TWI759704B - Positioning sensing system and positioning sensing method - Google Patents

Abstract

A positioning sensing system and a positioning sensing method are disclosed. The positioning sensing system includes positioning sensors. The positioning sensing method includes steps of: (a) disposing the positioning sensors in a space, wherein the positioning sensors are all movable and all have functions of sensing distance, angle and time; (b) the positioning sensors communicating with each other to sense relative distances, relative angles and relative times between every two positioning sensors of the positioning sensors; and (c) when at least one of the positioning sensors moves in the space, the positioning sensors will re-communicate with each other to instantly update the relative distances, the relative angles and the relative times between every two positioning sensors of the positioning sensors.

Description

Positioning sensing system and positioning sensing method

The present invention is related to positioning sensing, and more particularly, to a positioning sensing system and a positioning sensing method.

Generally speaking, a conventional indoor positioning system can usually deploy a plurality of positioning anchor points (Anchors) at a plurality of known fixed positions in an indoor space. When a positioning tag (Tag) connected to a target to be positioned (such as a person or an object) sends a signal to communicate with the plurality of positioning anchor points, the plurality of positioning anchor points can accurately determine the position of the target to be positioned.

However, in the traditional indoor positioning system, when the user intends to move the positioning anchor point that was originally deployed at a known fixed position for practical needs, the user needs to know the new position coordinates after the positioning anchor point moves and manually To update the position of the positioning anchor point, otherwise, the positioning accuracy will be greatly reduced, which is quite inconvenient and time-consuming for the user.

In view of this, the present invention proposes a positioning sensing system and a positioning sensing method to effectively solve the above-mentioned problems encountered in the prior art.

One specific embodiment according to the present invention is a positioning sensing system. In this embodiment, the positioning sensing system includes a plurality of positioning sensors. The plurality of positioning sensors are movable and have distance, angle and time sensing functions. The plurality of positioning sensors are arranged in a space. The plurality of positioning sensors communicate with each other to sense the relative distance, relative angle and relative time between the plurality of positioning sensors. Wherein, when at least one positioning sensor of the plurality of positioning sensors moves in the space, the plurality of positioning sensors re-communicate with each other, so as to update the relative relationship between the plurality of positioning sensors in real time. Distance, relative angle and relative time.

In one embodiment, after the relative distance, relative angle and relative time between the plurality of positioning sensors are updated in real time, at least one path ( Path).

In one embodiment, the space is a one-dimensional space, a two-dimensional space or a three-dimensional space.

In one embodiment, the at least one path is a non-closed path.

In one embodiment, at least one other positioning sensor among the plurality of positioning sensors can move in the space along the at least one path to perform a tracking function.

In one embodiment, the at least one path is a closed path in the space to form at least one area, the at least one area may include a first area and a second area, and the first area and the second area may be respectively Corresponds to different definitions or functions.

In one embodiment, the at least one path may use a Deep Neural Network (DNN) model, a Convolutional Neural Network (CNN) model, or a Long-Short Term Memory (LSTM) model is corrected.

In one embodiment, the plurality of positioning sensors include at least one positioning anchor point (Anchor) and at least one positioning tag (Tag), and the at least one positioning tag and the at least one positioning anchor point communicate with each other to sense each other The relative distance, relative angle and relative time therebetween, the at least one positioning sensor moving in the space may be a positioning anchor point and/or a positioning label.

In one embodiment, the at least one positioning label is disposed on at least one target to be positioned. When the at least one target to be positioned moves, the at least one positioning label also moves, and the at least one positioning label is associated with the at least one target. Positioning anchors re-communicate with each other to instantly update their relative distance, relative angle and relative time to each other.

In one embodiment, the plurality of positioning sensors are connected to each other through imaging technology, ultrasonic technology, Bluetooth technology, WiFi technology, laser technology, infrared technology, radio frequency technology, ZigBee technology or ultra-wideband (UWB) technology communicate.

Another specific embodiment according to the present invention is a positioning sensing method. In this embodiment, the positioning sensing method includes the following steps: (a) arranging a plurality of positioning sensors in a space, wherein the plurality of positioning sensors are movable and have distances, angles and time sensing function; (b) the plurality of positioning sensors communicate with each other to sense the relative distance, relative angle and relative time between the plurality of positioning sensors; and (c) when the plurality of positioning sensors When at least one positioning sensor in the detectors moves in the space, the plurality of positioning sensors re-communicate with each other to update the relative distance, relative angle and relative time between the plurality of positioning sensors in real time.

Compared with the prior art, in the positioning sensing system and the positioning sensing method of the present invention, a plurality of positioning sensors (including positioning anchors and positioning labels) arranged in a space are movable and all. With distance, angle and time sensing functions. When at least one positioning sensor (such as a positioning anchor or a positioning label) moves, all positioning sensors will automatically re-communicate with each other, thereby dynamically updating the relative distances between all positioning sensors in real time, Relative angle and relative time. Therefore, the positioning sensing system and the positioning sensing method of the present invention can maintain good positioning accuracy, and can save the manual update procedure, which is quite convenient and time-saving for the user.

The advantages and spirit of the present invention can be further understood from the following detailed description of the invention and the accompanying drawings.

Reference will now be made in detail to the exemplary embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Elements/components using the same or similar numbers in the drawings and the embodiments are intended to represent the same or similar parts.

One specific embodiment according to the present invention is a positioning sensing system. In this embodiment, the positioning sensing system of the present invention can be applied in a space, and the dimension of the space is not limited, such as one-dimensional (1-D) space, two-dimensional (2-D) space or Three-dimensional (3-D) space is available.

Please refer to FIG. 1 , which is a schematic diagram of the positioning sensing system in this embodiment.

As shown in FIG. 1 , the positioning sensing system includes a plurality of positioning sensors DS1 ˜ DS3 . The plurality of positioning sensors DS1 to DS3 are all movable (Movable) and have distance, angle and time sensing functions. The plurality of positioning sensors DS1 ˜ DS3 are respectively arranged at different positions in the space SP. The plurality of positioning sensors DS1-DS3 communicate with each other by transmitting signals, so as to sense the relative distances d12, d23 and d31, the relative angle and the relative time between the plurality of positioning sensors DS1-DS3 respectively , and respectively locate the relative positions of the plurality of positioning sensors DS1 to DS3 in the space SP.

For example, the positioning sensors DS1 and DS2 transmit signals to each other for phase synchronization. Mutual communication to sense the relative distance d12, relative angle and relative time between the positioning sensors DS1 and DS2; the positioning sensors DS2 and DS3 transmit signals to each other to communicate with each other to sense the positioning sensing The relative distance d23, relative angle and relative time between the sensors DS2 and DS3; the positioning sensors DS3 and DS1 communicate with each other by transmitting signals to each other to sense the relative distance d31 between the positioning sensors DS3 and DS1 , relative angle and relative time.

In practical applications, since the plurality of positioning sensors DS1 to DS3 in the positioning sensing system 1 are movable, one or more of the plurality of positioning sensors DS1 to DS3 can be moved according to actual requirements. a location sensor. Furthermore, the number of the plurality of positioning sensors included in the positioning sensing system 1 can be determined according to actual requirements, and is not limited to three in this embodiment.

In addition, among the plurality of positioning sensors DS1 to DS3 in the positioning sensing system 1, imaging technology, ultrasonic technology, Bluetooth technology, WiFi technology, laser technology, infrared technology, radio frequency technology, etc. can be selected according to actual needs. The ZigBee technology or the ultra-wideband (UWB) technology senses the relative distance, relative angle and relative time between the plurality of positioning sensors DS1 to DS3, and there is no specific technology limitation.

It should be noted that when at least one positioning sensor among the plurality of positioning sensors DS1 ˜ DS3 moves in the space SP, the plurality of positioning sensors DS1 ˜ DS3 will re-communicate with each other, so as to dynamically Update the relative distances d12, d23 and d31, the relative angle and the relative time between the plurality of positioning sensors DS1-DS3 in real time, and dynamically update the plurality of positioning sensors DS1-DS3 in the space SP accordingly At the same time, at least one path (Path) of the movement of the at least one positioning sensor in the space SP can also be obtained.

For example, as shown in FIG. 2, when the positioning sensor DS2 among the plurality of positioning sensors DS1-DS3 moves in the space SP and the positioning sensors DS1 and DS3 remain stationary, the positioning sensor DS1 The DS2 and DS2 will re-transmit signals to each other to communicate with each other, so as to dynamically update the relative distance, relative angle and relative time between the positioning sensors DS1 and DS2 in real time. Since the position of the moving positioning sensor DS2 in the space SP has changed, the relative distance between the positioning sensors DS1 and DS2 will change from the original d12 to d12'.

At this time, the positioning sensors DS2 and DS3 will also transmit signals to each other again to communicate with each other, so as to dynamically update the relative distance, relative angle and relative time between the positioning sensors DS2 and DS3 in real time. Since the position of the moving positioning sensor DS2 in the space SP has changed, the relative distance between the positioning sensors DS2 and DS3 will change from the original d23 to d23'.

Similarly, the positioning sensors DS3 and DS1 will also transmit signals to each other again to communicate with each other, so as to dynamically update the relative distance, relative angle and relative time between the positioning sensors DS3 and DS1 in real time. However, since the positions of the position sensors DS3 and DS1 in the space SP are not changed, the relative distance between the position sensors DS3 and DS1 remains unchanged at the original d31.

Continuing from the above, after the relative distance, relative angle and relative time between the plurality of positioning sensors DS1-DS3 have been dynamically updated in real time, in addition to simultaneously updating the plurality of positioning sensors DS1-DS3 in the space SP In addition to the relative position in the space SP, the path PH of the positioning sensor DS2 moving in the space SP can also be obtained according to the relative position of the positioning sensor DS2 before and after moving in the space SP, as shown in FIG. 2 .

In practical applications, after determining the path PH of the positioning sensor DS2 when it moves in the space SP, other positioning sensors (such as DS1) among the plurality of positioning sensors DS1-DS3 (such as DS1, but not (limited) can also move in the space SP along the same path PH, so as to realize the tracking (Tracking) function, but not limited to this.

It should be noted that, although the above embodiment is described by taking the positioning sensing system 1 including three positioning sensors DS1 to DS3 as an example, the present invention is also applicable to the positioning sensing system 1 including other numbers (for example, four or In the context of more than one) positioning sensors, it can be analogized according to this embodiment, so it will not be described in detail here.

In addition, in practical applications, the plurality of positioning sensors in the positioning sensing system 1 may include at least one positioning anchor (Anchor) and at least one positioning tag (Tag). The at least one positioning tag and the at least one positioning anchor point can communicate with each other by transmitting signals, so as to sense the relative distance, relative angle and relative time therebetween, but not limited thereto. Moreover, in the above-mentioned embodiment, the positioning sensor DS2 moving in the space SP may be a positioning anchor point or a positioning label, and there is no specific limitation.

Next, please refer to FIG. 3 to FIG. 5 . The positioning sensing system 1 of the present invention can actually be applied to positioning in different spatial dimensions, such as positioning in one-dimensional (1-D) space shown in FIG. 3 , two-dimensional (2-D) positioning shown in FIG. ) space and the three-dimensional (3-D) space shown in FIG. 5 are not particularly limited.

The one-dimensional positioning shown in Figure 3 is often used for ranging in scenes such as tunnels, pipe corridors, and streets. For example, when performing one-dimensional positioning of the target to be located on the street, the width of the street is generally ignored, but the This is limited.

The two-dimensional positioning shown in Figure 4 is often used in factories, supermarkets, shopping malls and other scenarios. The coordinates of the positioning tag in the two-dimensional space can be determined through more than 4 positioning anchor points, and then the location of personnel or materials can be determined. location, but not limited to this.

The three-dimensional positioning shown in Figure 5 is often used in three-dimensional buildings or in the sky. When positioning anchor points in three-dimensional space, the height difference in the vertical direction (Z axis) needs to be specially opened to ensure that the vertical direction (Z-axis) accuracy, so as to accurately determine the coordinates of the positioning tag in the three-dimensional space, and then determine the floor and position of the personnel or materials, or the position of the drone in the sky, but not limited to this .

Next, please refer to FIGS. 6 to 7 . As shown in FIG. 6 , the path PH1 of the positioning sensor moving in the space may be a non-closed path, but it is not limited thereto.

As shown in FIG. 7 , the path PH2 of the positioning sensor moving in the space may be a closed path to form at least one area (Area) A1-A2. In this embodiment, the at least one area A1-A2 may include a first area A1 and a second area A2, wherein the first area A1 is located within the path PH2 and the second area A2 is located outside the path PH2, but not limited.

In practical applications, the first area A1 located in the path PH2 and the second area A2 located outside the path PH2 may respectively correspond to different definitions or functions.

For example, if the first area A1 located in the path PH2 is defined as a "prohibited area", it means that functions such as drone flying, cleaning, or weeding are prohibited in the first area A1, but not limited to this; if The second area A2 located outside the path PH2 is defined as a "permitted area", which means that functions such as drone flying, cleaning, or weeding can be performed in the second area A2, but not limited thereto.

In an implementation scenario, assuming that a plurality of positioning anchor points are arranged at different positions in a space, a user with a positioning label on his body can move along a path in the space, and the positioning label on the user's body is the same as the one. The plurality of positioning anchor points will continuously transmit signals to communicate with each other, so as to dynamically update the relative distance, relative angle and relative time between each other in real time, and then obtain the moving path of the user in the space.

Then, as shown in FIG. 6 , the sweeping robot or the weeding machine can activate the tracking function and perform the action of cleaning or weeding along the path PH1 . In this way, the user only needs to walk along the path PH1 for cleaning or weeding, and then the sweeping robot or the weeding machine can smoothly complete the task of cleaning or weeding along the path PH1, without the need for a tedious and complicated cleaning path in advance Or the setting of the weeding path is very convenient for the user.

In another implementation scenario, as shown in FIG. 7 , it is assumed that the path PH2 that the user with the positioning tag moves in the space is a closed path, and a first area A1 located in the path PH2 and a first area A1 located outside the path PH2 are respectively formed. The second area A2.

If the user only wants to clean the second area A2 or the first area A1 is an obstacle, the user can define the second area A2 as an "allowed area" and the first area A1 as a "prohibited area". When the cleaning robot starts to move, it will automatically avoid the "prohibited area" (that is, the first area A1) without cleaning according to the above definition, and will only move in the "allowed area" (that is, the second area A2) and perform cleaning. clean.

Similarly, if the user only wants to weed the second area A2 or the first area A1 is not grass, the user can define the second area A2 as a "permitted area" and the first area A1 as a "prohibited area". ". When the lawnmower starts to move, it will automatically avoid the "prohibited area" (ie, the first area A1) without weeding according to the above definition, and will only move within the "allowed area" (ie, the second area A2) and carry out weeding.

It should be noted that the positioning sensing system of the present invention can be applied to various implementation scenarios, and is not limited to the above implementation scenarios.

Next, please refer to FIG. 8 and FIG. 9 . FIG. 8 and FIG. 9 respectively illustrate different embodiments in which the positioning sensor in the positioning sensing system includes a positioning anchor (Anchor) and a positioning tag (Tag).

As shown in FIG. 8 , in an embodiment, the plurality of positioning sensors deployed in the space SP may include a plurality of positioning anchor points AN1 ˜ AN6 and a plurality of positioning tags TA1 ˜ TA9 . The positioning tags TA1-TA6 are located in the area enclosed by the positioning anchors AN1-AN4, and the positioning tags TA7-TA9 are located in the area enclosed by the positioning anchors AN3-AN6, but not limited thereto.

Taking the positioning tag TA9 and the positioning anchor points AN5~AN6 as an example, the positioning tag TA9 and the positioning anchor points AN5~AN6 will transmit signals to each other to communicate with each other, so as to sense the relative distance, relative angle and relative distance between each other in real time. time.

Assuming that the positioning tag TA9 is set on a target to be positioned (such as a user, but not limited thereto), when the target to be positioned moves, the positioning tag TA9 will also move accordingly. At this time, the positioning tag TA9 and the positioning anchor points AN5~AN6 will transmit signals to each other again to communicate with each other, so as to dynamically update the relative distance, relative angle and relative time between each other in real time, and simultaneously update the positioning tags TA9 and AN6. The relative positions of the anchor points AN5 to AN6 are positioned, and then the moving path of the target to be positioned with the positioning label TA9 is obtained, but not limited thereto.

As shown in FIG. 9 , in another embodiment, the plurality of positioning sensors deployed in the space SP may include a plurality of positioning anchor points AN1 ˜ AN6 and a plurality of positioning tags TA1 ˜ TA3 . Wherein, the positioning tag TA1 is located in the area surrounded by the positioning anchor points AN1 - AN4 , and the positioning tags TA2 - TA3 are located in the area surrounded by the positioning anchor points AN3 - AN6 , but not limited thereto.

Taking the positioning tag TA1 and the positioning anchor points AN2 and AN4 as an example, the positioning tag TA9 and the positioning anchor points AN2 and AN4 will transmit signals to each other to communicate with each other, so as to sense the relative distance, relative angle and relative distance between each other in real time. time.

Assuming that the positioning label TA1 is set on a target to be positioned (such as a cleaning robot, but not limited to this), when the target to be positioned moves, the positioning label TA1 will also move along with it. At this time, the positioning label TA1 and the positioning anchor point AN2 and AN4 will re-transmit signals to each other to communicate with each other, so as to dynamically update the relative distance, relative angle and relative time between each other in real time, and simultaneously update the relative position of the positioning tag TA1 and the positioning anchor points AN2 and AN4, Further, the moving path of the target to be positioned provided with the positioning label TA1 is obtained, but not limited thereto.

Next, please refer to FIG. 10 . FIG. 10 is a schematic diagram illustrating the principle of positioning between different positioning anchors.

As shown in FIG. 10 , if the first positioning anchor point AN1 is set as the coordinate origin in the positioning coordinate system, and the connecting line between the first positioning anchor point AN1 and the second positioning anchor point AN2 is set as the coordinate origin in the positioning coordinate system X axis, the vertical bottom surface is the Z axis in the positioning coordinate system, and the Y axis in the positioning coordinate system can be obtained according to the right-hand rule.

After establishing the coordinate origin and three axes of the positioning coordinate system, draw a circle with the first positioning anchor point AN1 as the center and the distance from the third positioning anchor point AN3 to the first positioning anchor point AN1 as the radius, and then draw a circle with the second positioning anchor point AN1 as the radius. The positioning anchor point AN2 is the center of the circle, and the distance from the third positioning anchor point AN3 to the second positioning anchor point AN2 is the radius. Draw a circle, then the two circles will have two intersection points K1 and K2, where the Y-axis coordinate of the intersection point K1 is a positive value and the intersection point The Y-axis coordinate of K2 is negative. If the third positioning anchor point AN3 is set at the intersection K1 where the Y-axis coordinate is a positive value, the coordinate positions of the first positioning anchor point AN1 to the third positioning anchor point AN3 in the positioning coordinate system can be determined.

It should be noted that, after determining the coordinate positions of the first positioning anchor point AN1 to the third positioning anchor point AN3 in the positioning coordinate system, the coordinate positions of the first positioning anchor point AN1 to the third positioning anchor point AN3 can be used for Positioning tags (Tag) for positioning. First, take the first positioning anchor point AN1 as the center of the sphere, and the distance from the first positioning anchor point AN1 to the positioning label as the radius to draw the ball, then take the second positioning anchor point AN2 as the center of the ball, and the second positioning anchor point AN2 to the positioning label The distance is the radius to draw the ball, and the third positioning anchor point AN3 is the center of the ball, and the distance from the third positioning anchor point AN3 to the positioning label is the radius. If there are two intersections, the position of the positioning label is at one of the two intersections.

Please refer to Figure 11. FIG. 11 is a plan view showing the simulation result of the optimized number and location of positioning anchors deployed in the indoor space.

As shown in FIG. 11 , in this embodiment, the space SP includes a room area RM and a corridor area CR, and a door DR is disposed between the room area RM and the corridor area CR. Assume that there are 226 candidate anchor locations in this space SP, as shown by "x" in Fig. 11, and perform all positioning label positions in this space SP for the 226 candidate anchor locations respectively. The optimization simulation of the root mean square error (Root-Mean-Square Error, RMSE) of (Tag location), the simulation results show that the optimal number of positioning anchor points deployed in this space SP is 3 and its optimal The positions are respectively the same as the positions of the candidate positioning anchor points where the positioning anchor points AN1 to AN3 in FIG. 11 are located. It should be noted that the right side of FIG. 11 is an example of a logarithmic scale (log scale) representing the root mean square difference of all positioning label positions.

As shown in FIG. 12A , in one embodiment, the target K to be positioned with the positioning label moves along the ideal path PHD (represented by a dotted line) in the space SP, that is, the target K to be positioned performs tracking along the ideal path PHD (Tracking) function, wherein the ideal path PHD may include at least a plurality of positions P1-P4 in sequence, but not limited thereto.

Next, please refer to FIG. 12B and FIG. 12C . 12B and 12C respectively show the experimental results of correcting the actual path PH0 when the target K to be positioned moves along the ideal path PHD (represented by the dotted line) in the space SP to perform the tracking function using different models.

As shown in FIG. 12B and FIG. 12C , in this embodiment, the ideal path PHD when the target K moves in the space SP is represented by a dotted line, and the other paths PH0, DNN, CNN, LSTM respectively represent the target to be positioned The actual path when K moves in the space SP to perform the tracking function, the corrected path after correction using the Deep Neural Network (DNN) model, and the corrected path using the Convolutional Neural Network (CNN) model The corrected path and the corrected path after correction using the Long-Short Term Memory (LSTM) model.

According to the experimental results shown in FIGS. 12B and 12C , when the target K to be positioned moves in the space SP to perform the tracking function, it is likely to be disturbed by the moving person M or other objects, causing its actual path PH0 to be different from the ideal path PH0 The deviation of the path PHD is very large. Therefore, the present invention can use the above various models to correct the actual path PH0 for tracking the target K to be positioned. Among the above-mentioned corrected paths, the corrected path LSTM corrected by the long short-term memory (LSTM) model has the smallest deviation from the ideal path PHD, so the best correction effect can be achieved, but not limited to this.

Another specific embodiment according to the present invention is a positioning sensing method. In this embodiment, the positioning sensing method can be applied in an indoor space, but not limited thereto.

Please refer to FIG. 13 . FIG. 13 shows a flowchart of the positioning sensing method in this embodiment. As shown in Figure 13, the positioning sensing method includes the following steps:

Step S10: Deploy a plurality of positioning sensors in a space, wherein the plurality of positioning sensors are movable and have distance, angle and time sensing functions;

Step S12: the plurality of positioning sensors communicate with each other to sense the relative distance, relative angle and relative time between the plurality of positioning sensors;

Step S14: When at least one of the plurality of positioning sensors moves in the space, the plurality of positioning sensors re-communicate with each other, so as to instantly update the relationship between the plurality of positioning sensors. relative distance, relative angle and relative time; and

Step S16: After the relative distance, relative angle and relative time between the plurality of positioning sensors are updated in real time, at least one path of the at least one positioning sensor moving in the space can be obtained.

Compared with the prior art, in the positioning sensing system and the positioning sensing method of the present invention, a plurality of positioning sensors (including positioning anchors and positioning labels) arranged in a space are movable and all. With distance, angle and time sensing functions. When at least one positioning sensor (such as a positioning anchor or a positioning label) moves, all positioning sensors will automatically re-communicate with each other, thereby dynamically updating the relative distances between all positioning sensors in real time, Relative angle and relative time. Therefore, the positioning sensing system and the positioning sensing method of the present invention can maintain good positioning accuracy, and can save the manual update procedure, which is quite convenient and time-saving for the user.

SP...Space DS, DS1~DS3...positioning sensor d12, d23, d31, d12', d23'...relative distance PH, PH1, PH2... path A1~A2...area AN1~AN6...Locating anchor points TA1~TA9...Location label K1~K2...Intersection point RM...room area CR... Corridor area DR...door x...candidate anchor position K...target to be located PHD...Ideal Path P1~P6...Location PH0...actual path M... people DNN...corrected path using deep neural network model CNN...The path after correction using the convolutional neural network model LSTM...corrected path after correction using long short-term memory model S10~S16...steps

The accompanying drawings of the present invention are described as follows: FIG. 1 is a schematic diagram illustrating a positioning sensing system including a plurality of positioning sensors arranged in a space according to an embodiment of the present invention. 2 is a schematic diagram showing that when one of the positioning sensors in the positioning sensing system moves, the relative distances, relative angles and relative times between all the positioning sensors are also dynamically updated in real time. 3 to 5 are schematic diagrams showing that the positioning sensing system of the present invention can be applied to one-dimensional space, two-dimensional space and three-dimensional space, respectively. FIG. 6 is a schematic diagram showing that the path (Path) of the positioning sensor moving in the space is a non-closed path. 7 is a schematic diagram illustrating that the path of the positioning sensor moving in the space is a closed path to form at least one area. FIG. 8 and FIG. 9 respectively illustrate different embodiments in which the positioning sensor in the positioning sensing system includes a positioning anchor (Anchor) and a positioning tag (Tag). FIG. 10 is a schematic diagram illustrating the principle of positioning between different positioning anchors. FIG. 11 shows a plan view of the simulation result of the optimized number and position of positioning anchors deployed in a space in one embodiment.

FIG. 12A is a schematic view of a real scene when the target to be positioned moves along an ideal path in space in an embodiment.

FIG. 12B and FIG. 12C respectively illustrate experimental results of correcting the actual path when the target to be positioned moves along an ideal path in space to perform the tracking function using different models.

FIG. 13 is a flowchart of a positioning sensing method in another embodiment of the present invention.

S10~S16: Steps

Claims (18)

A positioning sensing system, comprising: a plurality of positioning sensors arranged in a space, the plurality of positioning sensors are all movable and have distance, angle and time sensing functions, the plurality of positioning sensors The sensors communicate with each other to sense the relative distance, relative angle and relative time between the plurality of positioning sensors; wherein, when at least one of the plurality of positioning sensors is located in the space When moving, the plurality of positioning sensors re-communicate with each other, so as to update the relative distance, relative angle and relative time between the plurality of positioning sensors in real time, when the relative distance between the plurality of positioning sensors, After the relative angle and the relative time are updated in real time, at least one path (Path) of the at least one positioning sensor moving in the space can be obtained, and another at least one positioning sensor among the plurality of positioning sensors can be obtained. Moving in the space along the at least one path to perform a tracking function. The positioning sensing system as described in claim 1, wherein the space is a one-dimensional space, a two-dimensional space or a three-dimensional space. The positioning sensing system as described in claim 1, wherein the at least one path is a non-closed path. The positioning sensing system as described in claim 1, wherein the at least one path is a closed path in the space to form at least one area, and the at least one area may include a first area and a second area area, and the first area and the second area may respectively correspond to different definitions or functions. The positioning sensing system as described in claim 1, wherein the at least one path can adopt a Deep Neural Network (DNN) model, a Convolutional Neural Network (CNN) model, or a long-term and short-term model. The memory (Long-Short Term Memory, LSTM) model is corrected. The positioning sensing system of claim 1, wherein the plurality of positioning sensors include at least one positioning anchor (Anchor) and at least one positioning tag (Tag), the at least one positioning tag and the at least one positioning tag (Tag) The positioning anchors communicate with each other to sense relative distance, relative angle and relative time between each other, and the at least one positioning sensor moving in the space can be a positioning anchor and/or a positioning label. The positioning sensing system as described in claim 6, wherein the at least one positioning label is disposed on at least one target to be positioned, and when the at least one target to be positioned moves, the at least one positioning label also moves along with it , the at least one positioning tag and the at least one positioning anchor point communicate with each other again, so as to update the relative distance, relative angle and relative time between them in real time. The positioning sensing system as described in item 1 of the patent application scope, wherein the plurality of positioning sensors are connected through image technology, ultrasonic technology, Bluetooth technology, WiFi technology, laser technology, infrared technology, radio frequency technology, ZigBee technology or Ultra Wide Band (UWB) technology communicates with each other. A positioning sensing method, comprising the following steps: (a) arranging a plurality of positioning sensors in a space, wherein the plurality of positioning sensors are movable and have distance, angle and time sensing functions ; (b) the plurality of positioning sensors communicate with each other to sense the relative distance, relative angle and relative time between the plurality of positioning sensors; and (c) when at least one of the plurality of positioning sensors When a positioning sensor moves in the space, the plurality of positioning sensors re-communicate with each other, so as to update the relative distance, relative angle and relative time between the plurality of positioning sensors in real time; wherein, when the plurality of positioning sensors After the relative distance, relative angle and relative time between the plurality of positioning sensors are updated in real time, at least one path of the at least one positioning sensor moving in the space can be obtained, and one of the plurality of positioning sensors can be obtained. In addition, at least one positioning sensor can move in the space along the at least one path to perform a tracking function. The positioning sensing method as described in claim 9, wherein the space is a one-dimensional space, a two-dimensional space or a three-dimensional space. The positioning sensing method as described in claim 9, wherein the at least one path is a non-closed path in the space. The positioning sensing method as described in claim 9, wherein the at least one path is a closed path in the space to form at least one area, the at least one area may include a first area and a second area, and The first area and the second area may respectively correspond to different definitions or functions. The positioning sensing method of claim 9, wherein the at least one path can be calibrated using a deep neural network (DNN) model, a convolutional neural network (CNN) model or a long short term memory (LSTM) model. The positioning sensing method of claim 9, wherein the plurality of positioning sensors include at least one positioning anchor point and at least one positioning label, the at least one positioning label and the at least one positioning anchor point communicate with each other, The at least one positioning sensor moving in the space can be a positioning anchor point and/or a positioning label to sense the relative distance, relative angle and relative time between each other. The positioning sensing method as described in claim 14, wherein the at least one positioning label is disposed on at least one target to be positioned, and when the at least one target to be positioned moves, the at least one positioning label also moves along with it , the at least one positioning tag and the at least one positioning anchor point communicate with each other again, so as to update the relative distance, relative angle and relative time between them in real time. The positioning sensing method as described in item 9 of the patent application scope, wherein the plurality of positioning sensors are connected through image technology, ultrasonic technology, Bluetooth technology, WiFi technology, laser technology, infrared technology, radio frequency technology, ZigBee technology or UWB technology communicate with each other. A positioning sensing system, comprising: a plurality of positioning sensors arranged in a space, the plurality of positioning sensors are all movable and have distance, angle and time sensing functions, the plurality of positioning sensors The sensors communicate with each other to sense the relative distance, relative angle and relative time between the plurality of positioning sensors; wherein, when at least one of the plurality of positioning sensors is located in the space When moving, the plurality of positioning sensors re-communicate with each other, so as to update the relative distance, relative angle and relative time between the plurality of positioning sensors in real time, when the relative distance between the plurality of positioning sensors, After the relative angle and relative time have been updated in real time, the at least one position can be obtained At least one path (Path) when the sensor moves in the space, the at least one path is a closed path in the space to form at least one area (Area), the at least one area may include a first area and a first area There are two areas, and the first area and the second area may respectively correspond to different definitions or functions. A positioning sensing method, comprising the following steps: (a) arranging a plurality of positioning sensors in a space, wherein the plurality of positioning sensors are movable and have distance, angle and time sensing functions ; (b) the plurality of positioning sensors communicate with each other to sense the relative distance, relative angle and relative time between the plurality of positioning sensors; and (c) when one of the plurality of positioning sensors When at least one positioning sensor moves in the space, the plurality of positioning sensors re-communicate with each other to update the relative distance, relative angle and relative time between the plurality of positioning sensors in real time; After the relative distance, relative angle and relative time between the plurality of positioning sensors have been updated in real time, at least one path of the at least one positioning sensor when moving in the space can be obtained, and the at least one path is in the space The closed path forms at least one area, the at least one area may include a first area and a second area, and the first area and the second area may respectively correspond to different definitions or functions.

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