WO2017159978A1

WO2017159978A1 - Construction equipment location tracking system using beacon and receiver, and method therefor

Info

Publication number: WO2017159978A1
Application number: PCT/KR2017/000714
Authority: WO
Inventors: 문성우
Original assignee: 부산대학교 산학협력단
Priority date: 2016-03-16
Filing date: 2017-01-20
Publication date: 2017-09-21
Also published as: KR101695904B1

Abstract

Provided are a construction equipment location tracking system using a beacon and a receiver, and a method therefor, the system and the method being capable of: tracking, in a 3D space of XYZ, a location of construction equipment applied at a construction site, on the basis of beacon technology using an ultra-wide band (UWB) and an ultra-high frequency (UHF) so as to use the tracked location in construction equipment management such as a current location and on-site movement of the construction equipment; and using a beacon using a UWB and a UHF, thereby more economically and accurately tracking the location of the construction equipment than a conventional GPS-real time kinematics (RTK) device for construction equipment location tracking.

Description

Construction Equipment Location Tracking System and Method Using Beacon and Receiver

The present invention relates to a construction equipment location tracking system, and more specifically, it is input to the construction site by displaying the location of the construction equipment in the construction site by using a beacon (Beacon) and a receiver capable of short-range wireless communication in three-dimensional position coordinates The present invention relates to a construction equipment location tracking system using a beacon and a receiver, and a method thereof, for tracking the location of construction equipment.

In general, construction sites such as excavators (fork cranes), dump trucks, bulldozers, cranes, augers, forklifts are put into the construction site to perform the construction work. In such a construction site, RFID (Radio Frequency Identification) technology and USN (Ubiquitous Sensor Network) technology are generally used as a technology for locating construction equipment.

However, RFID technology establishes a gate at the entrance and exit, and recognizes only construction equipment passing through the reader through the reader. In the case of large construction sites, there are many entrances and exits, and there is a possibility of damage to the erecting the gate or a second accident caused by this, and thus falls in terms of utilization.

In addition, in the case of USN, battery consumption occurs because continuous communication is required for real time recognition. In addition, since the communication distance is not constant according to the wireless environment, there was a problem that it is not possible to secure the reliability for a plurality of specific areas.

Recently, GPS-RTK (Real Time Kinematics) is used for the location tracking of construction equipment, but such a GPS-RTK equipment is very expensive, which is expensive.

On the other hand, as the prior art, Korean Patent No. 10-658817 discloses a invention named "a method for identifying a location of a construction machine and a location display system and a construction machine" is described with reference to FIG.

1 is a block diagram showing the basic overall configuration of a construction machine management system to which a position display system according to the prior art is applied.

Referring to FIG. 1, a construction system management system according to the related art includes a construction machine 1 having a control unit, a position measuring unit, and a first communication device, a second communication device, a storage unit, and a location information providing unit. In the positioning system of a construction machine applied to a system comprising a center server provided, the current position is periodically measured by the position measuring unit at a predetermined time interval when the construction machine 1 is inactive. The control unit and the first communication device transmit the current position data, the measurement date and time data, and the data regarding the scheduled movement of the construction machine to the center server.

Further, the center server receives the current position data, the measurement date and time data, and the data concerning the scheduled movement of the construction machine, periodically transmitted from the construction machine 1, and sequentially stores the data. Stored in the unit, and the position information providing unit performs the presentation of the position confirmable state using the current position data and the measurement date / time data, and at the same time, the current state of the construction machine based on the data concerning the scheduled movement. It is determined whether the change in position is normal or abnormal.

Specifically, the construction machine 1 is equipped with a GPS device, the GPS device has a GPS controller, a transceiver and an antenna.

Such a GPS device, as a position measuring device, receives a signal given from at least three orbiting

satellites

24a, 24b, and 24c of the GPS satellite system, and uses the signal to measure the current position of the construction machine 1. This measurement of the current position is performed at appropriate time intervals as required. The current position data of the construction machine 1 measured at the time interval set on the basis of the GPS device is transmitted to the control device and stored in a memory built in the control device together with the measurement date and time data. The control device again transmits the data of the current position and the measurement date and time with the transmission timing set for the center server of the base station using the data processing function and the communication line of the control device. The data relating to the current position of the construction machine 1 is created in the form of a position movement data format and transmitted as data of position movement. In addition, the transmission timing can be maintained at a constant cycle, and the interval of the transmission time can be changed as necessary.

According to the construction equipment management system to which the position display system according to the prior art is applied, construction equipment at a remote place such as a work site regularly measures and calculates the current position data and transmits the current position data and the measurement date / time data to the management server. In the management server, when the construction machine moves, the position change can be confirmed on the map, and the movement of the construction machine can be tracked, which helps to prevent the location of the construction machine and to prevent theft. Becomes

However, in the case of a construction equipment management system to which the position display system according to the prior art is applied, there is a problem that an expensive GPS device must be used as described above.

On the other hand, as another prior art, the Republic of Korea Patent Publication No. 2011-40345 discloses the invention named "location tracking system and method of construction equipment," will be described with reference to FIG.

Figure 2 is a block diagram showing a location tracking system of construction equipment according to the prior art.

Referring to FIG. 2, the location tracking system for construction equipment according to the related art includes construction equipment 40, a management server 50 for remotely managing information of construction equipment, and a tracking vehicle 60. At this time, the construction equipment 40 communicates with the management server 50 or the tracking vehicle 60 through a network (mobile communication network or satellite communication network).

First, the construction equipment 40 includes a control unit 41, GPS unit 42 and the communication modem 43.

The GPS unit 42 receives the signals transmitted from the plurality of GPS satellites to determine the location of the construction equipment. That is, the GPS unit 42 may calculate the location information of the construction equipment 40.

The communication modem 43 may include a satellite communication modem for transmitting and receiving data through a satellite communication network or a mobile communication modem for transmitting and receiving data through a mobile communication network. The communication modem 43 transmits and receives the location information of the construction equipment with the tracking vehicle 60 or the management server 50 at a preset transmission period.

The controller 41 transmits the position information of the construction equipment 40 calculated by the GPS unit 42 to the tracking vehicle 60 or the management server 50 through the communication modem 43 in a preset transmission cycle.

The management server 50 includes a control unit 51 and a communication unit 52.

First, the communication unit 52 transmits and receives information at a predetermined transmission period from the communication modem 43 on the construction equipment side and the communication modem 62 on the tracking vehicle side through a network.

The controller 51 calculates the distance between the construction equipment 40 and the tracking vehicle 60 from the position information of the construction equipment 40 and the tracking vehicle 60 provided through the communication unit 52. Subsequently, when the calculated distance value is smaller than the preset distance value, the communication modem 43 of the construction equipment side commands the position transmission cycle of the construction equipment to be shorter than the preset transmission cycle.

In addition, the control unit 51 stores the position information of the construction equipment 40 received from the communication modem 43 on the construction equipment side and compares the current position information of the construction equipment 40 received in real time. Subsequently, when the position information of the construction equipment 40 is changed, the position information transmission cycle of the construction equipment 40 is commanded to be shorter than the preset transmission cycle. At this time, the command is transmitted to the communication modem 43 of the construction equipment 40 side through the communication unit 52.

The tracking vehicle 60 includes a control unit 61, a communication modem 62, a GPS unit 63, and a display unit 64.

The communication modem 62 may include a satellite communication modem for transmitting and receiving data through a satellite communication network or a mobile communication modem for transmitting and receiving data through a mobile communication network. The communication modem 62 transmits and receives the position information of the tracking vehicle 60 with the construction device 40 and the management server 50 at a preset transmission period.

The GPS unit 63 receives signals transmitted from the plurality of GPS satellites to determine the position of the tracking vehicle 60. That is, the GPS unit 63 may calculate the location information of the tracking vehicle 60.

The display unit 64 may be formed of a liquid crystal display (LCD) or the like, and may display the location information of the construction equipment 40, or display both the location information of the construction equipment and the location information of the tracking vehicle 60. In addition, only a direction and distance may be displayed when displaying, and location information may be displayed on an electronic map.

The control unit 61 calculates the distance between the tracking vehicle 60 and the construction equipment 40 from the position information received from the communication modem 43 on the construction equipment side and the position information provided by the GPS unit 63 on the tracking vehicle side. . Subsequently, when the calculated distance value is smaller than the preset distance value, the communication modem 43 of the construction equipment side commands the position transmission period of the construction equipment 40 to be shorter than the preset transmission period. At this time, the command is transmitted to the communication modem 43 of the construction equipment side through the communication modem 62.

In addition, the control unit 61 stores the position information of the construction equipment 40 received from the communication modem 43 on the construction equipment side and compares the current position information of the construction equipment 40 received in real time. As a result of the comparison, when the position information of the construction equipment 40 is changed, the position information transmission cycle of the construction equipment 40 is commanded to be shorter than the preset transmission cycle.

On the other hand, when theft of the construction equipment 40, only the location-related information is transmitted to the management server 50 or the tracking vehicle 60, and other maintenance and repair-related information can be reduced to reduce the communication cost.

According to the position tracking system of construction equipment according to the prior art, it is possible to reduce the communication cost compared to the existing method of shortening the transmission period unconditionally when tracking the position of construction equipment, and also by accurately determining the position of the moving construction equipment Positioning is possible quickly and easily.

However, in the case of the location tracking system of construction equipment according to the prior art, expensive GPS devices should be used. That is, as described above, according to the prior art, GPS-RTK (Real Time Kinematics) is used to track the location of construction equipment, but it requires a lot of budget because such GPS-RTK equipment is too expensive. .

The technical problem to be solved by the present invention for solving the above problems, based on the beacon (Beacon) technology using UWB UHF tracking the position of the construction equipment in the 3D space of the construction site in the XYZ current position of the construction equipment It is to provide a construction equipment location tracking system and method using beacons and receivers, which can be used for the management of construction equipment, such as site movement.

Another technical problem to be achieved by the present invention, by using a beacon (Beacon) using UWB UHF economical and more accurately track the location of the construction equipment than the GPS-RTK (Real Time Kinematics) device for tracking the location of the existing construction equipment To provide a construction equipment location tracking system using beacons and receivers, and methods thereof.

As a means for achieving the above-described technical problem, a construction equipment location tracking system using a beacon and a receiver according to the present invention, a short-range wireless communication module, the first beacon installed on the first point that is a temporary point of the construction site; A short range wireless communication module, comprising: a second beacon installed on a second station that is spaced apart from the first beacon and is a temporary station of a construction site; A first receiver mounted on construction equipment input to a construction site and receiving beacon ID and signal strength from the first and second beacons, respectively; A second receiver mounted on construction equipment operated at a construction site, installed at a predetermined distance apart from the first receiver in a vertical direction, and receiving beacon ID and signal strength from the first and second beacons, respectively; And wirelessly connected to the first and second receivers, respectively, and displaying the location of the construction equipment in three-dimensional position coordinates based on the beacon ID and the signal strength respectively received by the first and second receivers. And a server for tracking the location of the construction equipment, wherein the first and second receivers are dual receivers mounted on the construction equipment, and the server is configured to receive beacon IDs and signal strengths received from the first and second receivers. After calculating the two-dimensional current position coordinates of the construction equipment by applying a construction site numerical map to calculate the z value (level) of the construction site numerical map according to the two-dimensional current position coordinates of the construction equipment, It is characterized by specifying the three-dimensional position coordinates of the construction equipment by using the z value on the map.

Here, the first beacons and the second beacons are respectively implemented based on Bluetooth 4.0 LE (Low Energy) and have a short range wireless communication module having a communication range of 50 to 70 m. The UWB (Ultra Wide Band) UHF (Ultra High Frequency) method is used. It is characterized in that the communication.

Here, the construction equipment may further include a communication unit for wirelessly transmitting the beacon ID and signal strength data received from the first and second receivers to the server.

On the other hand, as another means for achieving the above-described technical problem, construction equipment location tracking system using a beacon and a receiver according to the present invention, a short-range wireless communication module, is installed on the first point that is a temporary point of construction site 1 beacon; A short range wireless communication module, comprising: a second beacon installed on a second station that is spaced apart from the first beacon and a temporary station of a construction site; A short range wireless communication module comprising: a third beacon installed on a third station, which is a temporary station of a construction site, spaced apart from the first beacon and the second beacon; A single receiver mounted on construction equipment input to a construction site and receiving beacon ID and signal strength from the first to third beacons, respectively; And the single receiver and the wireless receiver, respectively, and track the position of the construction equipment by displaying the position of the construction equipment in three-dimensional position coordinates based on the beacon ID and the signal strength respectively received by the single receiver. And a server, wherein the server determines the position of the single receiver based on the beacon ID and the signal strength respectively received by the single receiver, and according to the distance between the single receiver and the reference point of the construction equipment. Characterized in determining the three-dimensional position coordinates of the construction equipment.

On the other hand, as another means for achieving the above-described technical problem, construction equipment location tracking method using a beacon and a receiver according to the present invention, a) UWB UHF method is put into the construction site where the first and second beacons are installed Installing a dual receiver consisting of first and second receivers in construction equipment; b) each of the first and second receivers installed in the construction equipment receives beacon ID and signal strength from the first and second beacons, respectively; c) calculating, by the server communicating with the first and second receivers wirelessly, the two-dimensional current position coordinates of the construction equipment according to the beacon ID and the signal strength received from the first and second receivers; d) applying, by the server, an on-site construction site numerical map; e) calculating, by the server, the z value (level) of the construction site numerical map according to the two-dimensional current position coordinates of the construction equipment; f) designating, by the server, three-dimensional position coordinates of the construction equipment using the z value on the construction site numerical map; And g) the server tracking the position of the construction equipment according to the three-dimensional position coordinates of the construction equipment, wherein the first and second receivers are dual receivers mounted on the construction equipment. .

On the other hand, as another means for achieving the above-described technical problem, construction equipment location tracking method using a beacon and a receiver according to the present invention, a) UWB UHF method in the construction site where the first, second and third beacons are installed Installing a single receiver in the construction equipment; b) receiving a beacon ID and signal strength from the first, second and third beacons, respectively, installed in the construction equipment; c) calculating, by the server communicating with the single receiver wirelessly, the two-dimensional current position coordinates of the construction equipment according to the beacon ID and the signal strength received from the single receiver; d) applying, by the server, an on-site construction site numerical map; e) calculating, by the server, the z value (level) of the construction site numerical map according to the two-dimensional current position coordinates of the construction equipment; f) designating, by the server, three-dimensional position coordinates of the construction equipment using the z value on the construction site numerical map; And g) the server tracking the construction equipment position according to the three-dimensional position coordinates of the construction equipment, wherein the server is configured to receive the single receiver based on the beacon ID and signal strength respectively received by the single receiver. After determining the location of the, characterized in that for determining the three-dimensional position coordinates of the construction equipment according to the distance between the single receiver and the reference point of the construction equipment.

According to the present invention, based on the beacon (Beacon) technology using UWB UHF can be used in the management of the construction equipment, such as the current position of the construction equipment, moving the site by tracking the location of the construction equipment in the 3D space of XYZ have.

According to the present invention, by using a beacon using UWB UHF it is possible to track the location of the construction equipment more economically and more accurately than the GPS-RTK (Real Time Kinematics) device for tracking the location of the existing construction equipment.

3 is a view showing a construction equipment location tracking system using two beacons and a dual receiver according to an embodiment of the present invention.

4 is a plan view of the construction equipment location tracking system shown in FIG.

5 is a flowchart illustrating a construction equipment location tracking method using two beacons and a dual receiver according to an embodiment of the present invention.

6 is a view showing a construction equipment location tracking system using three beacons and a single receiver according to an embodiment of the present invention.

7 is a plan view of the construction equipment location tracking system shown in FIG.

8 is a flowchart illustrating a construction equipment location tracking method using three beacons and a single receiver according to an embodiment of the present invention.

[Description of the Code]

100: construction equipment position tracking system (first embodiment)

200: construction equipment 110: the first beacon

120: second beacon 130: first receiver

140: second receiver 150: server

160: construction site numerical map

300: construction equipment location tracking system (second embodiment)

310: first beacon 320: second beacon

330: third beacon 340: single receiver

350: server 360: construction site numerical map

Best Mode for Carrying Out the Invention

A short range wireless communication module comprising: a first beacon installed on a first station (x1, y1, z1) that is a temporary station of a construction site; A short range wireless communication module comprising: a second beacon installed on a second station (x2, y2, z2) which is spaced apart from the first beacon and is a temporary station of a construction site; A first receiver mounted on construction equipment input to a construction site and receiving beacon ID and signal strength from the first and second beacons, respectively; A second receiver mounted on construction equipment operated at a construction site, installed at a predetermined distance apart from the first receiver in a vertical direction, and receiving beacon ID and signal strength from the first and second beacons, respectively; And wirelessly communicating with the first and second receivers, respectively, and positioning the position of the construction equipment based on the beacon ID and the signal strength respectively received by the first and second receivers. y, z) to include a server for tracking the location of the construction equipment, wherein the first and second receivers are dual receivers mounted on the construction equipment; The server calculates the two-dimensional current position coordinates (x, y) of the construction equipment according to the beacon ID and the signal strength received from the first and the second receiver, and then applies a construction site numerical map to Calculate the z value (level) of the construction site numerical map according to the dimension current position coordinates (x, y), and use the z value on the construction site numerical map (3, y, z) of the construction equipment. ) Is specified.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless specifically stated otherwise. In addition, terms such as "... unit" described in the specification means a unit for processing at least one function or operation, which may be implemented in hardware or software or a combination of hardware and software.

Construction equipment location tracking system using a beacon and receiver according to an embodiment of the present invention, the position of the construction equipment to be put into the construction site based on the beacon (beacon) technology using Ultra Wide Band (UWB) Ultra High Frequency (UHF) It is used to manage construction equipment such as current position of construction equipment and site movement by tracking the XYZ in 3D space.

At this time, the existing construction site is operating a temporary point (TBM-Temporary Benchmark) that knows the XY coordinates and levels, construction equipment location tracking system using a beacon and a receiver according to an embodiment of the present invention, using UWB UHF Beacons can be used to operate temporary coordinates based on temporary points, and the location of construction equipment can be easily tracked at low cost based on beacon technology using UWB UHF.

Construction equipment location tracking system using a beacon and a receiver according to an embodiment of the present invention, may be implemented using two beacons and dual receivers, or may be implemented using three beacons and a single receiver, below, Figure 3 to Referring to Figure 5, the construction equipment location tracking system 100 using the two beacons and dual receivers and a method thereof, and also, with reference to Figures 6 to 8 construction equipment location using three beacons and a single receiver Tracking system 300 and method thereof will be described in detail.

[Construction Equipment Location Tracking System Using Two Beacons and Dual Receivers]

3 is a view showing a construction equipment location tracking system using two beacons and a dual receiver according to an embodiment of the present invention, Figure 4 is a plan view of the construction equipment location tracking system shown in FIG.

3 and 4, the construction equipment location tracking system 100 using two beacons and a dual receiver according to an embodiment of the present invention, the first beacon 110, the second beacon 120, the first The receiver 130, the second receiver 140, and the server 150 are included.

The first beacon 110 is a short range wireless communication module, and is installed on the first points x1, y1, and z1 that are temporary points of the construction site.

The second beacon 120 is a short-range wireless communication module, and is spaced apart from the first beacon 110 and is installed on the second station (x2, y2, z2) that is a temporary station of the construction site. At this time, as described above, the construction site is operating a temporary point (TBM-Temporary Benchmark) that knows the XY coordinates and level, using the beacons (110, 120) using UWB UHF, based on the temporary point Will operate the coordinates. Here, the first and second beacons (110, 120) are each implemented as a Bluetooth 4.0 LE (Low Energy) based short-range wireless communication module having a communication range of 50 ~ 70m, UWB (Ultra Wide Band) UHF (Ultra) High Frequency) communication, but is not limited thereto.

The first receiver 130 is mounted on the construction equipment 200 that is put into the construction site, and receives beacon ID and signal strength from the first and

second beacons

110 and 120, respectively.

The second receiver 140 is mounted on the construction equipment 200 operated at the construction site, and is installed to be spaced apart from the first receiver 130 in a vertical direction by a predetermined distance. The first and

second beacons

110 and 120 are installed. Receive beacon ID and signal strength, respectively. In this case, the first and

second receivers

130 and 140 are dual receivers mounted on the construction equipment 200. Here, the construction equipment 200 further includes a communication unit (not shown) for wirelessly transmitting beacon ID and signal strength data received from the first and

second receivers

130 and 140 to the server 150. It may include.

The server 150 is wirelessly connected to the first and

second receivers

130 and 140, respectively, and is based on the beacon ID and the signal strength respectively received by the first and

second receivers

130 and 140, respectively. By displaying the position of the construction equipment 200 in three-dimensional position coordinates (x, y, z) to track the position of the construction equipment 200. Specifically, the server 150 calculates the two-dimensional current position coordinates (x, y) of the construction equipment 200 according to the beacon ID and the signal strength received from the first and

second receivers

130 and 140. Then, by applying the construction site numerical map 160 to calculate the z value (level) of the construction site numerical map 160 according to the two-dimensional current position coordinates (x, y) of the construction equipment 200, the construction The 3D position coordinates (x, y, z) of the construction equipment 200 may be designated by using the z value on the spot numerical map 160.

Specifically, referring back to Figures 3 and 4, the construction equipment location tracking system 100 using two beacons and dual receivers according to an embodiment of the present invention is two beacons (110, 120) and the first and first 2 is implemented by applying the receiver (130, 140).

For example, if the three-dimensional position coordinates of the construction equipment 200 is (x, y, z), the three-dimensional coordinates of the first point of the construction site is given by (x1, y1, z1), the second point The three-dimensional coordinate of is given by (x2, y2, z2). In this case, the respective XY coordinates and levels of the first station (x1, y1, z1) where the first beacon 110 is installed and the second station (x2, y2, z2) where the second beacon 120 is installed are already referenced. It is a point known from the survey.

Here, L ₁ , which is a distance between the first beacon 110 and the first receiver 130, and L ₁ ′, which is a distance between the first beacon 110 and the second receiver 130, are the first and second beacons. The distances can be obtained through 110 and 120, respectively.

In addition, L _r is a distance between the first receiver 130 and the second receiver 140, which is given as a fixed value, L _h is a fixed value indicating the height of the first beacon 110 located at the first point. , L _p is the distance from the first receiver 130 to the reference point of the construction equipment 200 and is a fixed value.

Thus L ₁ , L ₁ ′ and Given by L _r , θ ₂ can be obtained as in Equation 1 below.

Next, when θ ₂ is given, θ can be obtained as in Equation 2 below.

Next, given θ , L _h representing the height of the first beacon 110 located at the first point may be obtained as in Equation 3 below.

Accordingly, the height z of the reference point of the construction equipment 200 can be obtained as shown in Equation 4 below.

Meanwhile, as shown in FIG. 4, d ₁ represents a horizontal distance between the first beacon 110 and the construction equipment 200, and d ₂ represents a horizontal distance between the second beacon 120 and the construction equipment 200. denotes the distance, d represents the distance between a first beacon 110 and a second beacon (120). In this case, since the coordinate positions of the first point and the second point are already known, d is a given value that can be obtained through calculation.

Here, the horizontal distance d ₁ between the first beacon 110 and the construction equipment 200 can be obtained as shown in Equation 5 below.

In addition, the horizontal distance d ₂ between the second beacon 120 and the construction equipment 200 may be obtained by the same method as the method for obtaining d ₁ .

Next, θ ´ can be obtained in the same manner as described above, using θ ′ to obtain the XY coordinates of the construction equipment position, and applying the z values obtained above, the position coordinates of the construction equipment 200 (x, y, z) can be obtained.

In other words, using the first and second beacons (110, 120) and the dual receivers (130, 140) to obtain the (x, y) coordinates of the construction equipment 200 reference point, and then, the (x, y) coordinates The z value on the construction site numerical map 160 is found based on. In this way, the three-dimensional position coordinates (x, y, z) of the construction equipment 200 can be obtained by applying the (x, y) coordinates and the z value.

[Construction Equipment Location Tracking Method Using Two Beacons and Dual Receivers]

Referring to FIG. 5, a construction equipment location tracking method using two beacons and a dual receiver according to an embodiment of the present invention, first, first and second beacons of a UWB (Ultra Wide Band) UHF (Ultra High Frequency) method The dual receivers including the first and

second receivers

130 and 140 are installed in the construction equipment 200 to be installed in the construction site where the 110 and 120 are installed (S110). At this time, the first and second beacons (110, 120) are each implemented as a Bluetooth 4.0 LE (Low Energy) based short-range wireless communication module having a communication range of 50 ~ 70m, UWB (Ultra Wide Band) UHF (Ultra) High Frequency) communication is characterized in that.

Next, each of the first and

second receivers

130 and 140 installed in the construction equipment 200 receives beacon ID and signal strength from the first and

second beacons

110 and 120, respectively (S120).

Next, the construction equipment wirelessly communicates with the first and

second receivers

130 and 140 according to the beacon ID and the signal strength received from the first and

second receivers

130 and 140. The two-dimensional current position coordinates (x, y) of 200 are calculated (S130).

Next, the server 150 is applied to the construction site numerical map 160, the mechanical axis (S140).

Next, the server 150 calculates the z value (level) of the construction site numerical map 160 according to the two-dimensional current position coordinates (x, y) of the construction equipment 200 (S150).

Next, the server 150 designates the three-dimensional position coordinates (x, y, z) of the construction equipment 200 by using the z value on the construction site numerical map (S160).

Next, the server 150 tracks the position of the construction equipment 200 according to the three-dimensional position coordinates (x, y, z) of the construction equipment 200 (S170).

According to the construction equipment location tracking system using the two beacons and dual receivers and the method according to an embodiment of the present invention, based on the beacon technology (Beacon) technology using UWB UHF, It can be tracked in 3D space and used to manage construction equipment such as current position of construction equipment and moving site.

[Construction Equipment Location Tracking System Using Three Beacons and a Single Receiver]

6 is a view showing a construction equipment location tracking system using three beacons and a single receiver according to an embodiment of the present invention, Figure 7 is a plan view of the construction equipment location tracking system shown in FIG.

6 and 7, the construction equipment location tracking system 300 using three beacons and a single receiver according to an embodiment of the present invention includes a first beacon 310, a second beacon 320, and a third beacon. Beacon 330, a single receiver 340 and the server 350.

The first beacon 310 is a short range wireless communication module and is installed on the first points x1, y1, and z1 which are temporary points of the construction site.

The second beacon 320 is a short-range wireless communication module and is installed on the second station (x2, y2, z2) which is spaced apart from the first beacon 310 and is a temporary station of the construction site.

The third beacon 330 is a short-range wireless communication module, spaced apart from the first beacon 310 and the second beacon 320 is installed on the third point (x3, y3, z3) that is a temporary point of the construction site. . Here, the first, second and third beacons (310, 320, 330) are each implemented as a Bluetooth 4.0 LE (Low Energy) based short-range wireless communication module having a communication range of 50 ~ 70m, UWB (Ultra Wide) Band) UHF (Ultra High Frequency) is characterized in that the communication, but is not limited thereto. In addition, according to an embodiment of the present invention, it has been described as using three beacons (310, 320, 330), by using three or more beacons can be more accurately determine the three-dimensional position coordinates of the construction equipment.

The single receiver 340 is mounted on the construction equipment 200 is put into the construction site, and receives the beacon ID and signal strength from the first to third beacons (310, 320, 330), respectively. In addition, the construction equipment 200 may further include a communication unit (not shown) for wirelessly transmitting the beacon ID and signal strength data received from the single receiver 340 to the server 350.

The server 350 is wirelessly connected to the single receiver 340, respectively, and three-dimensionally locates the construction equipment 200 based on the beacon ID and the signal strength respectively received by the single receiver 340. The position coordinates (x, y, z) to track the location of the construction equipment 200. Specifically, the server 350 determines the positions (x ', y', z ') of the single receiver 340 based on the beacon ID and signal strength received by the single receiver 340, respectively. Then, the three-dimensional position coordinates (x, y, z) of the construction equipment 200 can be determined according to the distance between the single receiver 340 and the reference point of the construction equipment 200.

Specifically, referring back to Figures 6 and 7, construction equipment location tracking system 300 using three beacons and a single receiver according to an embodiment of the present invention, three beacons (310, 320, 330) and a single The first station x1, y1, z1 installed with the first beacon 310, the second station x2, y2, z2 installed with the second beacon 320, and the third beacon 330 using the receiver 340. The XY coordinates and levels of each of the third stations (x3, y3, z3) provided with) are already known through the reference survey.

Here, as shown in FIG. 6, L ₁ , L _2, and L ₃ are distances that can be obtained through the first to

third beacons

310, 320, and 330 and the single receiver 340, respectively. In addition, L _r is a distance between the single receiver 340 and the reference point of the construction equipment 200, is given as a fixed value.

Therefore, the L _1, when L ₂ and L ₃ is given a three-dimensional position coordinates (x ', y', z ') of the single receiver 340 may each be represented as shown in Equation 6 to 8.

Here, x ₂ represents the x coordinate value x2 of the second point.

Here, x ₃ is the x-coordinate value x3 of the third point, and y ₃ represents the y-coordinate value y3 of the third point.

As described above, when the position coordinates (x ', y', z ') of the single receiver 340 is obtained, the three-dimensional position coordinates (x, y, z) of the construction equipment 200 are each x = x ', y = y ', z = z ' -L _r , and can be expressed as in Equation 9 below.

According to the construction equipment location tracking system using three beacons and a single receiver according to an embodiment of the present invention, based on the beacon technology using UWB UHF in the 3D space of the XYZ It can be used for the management of construction equipment such as the current position of construction equipment and site movement.

[Construction Equipment Location Tracking Method Using Three Beacons and a Single Receiver]

Referring to Figure 8, the construction equipment location tracking method using three beacons and a single receiver according to an embodiment of the present invention, first, first and second and the UWB (Ultra Wide Band) UHF (Ultra High Frequency) method At the construction site where the

third beacons

310, 320, and 330 are installed, a single receiver 340 is installed in the construction equipment 200 (S210). At this time, the first, second and third beacons (310, 320, 330) are each implemented as a Bluetooth 4.0 LE (Low Energy) based short-range wireless communication module having a communication range of 50 ~ 70m, UWB (Ultra Wide) Band) UHF (Ultra High Frequency) is characterized in that the communication.

Next, the single receiver 340 installed in the construction equipment 200 receives the beacon ID and the signal strength from the first, second and third beacons (310, 320, 330) (S220).

Next, the server 350 wirelessly communicating with the single receiver 340 according to the beacon ID and the signal strength received from the single receiver 340, the two-dimensional current position coordinates (x, y) is calculated (S230).

Next, the server 350 is applied to the construction site numerical map 360, the mechanical axis (S240).

Next, the server 350 calculates the z value (level) of the construction site numerical map 360 according to the two-dimensional current position coordinates (x, y) of the construction equipment 200 (S250).

Next, the server 350 designates the three-dimensional position coordinates (x, y, z) of the construction equipment 200 by using the z value on the construction site numerical map 360 (S260).

Next, the server 350 tracks the position of the construction equipment 200 according to the three-dimensional position coordinates (x, y, z) of the construction equipment 200 (S270).

In other words, the server 350 is based on the beacon ID and the signal strength received by the single receiver 340, respectively (x ', y) of the position of the single receiver 340 in accordance with Equations 6 to 8 above. ', z') and then determine the three-dimensional position coordinates (x, y, z) of the construction equipment 200 according to the distance between the single receiver 340 and the reference point of the construction equipment 200. It can be determined as in Equation 9 above.

As a result, according to an embodiment of the present invention, based on the beacon (Beacon) technology using UWB UHF to track the location of the construction equipment in the 3D space of the XYZ construction equipment such as the current position of the construction equipment, field movement And beacons using UWB UHF to track the location of construction equipment more economically and more accurately than GPS-RTK (Real Time Kinematics) devices for tracking the location of construction equipment. Can be.

The foregoing description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is shown by the following claims rather than the above description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention. do.

Claims

A short range wireless communication module comprising: a first beacon (Beacon) 110 installed on a first station (x1, y1, z1), which is a temporary station of a construction site;

A short range wireless communication module comprising: a second beacon (120) spaced apart from the first beacon (110) and installed on a second station (x2, y2, z2) that is a temporary station of a construction site;

A first receiver 130 mounted on the construction equipment 200 to be put into the construction site and receiving beacon ID and signal strength from the first and second beacons 110 and 120, respectively;

It is mounted on the construction equipment 200 that is operated in the construction site, is installed spaced apart a predetermined distance in the vertical direction with the first receiver 130, beacon ID and signal strength from the first and second beacon (110, 120) Second receivers 140 respectively receiving; And

The construction equipment is connected to the first and second receivers 130 and 140 by wireless communication, and based on the beacon ID and the signal strength respectively received by the first and second receivers 130 and 140, respectively. Including a server 150 for tracking the location of the construction equipment 200 by displaying the location of the 200 in three-dimensional position coordinates (x, y, z),

The first and second receivers 130 and 140 are dual receivers mounted in the construction equipment 200; The server 150 calculates the two-dimensional current position coordinates (x, y) of the construction equipment 200 according to the beacon ID and the signal strength received from the first and second receivers 130 and 140 and then constructs the construction. Applying the field numerical map 160 to calculate the z value (level) of the construction site numerical map 160 according to the two-dimensional current position coordinates (x, y) of the construction equipment 200, and the construction site numerical map Construction equipment position tracking system using two beacons and dual receivers, characterized in that the three-dimensional position coordinates (x, y, z) of the construction equipment 200 by using the z value of the image.
The method of claim 1,

The first and second beacons (110, 120) is a short-range wireless communication module having a communication range of 50 ~ 70m is implemented based on Bluetooth 4.0 LE (Low Energy), respectively, UWB (Ultra Wide Band) UHF (Ultra High Frequency) Construction equipment location tracking system using two beacons and dual receivers characterized in that the communication method.
The method of claim 1,

The construction equipment 200 further includes two beacons and a double unit including a communication unit for wirelessly transmitting the beacon ID and signal strength data received from the first and second receivers 130 and 140 to the server 150. Construction equipment location tracking system using receiver.
A short range wireless communication module comprising: a first beacon 310 installed on a first point x1, y1, z1 which is a temporary point of a construction site;

A short range wireless communication module comprising: a second beacon 320 installed on a second station (x2, y2, z2) which is spaced apart from the first beacon 310 and is a temporary station of a construction site;

A short range wireless communication module comprising: a third beacon 330 spaced apart from the first beacon 310 and the second beacon 320 and installed on a third station (x3, y3, z3) which is a temporary station of a construction site;

A single receiver 340 mounted on the construction equipment 200 to be put into the construction site and receiving beacon ID and signal strength from the first to third beacons 310, 320 and 330, respectively; And

The single receiver 340 is connected to each other by wireless communication, and based on the beacon ID and the signal strength respectively received by the single receiver 340, respectively, the position of the construction equipment 200 is three-dimensional position coordinate (x, y, z) to include a server 350 for tracking the location of the construction equipment 200, the server 350 is based on the beacon ID and signal strength respectively received by the single receiver 340 After determining the position of the position (x ', y', z ') of the single receiver 340, the construction equipment 200 according to the distance between the reference point of the single receiver 340 and the construction equipment 200 Construction equipment location tracking system using three beacons and a single receiver, characterized in that for determining the three-dimensional position coordinates (x, y, z) of.
The method of claim 4, wherein

The first, second and third beacons (310, 320, 330) are each implemented as a Bluetooth 4.0 LE (Low Energy) based short-range wireless communication module having a communication range of 50 ~ 70m, UWB (Ultra Wide Band) Construction equipment location tracking system using three beacons and a single receiver, characterized in that the UHF (Ultra High Frequency) communication.
The method of claim 4, wherein

The construction equipment 200 is a construction equipment location using three beacons and a single receiver further comprises a communication unit for wirelessly transmitting the beacon ID and signal strength data received from the single receiver 340 to the server 350. Tracking system.
a) UWB (Ultra Wide Band) UHF (Ultra High Frequency) UHF (Ultra High Frequency) first and second beacon (110, 120) installed in the construction equipment 200 is installed in the first and second receivers 130, 140 Installing a dual receiver consisting of;

b) each of the first and second receivers 130 and 140 installed in the construction equipment 200 receives beacon ID and signal strength from the first and second beacons 110 and 120, respectively;

c) the server 150 communicating wirelessly with the first and second receivers 130 and 140 according to the beacon ID and signal strength received from the first and second receivers 130 and 140. Calculating a two-dimensional current position coordinate (x, y) of 200;

d) applying the construction site numerical map 160 on which the server 150 is constructed;

e) calculating, by the server 150, the z value (level) of the construction site numerical map 160 according to the two-dimensional current position coordinates (x, y) of the construction equipment 200;

f) designating, by the server 150, three-dimensional position coordinates (x, y, z) of the construction equipment 200 using the z value on the construction site numerical map; And

g) the server 150 tracking the position of the construction equipment 200 according to the three-dimensional position coordinates (x, y, z) of the construction equipment 200, the first and second Receiver (130, 140) is a construction equipment location tracking method using two beacons and dual receivers, characterized in that the dual receiver mounted on the construction equipment 200.
The method of claim 7, wherein

The first and second beacons (110, 120) of step a) are each implemented as a Bluetooth 4.0 LE (Low Energy) based short range wireless communication module having a communication range of 50 ~ 70m, UWB (Ultra Wide Band) UHF Construction equipment location tracking method using two beacons and dual receivers characterized in that the communication (Ultra High Frequency) method.
a) UWB (Ultra Wide Band) UHF (Ultra High Frequency) UHF (Ultra High Frequency) in the construction site where the first, second and third beacon (310, 320, 330) is installed a single receiver 340 to the construction equipment 200 Making;

b) receiving, by the single receiver 340 installed in the construction equipment 200, the beacon ID and the signal strength from the first, second and third beacons 310, 320 and 330, respectively;

c) the two-dimensional current position coordinates (x, y) of the construction equipment 200 according to the beacon ID and the signal strength received from the single receiver 340 by the server 350 to communicate wirelessly with the single receiver 340 Calculating c);

d) applying the construction site numerical map 360 on which the server 350 is constructed;

e) calculating, by the server 350, a z value (level) of the construction site numerical map 360 according to the two-dimensional current position coordinates (x, y) of the construction equipment 200;

f) designating, by the server 350, three-dimensional position coordinates (x, y, z) of the construction equipment 200 using the z value on the construction site numerical map 360; And

g) using the three beacons and a single receiver comprising the server 350 to track the position of the construction equipment 200 according to the three-dimensional position coordinates (x, y, z) of the construction equipment 200 How to track construction equipment location.
The method of claim 9,

The first, second and third beacons (310, 320, 330) of step a) are respectively implemented based on Bluetooth 4.0 Low Energy (LE) and have a short range wireless communication module having a communication range of 50 to 70m. Ultra Wide Band) Construction equipment location tracking method using three beacons and a single receiver, characterized in that the UHF (Ultra High Frequency) communication.