TWM568373U - Indoor positioning system - Google Patents

Abstract

An indoor positioning system includes a beacon emission group, an acoustic wave transmitting device, and a portable device. The beacon emission group is also disposed in the indoor region as the acoustic wave transmitting device, and each of the acoustic wave transmitting devices emits a specific sound wave having a specific frequency combination. The portable device receives the beacon signal sent by the beacon transmission group and the specific sound wave, selects a corresponding positioning map according to the received beacon signal, and plays the positioning according to the state of the received sound wave frequency. The location information of the corresponding location in the figure.

Description

Indoor positioning system

This creation is about an indoor guidance system, especially an indoor positioning system that uses beacons and sound waves.

Existing positioning or navigation systems generally use the Global Positioning System (GPS) with satellites for positioning. However, when the user is indoors, the global positioning system often fails to perform as expected because the radio wave is weak and easily blocked by the metal shield. Therefore, when the user is indoors, other methods must be relied upon to obtain accurate positioning results.

In view of this, the present application proposes an indoor positioning system suitable for indoor positioning to make up for the deficiencies of the prior art.

The present application proposes an indoor positioning system comprising a set of beacon emission groups, a plurality of acoustic wave transmitting devices and a portable device. The beacon transmitting group is disposed in an indoor area and is adapted to provide a beacon signal; the acoustic wave transmitting device is also disposed in the indoor region, and each of the acoustic wave transmitting devices is adapted to emit a specific sound wave having a specific frequency combination, wherein The specific frequency combination of the specific sound waves emitted by each of the acoustic wave transmitting devices is different from at least one of the specific frequency combinations of the specific sound waves emitted by the other acoustic wave transmitting devices; the portable device includes the beacon receiver, the sound wave receiving a beacon receiver adapted to receive a beacon signal, the acoustic wave receiver being adapted to receive sound waves having a frequency within a predetermined frequency range, the processor being electrically coupled to the beacon receiver and the sound wave The receiver is electrically coupled to the processor, and the processor selects a corresponding positioning map according to the beacon signal received from the beacon receiver, and provides according to the state of the frequency of the sound wave received by the sound wave receiver. Positioning information of the corresponding position in the map, the positioning marker acquires and plays the obtained position information from the processor.

The above indoor positioning system can perform positioning by simultaneously referring to the beacon signal and the sound wave having a specific frequency, thereby effectively improving the positioning accuracy in the room. Moreover, since the equipment for receiving and transmitting sound waves is very simple, the system can be easily set up by using existing equipment, and the hardware cost required for indoor positioning is reduced.

Please refer to FIG. 1, which is a block diagram of an architecture of an indoor positioning system according to an embodiment of the present invention. In the present embodiment, indoor positioning system 10 includes a set of beacon emission groups 100, acoustic wave transmitting devices 120, 122, 124 and 126, and a portable device 20. The beacon transmitting group 100 and the acoustic wave transmitting devices 120, 122, 124 and 126 are all disposed in the same indoor region, wherein the beacon transmitting group 100 is adapted to emit a beacon signal, and each of the acoustic wave transmitting devices 120, 122, 124 and 126 are then adapted to emit a corresponding specific sound wave having a specific frequency combination. On the other hand, the portable device 20 includes a beacon receiver 210, an acoustic wave receiver 212, a processor 214, a positioning marker 216, and an inputter 218; wherein the beacon receiver 210 is configured to receive the transmitted from the beacon The beacon signal sent by the group 100; the sound wave receiver 212 is configured to receive the sound wave whose frequency is within the preset frequency range; the processor 214 is electrically coupled to the beacon receiver 210 and the sound wave receiver 212 according to the beacon The beacon signal received by the receiver 210 selects a corresponding positioning map, and provides position information of a corresponding position in the positioning map according to the state of the frequency of the acoustic wave received by the acoustic wave receiver 214; the positioning marker 216 is electrically coupled to the processor 214 to acquire and play the location information provided by the processor 214 from the processor 214. The input device 218 is electrically coupled to the processor 214 to provide an input interface for the user to input the target location to Portable device 20.

In general, since the effective identification range of the beacon signal is larger than the effective identification range of the acoustic wave (presumably within a range of 5 meters extended by the acoustic wave transmitting devices 120, 122, 124, and 126), Therefore, the wider area range can be indicated by the content of the beacon signal, and the smaller area range can be indicated by sound waves. In this way, the sound wave playing device which is relatively simple and inexpensive to set up can be utilized as much as possible to achieve the largest possible positioning range, and reduce the hardware cost required for indoor positioning. Also, because the effective identification range of the beacon signal is large, in order to avoid interference between different beacon signals, in a space where the beacon signal is less interfered, for example, on the same floor or in the same room, The beacon signals provided by the beacon transmitting group 100 can be represented by the same spatial block and belong to the same positioning map, so that the portable device 20 needs to face when it is in an area where different beacon signals overlap. The problem is simplistic. According to such a design concept, when the beacon transmission group 100 includes one or more beacon transmitting devices, the portable device 20 can receive the beacon signal from a certain beacon transmitting device. The corresponding location map is found in the library for subsequent positioning operations. That is, in a particular embodiment, each beacon transmitting device is adapted to emit the beacon signal corresponding to itself, and the beacon signal emitted by each beacon transmitting device will correspond to a positioning map . In different embodiments, the beacon signals emitted by different beacon transmitting devices may correspond to the same positioning map or different positioning maps.

It is known to those skilled in the art that, according to the above description, different beacon signals can be overlapped with each other and a corresponding judgment mechanism can be used to perform effective map determination.

After determining the corresponding location map based on the beacon signal, the portable device 20 can perform a further positioning operation in accordance with the state of the frequency of the received sound wave. Assuming that the acoustic wave transmitting devices 120, 122, 124 and 126 are all disposed in the same spatial block, the acoustic wave transmitting devices 120, 122, 124 and 126 should be set in the same positioning map corresponding to the spatial block. Set the position or the corresponding sensing range so that the correct positioning operation can be performed.

In order to perform the positioning operation, when the indoor positioning system 10 is specifically set, the portable device 20 must be capable of receiving the beacon signal transmitted from the beacon transmission group 100, and must also be receivable from the acoustic wave transmitting device 120, 122. , 124 and 126 devices for specific sound waves. Existing smart phones are an excellent example of a portable device 20. Assuming that an existing smart phone is used as the portable device 20, the beacon transmission group 100 may include more than one wireless local area network signal transmitting device, one or more Bluetooth signal transmitting devices, and one or more other beacon signals. A transmitting device or a hybrid combination of more than one of the foregoing devices, and each of the acoustic wave transmitting devices 120, 122, 124 and 126 may be any device capable of emitting sound waves of a desired frequency. For example, the two wireless local area network signal transmitting devices can be respectively used as the beacon transmitting devices 100a and 100b in the embodiment, and one wireless speaker is used as an acoustic wave transmitting device, respectively, and is emitted within a preset frequency range. For example: between 18 KHz and 22 KHz, and each has sound waves of different frequency combinations. It should be noted that the so-called sound waves with different frequency combinations may be sound waves of a single frequency or sound waves of more than two frequencies.

In a feasible method, multiple acoustic wave transmitting devices can simultaneously transmit sound waves of the same frequency combination, thereby forming a large area that can be identified; in another method, in order to achieve the most accurate positioning effect, The frequency combinations of the sound waves emitted by each of the acoustic wave transmitting devices can be made different from each other. For example, the acoustic wave transmitting device 120 can be made to emit sound waves having a single frequency of 18 kHz at a specific frequency and the sound wave transmitting device 124 and the acoustic wave transmitting device 126 can emit sound waves having a single frequency of 19 kHz at the same frequency as the acoustic wave transmitting device 122; or The acoustic wave transmitting device 120 may be combined to emit a specific frequency into an acoustic wave having a single frequency of 18 KHz, to combine the specific frequency of the acoustic wave transmitting device 122 to be a sound wave having a single frequency of 18.5 KHz, and to combine the specific frequency of the acoustic wave transmitting device 124 to have a dual frequency of 18 KHz. And a sound wave of 18.5 KHz, and the sound wave transmitting device 126 emits a specific frequency combined into sound waves having three frequencies of 18 kHz, 18.5 kHz, and 19 kHz. It will be understood that the above various frequency values are for illustrative purposes only and are not intended to limit the operational scope of the present invention.

The acoustic wave transmitting device 120 emits an acoustic wave having a single frequency of 18 kHz, the acoustic wave transmitting device 122 emits an acoustic wave having a single frequency of 18.5 kHz, the acoustic wave transmitting device 124 emits an acoustic wave having a dual frequency of 18 kHz and 18.5 kHz, and the acoustic wave transmitting device 126 emits a three-frequency. For example, acoustic waves of frequencies of 18 kHz, 18.5 kHz, and 19 kHz are used. When the portable device 20 is gradually approaching the range covered by the acoustic wave transmitting device 120, since the acoustic wave transmitting device 120 emits sound waves having a single frequency of 18 kHz, it is portable. In the sound received by the acoustic wave receiver 212 in the device 20, under the condition that the intensity of other background sounds does not change substantially, the intensity of the sound wave having a frequency of 18 kHz will gradually increase, and the processor 214 can be Judging from the state of change of the acoustic wave frequency, it is judged that the portable device 20 is gradually approaching the acoustic wave transmitting device 120. Similarly, when it is analyzed that the intensity of the sound wave having a frequency of 18 kHz in the sound received by the acoustic wave receiver 212 is gradually lowered, and the intensity of the sound wave having a frequency of 18.5 kHz is gradually increased, it means that the portable device is being It moves in a direction substantially away from the acoustic wave emitting device 120 and in proximity to the acoustic wave transmitting device 122.

It can be seen that by analyzing the change state of the acoustic wave frequency, the position where the portable device is located or the direction of movement can be known.

Therefore, the function of indoor navigation can be further developed according to the above-described indoor positioning system.

Several specific embodiments are described below:

Embodiment 1 Please refer to FIG. 2 , which is a schematic diagram of an application scenario according to an embodiment of the present invention. The range shown in Figure 2 is the range covered by the entire floor, and the space 2000 may be a small space such as an elevator car or a small meeting room, with walls and doors isolated from other areas of the map. When using only the beacon signal for position determination, it is difficult to know whether the user of the portable device is inside or outside the space 2000; and only when using the sound wave frequency as the basis for position determination, it is possible that only Because the sound waves of the same frequency appear, the user is misjudged inside the space 2000. Therefore, the acoustic wave transmitting device 2010 and the beacon transmitting device 2020 can be simultaneously disposed in the space 2000, and when the portable device of the user simultaneously obtains the beacon signal transmitted from the beacon transmitting device 2020 and by the acoustic wave transmitting device 2010 When a sound wave with a specific frequency is emitted, it can be accurately determined that the user is within the space 2000. In order to facilitate the portable device to receive the beacon signal and the sound wave, the acoustic wave transmitting device 2010 and the beacon transmitting device 2020 may be disposed at a height of the ceiling or the wall. According to the hardware arrangement in this embodiment, the range covered by the space 2000 is equivalent to the range covered by the aforementioned one of the maps.

Embodiment 2: Please refer to FIG. 3 , which is a schematic diagram of an application scenario according to an embodiment of the present invention. The range shown in FIG. 3 is the range covered by the aforementioned one of the positioning maps, wherein one or more beacon transmitting devices are disposed on the aisles composed of the spaces 3000, 3100, 3200, 3300, 3400, 3500 and 3600 (not Each space 3000, 3100, 3200, 3300, 3400, 3500, and 3600 is a specific range corresponding to one acoustic wave transmitting device 3010, 3110, 3210, 3310, 3410, 3510, and 3610, for example, each sound wave emission. Sensing ranges of devices 3010, 3110, 3210, 3310, 3410, 3510, and 3610. According to the hardware arrangement mode in the embodiment, the walkway is equivalent to the previous one, and the walkway of the map is divided into the aforementioned spaces corresponding to the spaces 3000, 3100, 3200, 3300, 3400, 3500 and 3600. Several sensing ranges. Because it is in the same positioning map, the simplest design is to make the specific frequency combinations of the specific sound waves emitted by each of the acoustic wave transmitting devices 3010, 3110, 3210, 3310, 3410, 3510 and 3610 different; It is also possible to use a particular combination of frequencies in a particular acoustic wave emitted by a portion of the acoustic wave transmitting device to be the same, while a particular frequency in a particular acoustic wave emitted by another portion of the acoustic wave transmitting device is combined in a different design. These beacon transmitting devices may all emit the same beacon signal for a situation in which a plurality of beacon transmitting devices are provided; or these beacon transmitting devices may also issue two or more different beacon signals, but these Different beacon signals can make the portable device refer to the same positioning map.

The processor of the portable device (the processor 214 shown in FIG. 1) can present the portable device by using the position of the portable device that is known by analyzing the change state of the acoustic wave frequency. The location information of the corresponding location in the location map is provided to the location marker (such as the location marker 216 shown in FIG. 1), and the location marker can play the location information through the graphical interface or the voice interface. When the positioning marker uses the graphic interface to play the position information, the foregoing position information may include the graphic data of the positioning image, and the graphic data of the relative position of the specific range of the acoustic wave device on the positioning image as the position reference. . When the location marker uses the voice interface to play the location information, the foregoing location information may include the audio data of the name represented by the location map, and the specific range of the acoustic wave device used as the location reference is located on the location map. Audio data in relative position (for example: a few meters from the left entrance).

Further, in combination with the previously mentioned moving direction known by analyzing the changing state of the acoustic wave frequency, the positioning marker can also perform navigation operation through a graphic interface or a voice interface. Prior to this, the user can input the desired destination by using an input device (such as the input device 218 shown in FIG. 1) in the portable device, and the processor in the portable device is used according to the use. The destination position and the current position and the moving direction of the input determine the possible path information from the existing corresponding position to the target position, and then the path information is played by the positioning marker for navigation.

Embodiment 3: Please refer to FIG. 4 , which is a schematic diagram of an application scenario according to an embodiment of the present invention. In this embodiment, each of the spaces 4000, 4020, 4040, 4060, 4100, 4120, 4140, 4160, 4200, 4220, 4240, 4260, 4300, 4320, 4340, and 4360 respectively correspond to one acoustic wave emitting device 4010, Specific ranges of 4030, 4050, 4070, 4110, 4130, 4150, 4170, 4210, 4230, 4250, 4270, 4310, 4330, 4350, and 4370; ranges covered by spaces 4000, 4020, 4040, and 4060 correspond to corresponding The range covered by the positioning map of the beacon transmitting device 4080, the range covered by the spaces 4100, 4120, 4140, and 4160 corresponds to the range covered by the positioning map corresponding to the beacon transmitting device 4180, by the spaces 4200, 4220, 4240 The range encompassed by 4260 is equivalent to the range covered by the map corresponding to the beacon transmitting device 4280, and the range covered by the spaces 4300, 4320, 4340, and 4360 is equivalent to the range map corresponding to the beacon transmitting device 4380. The scope.

In this embodiment, the foregoing plurality of positioning maps may be independent positioning maps, or may be a combined positioning map, and the design change may be performed by changing the beacon signals transmitted by the respective beacon transmitting devices. Or it can be easily accomplished by changing the data stored in the database. The basis for positioning and navigation can also be obtained in combination with the analysis method of the change state of the acoustic wave frequency mentioned above, and will not be repeated here.

Embodiment 4: Please refer to FIG. 5 , which is a schematic diagram of an application scenario according to an embodiment of the present invention. In this embodiment, a plurality of positioning maps 500, 510 and 520 are included, which respectively represent different floors in a building. By designing the database and the beacon signal, the positioning maps 500, 510 and 520 can be connected together, and then the existing position and the moving direction can be obtained according to the analysis manner of the change state of the previously mentioned acoustic wave frequency, and then Positioning and navigation between floors or between multiple floors.

Furthermore, even if the positioning maps 500, 510 and 520 are different spaces belonging to different buildings, the indoor positioning system proposed by the present invention can be used indoors, and the global positioning system can be adopted outdoors. In the manner of GPS), a navigation function across the positioning map is performed between these positioning maps 500, 510 and 520.

In summary, the indoor positioning system provided by the present invention can be positioned by simultaneously referring to the beacon signal and the sound wave having a specific frequency, thereby effectively improving the positioning accuracy in the room. Moreover, since the equipment for receiving and transmitting sound waves is very simple, the system can be easily set up by using the existing equipment, and the hardware cost for constructing the indoor positioning system can be reduced.

10‧‧‧ indoor positioning system

20‧‧‧Portable device

100‧‧‧Beacon launch group

100a, 100b, 2020, 4080, 4180, 4280, 4380‧‧‧ beacon launchers

120, 122, 124, 126, 2010, 3010, 3110, 3210, 3310, 3410, 3510, 3610, 4010, 4030, 4050, 4070, 4110, 4130, 4150, 4170, 4210, 4230, 4250, 4270, 4310, 4330, 4350, 4370‧‧‧Sonic launchers

210‧‧‧Beacon Receiver

212‧‧‧Sonic Receiver

214‧‧‧ processor

216‧‧‧ Positioning marker

218‧‧‧ input device

500, 510, 520‧‧‧ Location Map

2000, 3000, 3100, 3200, 3300, 3400, 3500, 3600, 4000, 4020, 4040, 4060, 4100, 4120, 4140, 4160, 4200, 4220, 4240, 4260, 4300, 4320, 4340, 4360‧‧ space

1 is a block diagram showing the architecture of an indoor positioning system in accordance with an embodiment of the present invention. FIG. 2 is a schematic diagram of an application scenario according to an embodiment of the present invention. FIG. 3 is a schematic diagram of an application scenario according to an embodiment of the present invention. FIG. 4 is a schematic diagram of an application scenario according to an embodiment of the present invention. FIG. 5 is a schematic diagram of an application scenario according to an embodiment of the present invention.

Claims (10)

An indoor positioning system, comprising: a beacon emission group disposed in an indoor area and adapted to provide a beacon signal; a plurality of acoustic wave transmitting devices disposed in the indoor area, and each of the The acoustic wave transmitting device is adapted to emit a specific sound wave having a specific frequency combination, wherein the specific frequency combination of the specific sound wave emitted by each of the sound wave transmitting devices is at least compared to the sound waves emitted by the other sound wave transmitting devices One of the specific frequency combinations of the specific sound waves is different; and a portable device comprising: a beacon receiver adapted to receive the beacon signal; an acoustic wave receiver adapted to receive the frequency at a pre- a sound wave in a frequency range; a processor electrically coupled to the beacon receiver and the sound wave receiver; and a positioning marker electrically coupled to the processor; wherein the processor is Selecting a corresponding positioning map by the beacon signal received by the beacon receiver, and providing the positioning map according to the state of the frequency of the acoustic wave received by the acoustic receiver A location corresponding to the location; the positioning marker from the processor fetches and displays the location information. The indoor positioning system of claim 1, wherein the beacon transmission group comprises a plurality of beacon transmitting devices, each of the beacon transmitting devices being adapted to be associated with each of the beacon transmitting devices Corresponding to this beacon signal. The indoor positioning system of claim 2, wherein the positioning map corresponding to the corresponding beacon signal sent by each of the beacon transmitting devices is different from the corresponding one of the other The location map of the corresponding beacon signal sent by the beacon transmitting device. The indoor positioning system of claim 1, wherein a position of each of the acoustic wave transmitting devices is pre-marked in the positioning map, and a position of each of the acoustic wave transmitting devices includes the positioning map. a specific range in . The indoor positioning system of claim 4, wherein the position information of the corresponding position in the positioning map provided by the processor includes graphic data of the positioning map and the specific range in the positioning map. Graphical data on the relative position. The indoor positioning system of claim 4, wherein the position information of the corresponding position in the positioning map provided by the processor includes audio information of the name represented by the positioning map and the specific range. Audio data at a relative position on the map. The indoor positioning system of claim 1, wherein the portable device further comprises: an input device electrically coupled to the processor for inputting a target position to the portable device Device. The indoor positioning system of claim 7, wherein the processor further provides the corresponding position in the positioning map to the target position according to the state of the frequency of the sound wave received by the acoustic wave receiver. Path information. The indoor positioning system of claim 1, wherein each of the specific frequency combinations comprises a frequency. The indoor positioning system of claim 1, wherein each of the specific frequency combinations comprises more than two frequencies.