplary diagram for explaining a multi-tone power signal in a train position detection system using efficient wireless power transmission according to an embodiment of the present invention. Referring to FIG.
4 is a flowchart illustrating a process for transmitting a multi-tone power signal by an RFID reader to an RFID tag in a train position detection system using efficient wireless power transmission according to an embodiment of the present invention.
FIG. 5 is a block diagram of a system for detecting a train position using efficient wireless power transmission according to an embodiment of the present invention. Referring to FIG. 5, a multi-tone power signal transmitted from an RFID reader is converted into a DC signal, FIG. 4 is a flowchart illustrating a process for transmitting a tag signal.

Various embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

Before describing various embodiments of the present invention in detail, the present invention includes all of generating tags using RFIDs other than RFIDs, This corresponds only to the embodiment.

1 is a conceptual diagram for explaining an RFID reader for transmitting a power signal and an RFID tag for receiving the power signal in a train position detection system using efficient wireless power transmission according to an embodiment of the present invention.

As shown in FIG. 1, an RFID tag 200 installed on a railway receives a multi-tone power signal from an RFID reader 100 installed on a train. The RFID tag 200 does not have a power supply device itself and has a structure to receive power from the RFID reader 100 wirelessly. At this time, the RFID tag 200 can normally operate only when a certain amount of power is transmitted. Accordingly, the RFID reader 100 must constantly deliver minimum power for the RFID tag 200 to operate. Conventionally, it is difficult to transmit a large amount of energy by transmitting energy by using only one original tone signal using only one frequency of the amplifier, so that the minimum power energy necessary for the operation of the RFID tag 200 is not received, There is a situation where the RFID reader 100 installed in the train does not receive the unique identification number and the installation position (absolute coordinate) of the RFID tag 200 necessary for the train position determination because the tag 200 is not operated, It may happen that the position can not be detected.

Therefore, in the present invention, it is desired to transmit energy more efficiently than the method using the one-tone signal by using multi-tone signals using various frequencies instead of using only one tone signal using only one frequency.

2 is a block diagram illustrating a configuration of an RFID reader 100 and an RFID tag 200 in a train position detection system using efficient wireless power transmission according to an embodiment of the present invention.

As shown in FIG. 2, the RFID reader 100 installed in a train for transmitting a power signal includes a multi-tone power transmission module 110 for generating and transmitting multi-tone power signals of various frequency components; And an RFID receiving module installed in the track of the train for receiving information from the RFID tag 200 transmitting a tag signal in the form of an analog signal and extracting a unique identification number of the RFID tag from the tag signal, (120).

The RFID receiving module 120 includes an RFID receiver 121 for receiving a tag signal from the RFID tag 200; And an RFID detector 122 for extracting a unique identification number of the corresponding RFID tag 200 from the tag signal received by the RFID receiver 121. [

Here, the RFID reader 100 installed on the train and the RFID tag 200 installed on the rail are collectively referred to as an RFID transponder.

The multi-tone power transmission module 110 generates a multi-tone power signal of at least two frequency components and transmits the multi-tone power signal to the RFID tag installed in the line.

Also, the multi-tone power transmission module 110 may include at least two oscillators 111 for generating a power signal having at least two different frequencies; A multitone power signal generator 112 for generating a power signal generated by the oscillator 111 as a multitone power signal; A multitone power signal combiner 113 for combining the generated multitone power signals into one signal; And a multitone power signal transmitter 114 for transmitting a signal generated through the coupler.

Also, the oscillator 111 may include at least two oscillators 111, and each oscillator 111 generates a power signal having a different frequency. In addition, in the present invention, it is considered that the same frequency can be generated in generating the random signal in the oscillator 111. FIG. That is, the reason why the multi-tone generator 112 synthesizes signals having different frequency components is to transmit energy more efficiently. Therefore, even if the signal has the same frequency, if the amplitude is wrong, the two signals are synthesized and then have a larger amplitude, which can transmit a larger amount of energy than the energy transfer using the one-tone signal.

Also, the multi-tone power signal generator 112 may combine two or more signals to generate a multi-tone power signal, and the number of the synthesized signals may be set in advance, or may be changed or modified later.

The multi-tone power signal combiner 113 combines one or more multi-tone power signals generated by the multi-tone generator 112 into a single signal. The combined power signal is transmitted to the RFID tag 200 through the multi-tone power signal transmitter.

Also, the RFID receiver 121 receives a tag signal, which is an analog signal type, from the RFID tag 200, and the RFID detector 122 receives the RFID tag 200, Is extracted from the tag signal.

Also, the RFID tag 200 receiving the multi-tone power signal transmitted from the RFID reader 100 and synthesizing the energy and supplying it to the RFID tag 200 receives the power signal, And a RFID transmission module 220 for transmitting a unique identification number of the corresponding RFID tag 200 as a tag signal using the supplied power source.

Also, the multi-tone power receiving module 210 may include at least two filters 211 for classifying the received multi-tone power signal according to each frequency. At least two rectifiers (212) for converting a power signal divided by frequency from the filter (211) from an AC to a DC; And an energy synthesis unit 213 for synthesizing the direct current signal converted into the direct current and supplying power to the corresponding RFID tag 200.

The RFID transmission module 220 includes a processor 221; An RFID 222 as a unique identification number of the RFID tag 200; A DAC 223 for modulating a digital signal into an analog signal; An amplifier 224 for amplifying the modulated analog signal; And a transmitter 225 for transmitting the amplified analog signal. The filter 211 is composed of a filter (BPF) that blocks low frequency and high frequency signals so as to pass only a specific frequency region, It is a difference between high frequency and low frequency.

In addition, the rectifier is composed of at least two rectifiers, and converts AC flowing through the filter 211 to DC. Generally, the electric energy is transmitted by alternating current. The alternating current flows alternately between + and -. The alternating current which flows only one side is half-wave rectified, and the + and - It is called rectification. At this time, the half-wave rectification blows out half of the originally received energy unconditionally, and the rectified rectification can use 100% of the input energy by inverting + or -. (Of course, The rectifier uses a full-wave rectification circuit.

Since the direct current obtained through the rectifier 212 may contain a large amount of pulsation, it is considered in the invention that pulsation can be removed using a capacitor, a choke coil, or a kind of low-pass filter composed of a capacitor and a resistor.

The energy combining unit 213 combines the DC signals generated through the rectifier 212 to supply power to the RFID tag 200.

The processor 221 receives the energy from the energy combining unit 213 and reads the RFID 222 which is a unique identification number of the RFID tag 200. The DAC 223 is connected to the processor 221, The amplifier 224 amplifies the analog signal modulated by the DAC 223 and the transmitter 225 amplifies the amplified analog signal through the amplifier 224. The amplifier 224 amplifies the analog signal, To the RFID reader (100).

Here, the RFID reader 100 can detect the position of the current train based on the unique identification number of the corresponding RFID tag 200, which is the received analog information (100).

3 is an exemplary diagram for explaining a multi-tone signal in a train position detection system using efficient wireless power transmission according to an embodiment of the present invention.

As shown in FIG. 3, the signal of one frequency is shown in FIG. 3 (a), while the signals of signals f1 and f2fn having different frequencies are output to the multi- And the frequency components f1 and f2fn of a single multi-tone signal are generated as a single signal through the antenna 112. [ The X-axis shown in the table shows the time (t), and the Y-axis shows the voltage (v). The signals f0, f1 and f2fn shown above represent the period of the signal for the same time. That is, FIG. 3 (a) transmits energy using only one tone signal, so it is difficult to transmit a large amount of energy at a time. In FIG. 3 (b), signals of different frequencies f1, f2, fn are synthesized into a single signal through the multi-tone generator 112, which is the same as the synthesized signal or the X-axis time t of FIG. 3 (a) It is more efficient than transmitting the energy of the frequency component and sending one tone signal of one frequency component.

4 is a flowchart illustrating a process for transmitting a multi-tone power signal by the RFID reader 100 to the RFID tag 200 in a train position detection system using efficient wireless power transmission according to an embodiment of the present invention.

4, the RFID reader 100 generates a signal corresponding to each frequency by using the oscillator 111 of the multi-tone power transmission module 110 to generate at least two power And synthesizes the signals (S110). In addition, the oscillator 111 is composed of at least two or more, and the multitone generator may also be composed of at least one or more.

Then, the generated at least one or more multi-tone power signals are combined and combined into one signal (S120). Next, the combined multi-tone signal is transmitted to the RFID tag (S130).

The RFID tag 200 receives the multitone power signal from the RFID reader 100 and supplies power to the RFID tag 200. The RFID tag 200 is driven by the supplied power source, And transmits the unique identification number 222 to the RFID reader 100 as a tag signal in the form of an analog signal.

The RFID reader receives the tag signal (100), extracts a unique identification number (222) of the corresponding RFID tag (200), and detects the position of the train based on the extracted identification information (S140).

In the present invention, instead of using only one tone signal to transmit energy, signals corresponding to at least two or more frequencies are generated and combined to transmit energy using a multitone signal, thereby transmitting energy using an original tone signal So that more efficient energy transfer can be achieved.

FIG. 5 is a flow chart illustrating a method of converting a multi-tone power signal transmitted from an RFID reader 100 into a DC signal in a train position detection system using efficient wireless power transmission according to an embodiment of the present invention, FIG. 4 is a flowchart illustrating a process for transmitting a tag signal in the RFID tag 200; FIG.

First, the RFID tag 200 receives a power transmission signal including a plurality of frequencies (S210). Then, the received multitone power signal is filtered for each frequency (S220). At this time, the filter 211 is a BPF filter, and selectively filters only a specific frequency. Next, the AC signal is converted into a DC signal through the rectifier circuit with respect to the filtered signal (S230). The rectifying circuit is a full-wave rectifying circuit, and both the + region and the -region are used so that all the received energy can be used. Then, the direct current signal converted into the direct current is synthesized and power is supplied to the corresponding RFID tag 200 (S240). The RFID tag 200 transmits the identification number of the corresponding RFID tag 200 to the RFID reader 100 together with the analog signal using the power supplied last (S250).

As described above, in the present invention, the RFID reader installed in the train does not transmit energy using only one tone signal using only one frequency in order to efficiently drive the RFID tag installed on the sill without the power supply device There is an effect that an efficient energy transmission capable of transmitting a larger amount of energy than that of transmitting the one-tone signal, which is one frequency component, can be achieved by using a multi-tone signal using various frequency components.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. .

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the present invention.

100: RFID reader 110: Multitone power transmission module
111: Oscillator 112: Multitone power signal generator
113: Multitone power signal combiner 114: Multitone power signal transmitter
120: RFID receiving module 121: RFID receiver
122: RFID detector 200: RFID tag
210: Multitone power receiving module 211: Filter
212: rectifier 213: energy synthesis unit
220: RFID transmission module 221: processor
222: RFID 223: DAC
224; Amplifier 225: Transmitter

Claims (10)

A multi-tone power transmission module for generating a power signal for a plurality of frequencies and transmitting a multi-tone power signal;
A tag receiving module that receives a signal from the tag and detects an identification number;
A multitone power receiving module for receiving the transmitted multitone power signal and supplying power to the tag; And
And a tag transmission module for transmitting a tag signal including an identification number by using the received power. A multitone power signal generator for generating respective signals for a plurality of frequencies;
A multitone power signal combiner for combining the generated multitone power signal; And
And a multitone power signal transmitter for transmitting the combined multitone power signal to the tag. The method of claim 2,
A tag signal receiver for receiving a tag signal from the tag; And
And a tag detector for detecting an identification number or position information of the train from the received tag signal. A filter that receives a multitone power signal and filters the signal at each frequency to extract a power signal of the corresponding frequency;
A rectifier for converting the extracted power signal of each frequency into a DC signal; And
And an energy synthesis unit for synthesizing the converted DC signals and supplying power to the tag,
Wherein the multi-tone power signal is received and high-efficiency power reception is enabled. The method of claim 4,
And a tag transmission module that transmits a tag signal including an identification number using the power supplied from the energy composition unit. A multi-tone power signal generation step of generating a multi-tone power signal for a plurality of frequencies;
A multi-tone power transmitting step of transmitting the generated multi-tone power signal; And
And a multitone power receiving step of receiving the transmitted multi-tone power signal and supplying power to the tag. The method of claim 6,
A tag transmitting step of transmitting a tag signal including an identification number using the supplied power; And
Further comprising a tag receiving step of receiving the transmitted tag signal and detecting an identification number. A multi-tone power signal generation step of generating respective signals for a plurality of frequencies;
A multi-tone power signal combining step of combining the generated multi-tone power signal; And
And a multi-tone power signal transmitting step of transmitting the combined multi-tone power signal to the tag. The method of claim 8,
A tag signal receiving step of receiving a tag signal from the tag; And
And a tag detecting step of detecting an identification number or position information of a train from the received tag signal. A filtering step of receiving a multitone power signal and filtering the signal for each frequency to extract a power signal of the corresponding frequency;
A rectifying step of converting the extracted power signal of each frequency into a DC signal;
An energy synthesis step of synthesizing the converted DC signals and supplying power to the tag; And
And a tag transmission step of transmitting a tag signal including an identification number using the power,
And receiving the multi-tone power signal to enable high-efficiency power reception.
KR1020150053979A 2015-04-16 2015-04-16 System for train position detection by using efficient wireless power transmission and the method thereof KR101784683B1 (en)

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JP4271237B2 (en) * 2004-09-15 2009-06-03 三菱電機株式会社 Wireless communication system, power generation apparatus, and communication apparatus
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KR20180065369A (en) 2016-12-07 2018-06-18 유경제어 주식회사 For train position detection system tag-programmer and control method
CN108333559A (en) * 2018-01-11 2018-07-27 深圳市远望谷信息技术股份有限公司 A kind of method and device of the object space of accurate determining orbiting
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