TW202038139A - An indoor vehicle positioning system, a graphic information setting method and a nursing vehicle positioning method - Google Patents

Abstract

This disclosure is related to an indoor vehicle positioning system, a graphic information setting method and a nursing vehicle positioning method, wherein the indoor vehicle positioning system includes at least one position tag, a manager, at least one nursing vehicle and a server. The nursing vehicle includes a sensing and communication module for sensing various actions, moving and postures of the nursing vehicle. Further, the position tag is used for sensing a proximity communication with the nursing vehicle, wherein the proximity communication includes sensing the close degree between the position tag and the nursing vehicle, and then transmitting the sensing signal to the server. Through a management control module provided by the server, the sensed signal is analyzed, and a position of the nursing vehicle in the indoor is predicted. This disclosure achieves the position managing of the relevant medical equipment so that the medical staffs can automatically check the inventory of the assets at the time of handover, and has the ability to track the movement history of medical devices to facilitate the using management of medical device.

Description

Indoor vehicle positioning system, map data setting method and nursing vehicle positioning method

The invention relates to an indoor carrier positioning system, a map resource setting method and a nursing carrier positioning method, in particular to a positioning system capable of reducing the medical indoor space built by hardware and related methods.

In the prior art, as far as the related technology of indoor object positioning is concerned, it is often impossible to accurately locate the object because it cannot receive satellite signals. There is also indoor positioning technology, which is used in indoor spaces, such as installing a lot of network sharing devices or network routers on the wall, but this technology requires a huge hardware cost, and it needs to be added. improve.

The present invention discloses an indoor carrier positioning system, a map data setting method and a nursing carrier positioning method. By simply setting tags and cooperating with the device of the nursing carrier carrying medical equipment and the adjustment with the server device, it can be effectively achieved Extending the positioning information of related medical care equipment makes it possible to automate the inventory of assets handed over by medical institutions, and to store the historical trajectory of the movement of related medical care equipment for efficient management.

The indoor vehicle positioning system of the present invention includes: at least one location tag, which is set at a set location in an indoor room, and has a proximity sensing function; and a manager, the manager includes a browser for executing network connection Line; at least one care carrier, a care carrier for medical use, is to perform proximity sensing with the at least one location tag, the location tag is to detect whether the care carrier is close, and each of the care carriers It includes a sensing and communication module. The sensing and communication module includes: an accelerometer to detect the acceleration state of the care carrier itself; a geomagnetic sensor to detect the care carrier It has its own moving position status; an angular velocity sensor is used to detect the turning status of the care vehicle itself; a sensor data conversion module is coupled to the accelerometer, the geomagnetic sensor and the The angular velocity sensor converts the detected signals of the various movement states of the care vehicle itself; a sensor data transmission module is coupled to the sensor data conversion module for the converted Signals of various movement states of the care vehicle itself are transmitted; a proximity communication sensor transmission module, coupled to the sensor data transmission module, is used to perform proximity detection and communication with the location tag, so that the The location tag knows how close the care vehicle is, or the care vehicle knows how close it is to the location tag; and a server, which is connected to the network of the administrator, and the server Connected to the care vehicle network, the server includes: a local server, which is a server set up according to user needs; a message sequence telemetry transmission proxy server, coupled to the local server, To perform the communication function of message sequence telemetry transmission; a management control module is coupled to the message sequence telemetry transmission proxy server for two-way transmission of messages. The management control module includes: a picture data editor for use The person executes and edits a map data in the room; a proximity communication sensor transmission module for processing the signal management and identification of the proximity sensor between the location tag and the care vehicle; and a data exchange module for executing the The two-way communication function of the message sequence telemetry transmission between the management control module and the message sequence telemetry transmission proxy server; and a database for storing the map data edited by the map data editor; and the map data editing The sensor, the proximity communication sensor transmission module, the data exchange module and the database are mutually coupled.

In order to further understand the features and technical content of the present invention, please refer to the following detailed description and drawings about the present invention. However, the provided drawings are only for reference and description, and are not used to limit the present invention.

The invention discloses an indoor carrier positioning system, a map resource setting method and a nursing carrier positioning method. By simply setting tags, cooperating with the equipment setting of the nursing carrier and the adjustment with the server device, it can effectively achieve extended related medical care The positioning information of the equipment makes it possible to automate the inventory of assets handed over by the medical institution, and to store the historical trajectory of the movement of related medical care equipment for efficient management.

In the following, referring to the accompanying drawings, various exemplary embodiments are described more fully, and some exemplary embodiments are shown in the accompanying drawings. However, the concept of the present invention may be embodied in many different forms, and should not be construed as being limited to the exemplary embodiments described herein. To be precise, the provision of these exemplary embodiments will make the present invention detailed and complete, and will fully convey the scope of the concept of the present invention to those skilled in the art. In the drawings, the size of the care carrier, the location label, and the circuit block can be exaggerated for clarity and the relationship between the relative size and the connection or coupling; similar numbers always indicate similar components.

It should be understood that although terms such as left, right, front, or rear may be used in this document to describe the positions of various elements, these elements should not be limited by these terms. These terms are used to clearly distinguish one element from another element and their different locations. Therefore, the left side (or front side) element discussed below can be referred to as the right side (or back side) element without departing from the teaching of the concept of the present invention; the same as "upper", "lower", "upper" or "lower" as used herein "Side" only illustrates the relative positional relationship of the components in the mobile device, and is not necessarily the top and bottom correspondence of each component. As used herein, the terms "first" or "second" are only used to clearly distinguish one element from another, and there is not necessarily a certain order relationship between the two. The term "and/or" as used herein includes any one and all combinations of one or more of the associated listed items. The term "at least one" herein means that the number that can be implemented can be a single one, or two, three, or more than four, and so on. In addition, the term "plurality" or "multiple" may be used herein to describe having multiple elements, but these plural elements are not limited to the implementation of two, three, or four or more elements. Technology implemented.

As shown in FIG. 1, the schematic diagram of the connection relationship of the circuit blocks of the system of the embodiment of the present invention includes at least one location tag 10, a manager 20, at least one care carrier 30 and a server 60. Each location tag 10 in the at least one location tag 10 is set in a set position in a room and has a proximity sensor function. The indoors described in the embodiments of the present invention are implemented in a medical space, but the actual implementation scope of the indoors described in the present invention is not limited to the medical space, such as various general home spaces and long-term care centers. Or indoor spaces such as nursing homes, etc., are all covered by the embodiments of the present invention. The administrator 20 includes a browser 24 for performing network connections. In practical applications, the browser 24 can be a Chrome or an IE browser 24, and the present invention is not limited.

The at least one care carrier 30 is mainly a medical care carrier 30, which can perform proximity sensing with the aforementioned at least one location tag 10, that is, the location tag 10 and the care carrier 30 There is a mutual proximity sensor detection to detect whether the care carrier 30 is close to the location tag 10 and how close it is. Each care carrier 30 includes a sensing and communication module 40. Referring to FIG. 2, in order to further illustrate the internal composition circuit of the sensing and communication module 40, the sensing and communication module 40 includes at least an accelerometer 41, a geomagnetic sensor 42, and an angular velocity sensor. The sensor 43, a sensor data conversion module 50, a sensor data transmission module 52, and a proximity communication inductive transmission module 55. The accelerometer 41 is used to detect the acceleration state of the movement of the care carrier; the geomagnetic sensor 42 is used to detect the position state of the movement of the care carrier; the angular velocity sensor 43 is used to detect the care The turning state of the vehicle 30 itself moving.

The sensor data conversion module 50 of FIG. 2 is simultaneously coupled to the accelerometer 41, the geomagnetic sensor 42, and the angular velocity sensor 43, and the main function is to detect various movement states of the nursing vehicle 30 itself. Signal to be converted. The sensor data transmission module 52 is coupled to the sensor data conversion module 50, and its function is to transmit signals of various movement states of the converted care carrier 30 itself, so The transmission to the server 60 is the main transmission target. The proximity communication sensing transmission module 55 is coupled to the sensor data transmission module 52 to perform proximity sensing and communication with the location tag 10 so that the location tag 10 can know the approach of the care vehicle Or the degree to which the care carrier itself knows the proximity to the location tag 10. In practical applications, the proximity sensing function can be Beacon transmission communication mode, low-power Bluetooth communication mode for proximity sensing, data transmission, and message broadcasting; however, the Beacon transmission communication is only An embodiment of the present invention illustrates that the proximity sensing application actually implemented in the present invention should not be limited by this.

The server 60 shown in FIG. 1 is mainly connected to the network of the administrator 20, and the server 60 is connected to the care vehicle 30 at the same time, and the server 60 includes a local server 62 and a message The serial telemetry transmission proxy server 64 and a management control module 70. Among them, the function of the local server 62 is mainly a server set up according to user needs, that is, in practice, the local server 62 is a customized server. The message sequence telemetry transmission proxy server 64 is coupled to the local server 62 to perform the communication function of Message Queuing Telemetry Transport (MQTT). In practice, the message sequence telemetry transmission proxy server The server 64 itself is an MQTT Broker setting mode, and is a transmission server operated by the local server 62.

The management control module 70 shown in FIG. 1 is coupled to the message sequence telemetry transmission proxy server 64 for bidirectional transmission of messages, and performs a message sequence telemetry transmission (MQTT) signal in both directions. As shown in FIG. 1, the management control module 70 includes at least a database 71, a map editor 74, a proximity communication sensor transmission module 76, and a data exchange module 77, and the database 71, The image data editor 74, the proximity communication sensor transmission module 76, and the data exchange module 77 are mutually coupled. The map editor 74 provides the user to execute and edit a map data of the room. That is, the user can edit an indoor floor plan for different indoor spaces. For example, in a medical space, the user can edit Out of the geographical location of ward 1, ward 2, walkway 1, walkway 2, nursing station, pantry or emergency exit, the user can edit the indoor floor plan according to actual needs, and then store it in the database 71 Among.

The proximity communication sensor transmission module 76 is used to perform signal management and identification of the proximity sensor processing between the location tag 10 and the care vehicle 30. In practical applications, the proximity communication sensor transmission module 76 is a Beacon management module. Group, used to perform Beacon's inductive transmission signal management operations. The data exchange module 77 is mainly used to perform the two-way communication function of the message sequence telemetry transmission (MQTT) between the management control module 70 and the message sequence telemetry transmission proxy server 64. The database 71 is used to store an indoor map data or an indoor floor plan edited by the map editor 74, which facilitates searching for nearby medical equipment or nursing vehicles in Bluetooth transmission mode A location on the indoor map. In practical application, there is an editing of map data, which can set -wall- as the reference for correction processing when the nursing vehicle 30 hits the wall; set a correction point, which can be used as a route between two correction points; Or set a special area as the reference basis for triggering interrupt movement.

In one embodiment, the management control module 70 shown in FIG. 1 further includes a spatial data correction module 73, a spatial data tracking module 75, and a device position identification module 72 to form the management control The module 70, and the spatial data correction module 73, the spatial data tracking module 75, and the device position identification module 72 are mutually coupled, and are inductively transmitted with the aforementioned database 71, image data editor 74, and proximity communication The module 76 and the data exchange module 77 are coupled to each other. The function of the spatial data correction module 73 is to correct the spatial data of the relative position in the room and to correct the starting position of the care vehicle 30; and the spatial data tracking module 75 is used to track the care The moving state of the vehicle in the indoor space; in addition, the device position identification module 72 is used to identify the location of the care vehicle 30 on the indoor map.

In one embodiment, the administrator 20 shown in FIG. 1 further includes a local administrator 22, and the content of the local administrator 22 mainly describes a customized object set according to the needs of the user. The local administrator 22 and the local server 62 are network connections, and the network connection is a network connection of a window communication rule, that is, the network connection between the local administrator 22 and the local server 62 , Is a WCF (Windows Communication Foundation; WCF) network connection. And the care vehicle 30 also includes a local user 32, the local user 32 is also set according to user needs and directly coupled to the sensing and communication module 40, the local user 32 and the local The servers 62 are also connected by a network, and the network connection is also a connection mode of a Windows Communication Rules Network Connection (WCF).

In another embodiment, the browser 24 of the administrator 20 shown in FIG. 1 and the graphic editor 74 of the management control module 70 in the server 60 are connected by a Hyper Text Transfer Protocol (Hyper Text). Transfer Protocol: HTTP) connection method to perform network connection. On the other hand, between the sensing and communication module 40 in the care vehicle 30 and the spatial information tracking module 75 in the management control module 70 is also a Hyper Text Transfer Protocol (Hyper Text Transfer Protocol: HTTP) connection method to perform network connection.

In yet another embodiment, the sensing and communication module 40 disclosed in FIG. 2 further includes a microelectromechanical system sensor 44, a GPS global positioner 45, a proximity sensor 46, and a gyroscope 47 and an atmospheric pressure sensor 48. Wherein, the MEMS sensor 44 is coupled to the sensor data conversion module 50 for detecting the micro-movement state of the care carrier 30. In practical applications, the MEMS sensor 44 It is a MEMS sensor. The GPS global locator 45 is coupled to the sensor data conversion module 50, and its function is to detect the general geographic location where the care vehicle 30 is located. The proximity sensor 46 is also coupled to the sensor data conversion module 50 for detecting the proximity sensing action of the care vehicle 30. The gyroscope 47 is also coupled to the sensor data conversion module 50 to detect the movement status of the three axes (ie, X axis, Y axis, and Z axis) of the care vehicle. The atmospheric pressure sensor 48 is also coupled to the sensor data conversion module 50, and is mainly used to detect a height state of the position where the care carrier 30 is located.

In another embodiment, the proximity communication inductive transmission module 55 described in FIG. 2 further includes a position recognition unit 56. The function of the position recognition unit 56 is to recognize the relative position between the care carrier 30 and the position tag 10, and Recognize the proximity of the two. The proximity of the proximity is determined by detecting the strength of a proximity sensor signal.

As shown in FIGS. 3A and 3B, the internal components of the location tag 10 are further disclosed. FIG. 3A is a first embodiment of the location tag 10, and FIG. 3B is a second embodiment of the location tag 10a. Wherein, the location tag 10 of FIG. 3A includes a proximity sensing interface 11, a proximity sensing receiving/transmitting module 13, and a proximity sensing control circuit 15. The proximity sensor interface 11 serves as an interface for mutual sensing between the location tag 10 and the care carrier 30; the proximity sensor receiving/transmitting module 13 is coupled to the proximity sensor interface, and the main function is to act as the When the care carrier 30 is close to the location tag 10, it receives or transmits the signal of the proximity of the sensed object; the proximity sensing control circuit 15 is coupled to the proximity sensing receiving/transmitting module 13, and its function is to A main control circuit in the location tag 10. In practical applications, the proximity sensing transmission function of the location tag 10 can use a Beacon-related circuit as an operational circuit for low-power transmission Bluetooth communication, but the present invention is not actually limited by this.

In FIG. 3B, the location tag 10a includes a signal receiving interface 12, a detection signal conversion module 14, a broadcast transmission module 16, and a terminal trigger operation signal module 18. The signal receiving interface 12 is used to receive and sense an object close to the location tag 10a. For example, when the care carrier 30 is close to the location tag 10a, the signal receiving interface 12 can be used as a transmission interface between two objects. The detection signal conversion module 14 is coupled to the signal receiving interface 12, and its function is to convert the detected signal of the object to facilitate subsequent control actions. The broadcast transmission module 16 is coupled to the detection signal conversion module 14 to broadcast and transmit the converted signal, that is, use the broadcast transmission mode to detect an object The nearby signal is the converted signal, which is broadcast and transmitted. The terminal trigger operation signal module 18 is coupled to the broadcast transmission module 16 to send a signal that can trigger the operation of a terminal device. For example, in one embodiment, under the operation of the proximity sensing transmission, the location tag 10 can include a trigger signal that can trigger the care vehicle 30 to act, and when the care vehicle 30 receives the trigger signal, it contains a trigger signal. The broadcast signal of the signal can execute a preset operation or an action, or trigger an APP application, or even trigger a program action in the APP application. In this regard, the present invention is not limited.

As shown in FIG. 4, it is further disclosed that the operation of proximity sensing between the aforementioned care carrier 30 and the location tag 10 can search for medical equipment in a medical indoor space. As for the proximity sensing function described in the actual embodiment, it can be accomplished by Bluetooth sensing transmission. The time axis labeled 0 in Figure 4, where the + mark is an example of the care vehicle 30, and the mark S is the signal strength of the proximity sensor signal. A circle can be drawn and a ring-shaped circle can be drawn . In practical applications, the signal strength S can be defined by the designer. That is, when the signal strength of the proximity sensor must be greater than the S value, the system records the data moved by the proximity sensor.

The time axis labeled 1 to the time axis labeled 2 indicates that every time the care carrier 30 moves a certain distance/time, it will be recorded once, and the position with the highest probability can be found through the circular stacking graph. The time axis labeled 3 represents the average position of the detected object (such as a nursing vehicle, a wheelchair, or a hospital bed), and the average value obtained by calculation is used as the actual object at the location X. It needs to be stated that the graph shown in Figure 4 is only an example of a straight line movement. In fact, the movement of the care carrier 30 will have a planar distribution of movement trajectories that are curved, revolved or revolved. The same is true , Push the entire circle moved to form a plane, and calculate the area with the highest push overlap, that is, determine its position.

The above-mentioned nursing vehicle 30 will be recorded every time it moves a certain distance/time. In practical applications, it can be calculated every 100ms~300ms, which can increase the number of calculations or reduce the distance between two calculations to reduce errors, but You don’t need to do the recording all the time. At this time, the recording content includes time, speed and direction. On the other hand, the calculation interval mainly refers to the calculation once after a special condition is reached. The special condition will vary according to different conditions, for example, it may be distance, time, or number of times. The receiver records a piece of data every 2.5s, including the recording time point and the coordinate value relative to an anchor point. When the care vehicle 30 has no acceleration action, the calculation will be stopped to reduce resource consumption, and the last position will be recorded repeatedly. Wherein, referring to FIG. 7 first, in one embodiment, the system of the present invention includes at least one backup power terminal 80. The backup power terminal 80 can basically be a battery charging stand. The backup power terminal 80 is in practice. The above is also a customized backup power terminal 80, which is set as the coordinate value of a starting point (0, 0) of an indoor space plan layout, which is the coordinate of the positioning point, or the aforementioned calibration point , So that the backup power terminal 80 can be further used for a position correction for correcting the calculated position error value. In terms of actual requirements, the calibration points of the backup power terminal 80 can also be provided with multiple backup power terminals 80 to have multiple calibration points to improve the accuracy of position calibration.

Therefore, the present invention can record the relationship between time points and relative positions, display the location tag 10 on the indoor map information, and use the proximity sensor low-power transmission mode to search for nearby care vehicles 30, and then The location of the nursing vehicle 30 is displayed on the map information in the room, so as to understand the location of the medical equipment.

Figure 5 shows a map data setting method proposed by the present invention, which is mainly used in the embodiment of the indoor vehicle positioning system described in Figures 1 to 3, and is provided through the aforementioned map data editor 74 The author edits for an indoor space. The method for setting map information includes step S10: establishing a name for the map information. For example, names of emergency building 1, emergency building 2, etc. can be created. Next step S12: Import a spatial plan, and import a plan of the indoor space into the plan editor 74. Step S14: Specify the scale. Then step S16: Use the definition tool to circle the space name, at this time you can circle the space name such as ward 1, ward 2, etc. Next step S18: Use the editing tool to circle the moving range, such as the moving range of Walkway 1, Walkway 2, etc. Step S20: Designate the position and number of the positioning point, for example, designate the aforementioned backup power terminal 80 as the positioning point. The final step S22: save the map data editing result, and store the edited map data and map data.

Fig. 6 shows a nursing carrier positioning method proposed by the present invention, which is applied to the indoor carrier positioning system described in Figs. 1 to 3. The nursing carrier positioning method includes: step S30 : Activate the positioning function of one of the nursing vehicles. Next, step S32: Search for proximity communication sensor transmission module signals, that is, search for nearby Beacon-related proximity sensors. After that, step S34: determine whether it is a positioning point device; if not, then step S35: continue to search for proximity communication inductive transmission modules; if it is determined to be a positioning point device, proceed to step S36: download the backup power supply terminal device through the server Image file. Then step S38: Calibrate each sensor and starting position of the care carrier. Next step S40: continuously calculate the moving position and steering of the care carrier based on each sensor; step S42: determine whether to enter the user-defined space? After the judgment, if it enters the defined space, step S44: Detect the signal strength and number of the nearby location tag device, and then go to step S46. However, after the judgment, if it does not enter the defined space, proceed directly to step S46: Record the movement track. The recorded movement track includes recording the time/coordinates/space entered and the strength of the signal, etc. Finally, step S47 is performed: reporting the recording timing to the server, allowing the server 60 to store the recorded data, and after calculation, it can predict a location X of the care carrier 30 in the indoor space.

FIG. 7 is a schematic diagram of the implementation aspect of the overall system according to the embodiment of the present invention. It discloses that in a medical indoor space, there are related location tags 10 (for example, two location tags 10 are provided), a manager 20, and a care vehicle 30 (for example, two care vehicles 30 are provided) And a schematic diagram of the spatial structure distribution state of the server 60, the medical indoor space will have a plan layout, and the user will import the plan layout into the plan editor 74 for editing. In addition, FIG. 7 includes the aforementioned backup power terminal 80, which is installed in a fixed position in the room, for example, it can be installed in a fixed position of a nursing station. In practical applications, the backup power terminal 80 can be a charging device, such as a charging dock as described above, and the charging dock has an absolute position, such as an origin, which is marked as the origin coordinates on the map data. Coordinate (0, 0), and can be used as a calibration point.

To sum up, in the present invention, through the multiple sensors of various actions and postures of the care carrier 30, together with the position tag 10 and the management control module 70 in the server 60, the care carrier 30 can be Positioning in the medical space. Wherein, the location tag 10 will be displayed on the map information in the room, and the low-power transmission mode of proximity sensing will search for the nursing vehicle 30 passing nearby, and display the location of the nursing vehicle 30 in the room. On the map information. In addition to self-locating related medical equipment, the present invention is also extremely convenient for medical staff to take asset inventory during handover, and can track the movement history of medical equipment; furthermore, the present invention is applied to the care of children or senior citizens. In the indoor space of the center, personnel can be prevented from getting lost, medical staff can be automatically clocked in, and the historical trajectory of medical equipment can be effectively managed. What's more important is that the data stored in the server 60 of the present invention can also be combined with Big Data analysis applications to record the activity trajectory of the care vehicle 30 and extend the patient’s activity trajectory tracking and management. And analyze the utilization rate of medical equipment. Obviously, the technical content of the present invention has extremely strong patent application requirements.

However, the content described in the description of the present invention is only an example of a preferred embodiment. When it cannot be used to limit the scope of protection of the present invention, any relevant partial changes, minor modifications, amendments, or added technologies, or numerically Or changes in position, etc., still do not depart from the scope of protection of the present invention.

10.10a: Location label 11: Proximity sensor interface 12: Signal receiving interface 13: Proximity sensor receiving/transmitting module 14: Detection signal conversion module 15: Proximity sensor control circuit 16: Broadcast transmission module 18: Terminal trigger operation Signal Module 20: Administrator 22: Local Administrator 24: Browser 30: Nursing Vehicle 32: Local User 40: Sensing and Communication Module 41: Accelerometer 42: Geomagnetic Sensor 43: Angular Velocity Sensor 44 : MEMS sensor 45: GPS global positioner 46: Proximity sensor 47: Gyroscope 48: Atmospheric pressure sensor 50: Sensor data conversion module 52: Sensor data transmission module 55 : Proximity communication sensor transmission module 56: Location recognition unit 60: Server 62: Local server 64: Message sequence telemetry transmission proxy server 70: Management control module 71: Database 72: Device location recognition module 73: Space Data Correction Module 74: Graphic Data Editor 75: Spatial Data Tracking Module 76: Proximity Communication Inductive Transmission Management Module 77: Data Exchange Module 80: Backup Power Supply WCF: Windows Communication Rules HTTP: Hypertext Transfer Protocol MQTT: Message Sequence Telemetry Transmission S: Signal Strength X: Location S10~S47: steps

FIG. 1 is a schematic diagram of the connection relationship of circuit blocks according to an embodiment of the present invention;

2 is a schematic diagram of the connection relationship between the circuit blocks of the sensing and communication modules in the embodiment of the present invention;

3A is a schematic diagram of the connection relationship of the circuit blocks of the location tag in the embodiment of the present invention;

3B is a schematic diagram of the connection relationship between the circuit blocks of the location tag in another embodiment of the present invention;

4 is a schematic diagram of searching for nearby devices through Bluetooth in an embodiment of the present invention;

FIG. 5 is a flowchart of steps for editing and setting image resources in an embodiment of the present invention;

Figure 6 is a flowchart of the steps of the positioning calculation of the nursing carrier in the embodiment of the present invention;

Fig. 7 is a schematic diagram of an implementation aspect of the overall system according to an embodiment of the present invention.

10: Location label

20: Manager

22: local administrator

24: Browser

30: Nursing Vehicle

32: local users

40: Sensing and communication module

60: server

62: local server

64: Message sequence telemetry transmission proxy server

70: Management control module

71: Database

72: Device location recognition module

73: Spatial data correction module

74: Graphic Data Editor

75: Spatial data tracking module

76: Proximity communication induction transmission management module

77: Data Exchange Module

WCF: Windows Communication Rules

HTTP: Hypertext Transfer Protocol

MQTT: Message sequence telemetry transmission

Claims (10)

An indoor vehicle positioning system, comprising: at least one location tag, which is set at a set location in a room and has the function of proximity sensing; a manager, the manager includes a browser for performing network connections; at least A care vehicle is a medical care vehicle that performs proximity sensing with the at least one location tag. The location tag detects whether the care vehicle is close, and each care vehicle includes a sensor A measurement and communication module, the sensing and communication module includes: an accelerometer to detect the acceleration state of the movement of the care vehicle; a geomagnetic sensor to detect the movement of the care vehicle An angular velocity sensor to detect the turning state of the care carrier itself; a sensor data conversion module coupled to the accelerometer, the geomagnetic sensor and the angular velocity sensor The sensor converts the detected signals of the various movement states of the care carrier itself; a sensor data transmission module, coupled to the sensor data conversion module, is used for the converted care The signals of various moving states of the vehicle itself are transmitted; a proximity communication sensor transmission module, coupled to the sensor data transmission module, is used to perform proximity sensing and communication with the location tag, so that the location tag can be Know the proximity of the care vehicle, or make the care vehicle know the proximity to the location tag; and a server, the server is connected to the administrator network, and the server is connected to the care Carrier network connection, the server includes: a local server, a server set up according to user needs; a message sequence telemetry transmission proxy server, coupled to the local server, used to execute messages The communication function of serial telemetry transmission; a management control module, coupled to the message serial telemetry transmission proxy server, for bidirectional transmission of messages, the management control module includes: a graph data editor for users to perform editing A map data in the room; a proximity communication sensor transmission module for processing signal management and identification of the proximity sensor between the location tag and the care vehicle; a data exchange module for executing the management control module The two-way communication function of the message sequence telemetry transmission between the group and the message sequence telemetry transmission proxy server; and a database for storing the map data edited by the map data editor; and the map data editor, the The proximity communication sensor transmission module, the data exchange module and the database are mutually coupled. The indoor vehicle positioning system according to claim 1, wherein the administrator further includes a local administrator, the local administrator is set according to user needs, and the local administrator is connected to the local server through a network , And the network connection is a network connection with a window communication rule; wherein the care vehicle also includes a local user, the local user is set according to the user's needs and directly connected to the sensing and communication module Coupled, the local user and the local server are network connections, and the network connection is a network connection of a window communication rule. The indoor vehicle positioning system according to claim 1, wherein the management control module further includes: a spatial data correction module for correcting the spatial data of the relative position in the room, and correcting the care vehicle Starting position; a spatial data tracking module to track the movement state of the care vehicle in the indoor space; and a device position recognition module to identify the location of the care vehicle; and the space The data correction module, the spatial data tracking module, and the device position identification module are mutually coupled with the database. The indoor vehicle positioning system according to claim 1, wherein the sensing and communication module further includes: a microelectromechanical system sensor, coupled to the sensor data conversion module, for detecting the The trace movement state of the care vehicle; a GPS global locator, coupled to the sensor data conversion module, to detect the geographic location of the care vehicle; a proximity sensor, coupled to the sensor A sensor data conversion module for detecting the close-range sensing of the care vehicle; a gyroscope, coupled to the sensor data conversion module, for detecting the three-axis movement state of the care vehicle; And an atmospheric pressure sensor, coupled to the sensor data conversion module, for detecting the height state of the care carrier. According to the indoor vehicle positioning system according to claim 1, each of the location tags includes: a proximity sensor interface as an interface for mutual induction between the location tag and the care vehicle; and a proximity sensor receiving/transmitting module Group, coupled to the proximity sensor interface for receiving or transmitting a signal when the care vehicle approaches the location tag; and a proximity sensor control circuit, coupled to the proximity sensor receiving/transmitting module, for the location The main control circuit in the label. According to the indoor vehicle positioning system of claim 1, each location tag includes: a signal receiving interface for receiving and sensing an object close to the location tag; a detection signal conversion module coupled to The signal receiving interface is used to convert the signal of the detected object; a broadcast transmission module, coupled to the detection signal conversion module, is used to broadcast and transmit the converted signal ; And a terminal trigger operation signal module, coupled to the broadcast transmission module, to send a signal that can trigger the operation of a terminal device. The indoor vehicle positioning system according to claim 1, wherein the proximity communication induction transmission module further includes a location recognition unit for recognizing the location between the care vehicle and the location tag, and the relationship between the two The proximity of the distance is judged by the strength of the proximity sensor signal. The indoor vehicle positioning system according to claim 1, further comprising a backup power terminal, which is installed at a fixed position in the room, the backup power terminal is a charging device, and has an origin marked as the map data An absolute position of coordinates. A method for setting map data is used in the indoor vehicle positioning system as described in claim 1. The method for setting map data includes: creating a map name; importing a spatial plan; specifying a scale; using a definition tool Circle the name of the space; use the editing tool to circle the moving range; specify the location and number of the anchor point; and save the edit result of the map. A nursing vehicle positioning method is applied to the indoor vehicle positioning system as described in claim 1. The nursing vehicle positioning method includes: activating a positioning function of the nursing vehicle; searching for proximity communication induction transmission Module signal; Determine whether it is a positioning point device, if not, continue to search for proximity communication sensor transmission module; Download the image data file of the backup power terminal device through the server; Calibrate the different sensors and start of the nursing vehicle Position; Continuously calculate the moving position and direction of the nursing vehicle according to the sensor; Determine whether to enter the user-defined space; If it enters the defined space, detect the signal strength and number of the nearby location tag device, and then record the movement track; if not Enter the defined space, directly record the movement track; and report the record to the server regularly.

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