WO2018014345A1

WO2018014345A1 - Indoor positioning method and system

Info

Publication number: WO2018014345A1
Application number: PCT/CN2016/091067
Authority: WO
Inventors: 曾法平
Original assignee: 深圳中兴力维技术有限公司
Priority date: 2016-07-22
Filing date: 2016-07-22
Publication date: 2018-01-25

Abstract

The invention discloses an indoor positioning method and system. The method comprises the following steps: a first frequency band reader group and a second frequency band reader group reading data of a dual-frequency electronic tag carried by a positioning target, wherein the first frequency band reader group and the second frequency band reader group are alternately arranged in a matrix in a room; and determining a location of the positioning target according to reading results of the first frequency band reader group and the second frequency band reader group. The indoor positioning method and system provided in embodiments of the invention have the following features: optimal stability, specifically, overall performance is not affected when any reader in the reader matrix is damaged; simple operation with reduced manpower, specifically, only one person is required to be responsible for issuing card authorization; useful functions, specifically, personnel positioning, path tracking, real-time navigation, and alarms for accidental access are provided; easy installation and convenient expansion, specifically, a new reader can access the matrix without rearrangement; and easy expansion, specifically, the reader matrix can be used in combination with environmental monitoring when using the solution.

Description

Indoor positioning method and system

Technical field

[0001] The present invention relates to the field of indoor positioning technology, and in particular, to an indoor positioning method and system.

Background technique

[0002] In some specific areas, such as the Internet Data Center (IDC) computer room, the number of racks and servers placed is large, and the classification is complicated (the servers of different companies are placed in different areas), and the security requirements are high. The personnel management is complicated, the cabinet of the target server is exhausted, and the environment of the equipment room is bad. For example, the metal rack and the server have large interference to the wireless.

[0003] In order to manage the personnel entering and leaving the equipment room, it is necessary to locate the personnel entering the equipment room, and then perform monitoring, guidance, and the like on the entering personnel. At present, the solution for indoor positioning for the above application scenarios mainly adopts Global Positioning System (GPS) positioning, Wireless-Fidelity (WiFi) positioning or Radio Frequency Identification (Radio Frequency).

Identification, RFID) and GPS combined positioning technology solutions. Among them, the GPS positioning method cannot be comprehensively managed, and the positioning error is large; the WiFi positioning method has small anti-interference performance, but the stability is low; the combination of RFID and GPS positioning methods is poor, the system is complicated, the cost is high, and the ease of use is not strong. .

[0004] In summary, the existing indoor positioning solution has large positioning error and poor comprehensive performance, and cannot meet user requirements.

technical problem

The main object of embodiments of the present invention is to provide an indoor positioning method and system, aiming at reducing positioning errors and improving overall performance of the system.

Problem solution

Technical solution

[0006] In order to achieve the above object, an indoor positioning method is proposed on the one hand, including the following steps:

[0007] reading, by the first frequency band reader group and the second frequency band reader group, data of the dual frequency electronic tag carried by the positioning target, the first frequency band reader group and the second frequency band reader group Groups are staggered into a matrix indoors; And determining a location of the positioning target according to a reading result of the first frequency band reader group and the second frequency band reader group.

[0009] Optionally, determining, according to the reading result of the first band reader group and the second band reader group, the location of the positioning target includes:

[0010] determining whether there is a non-zero result in the reading result of the first band reader group and the second band reader group;

[0011] when there is a non-zero result in the read result of the first band reader group, obtaining a first reference position of the first band reader reading the non-zero result in the matrix; a non-zero result in the read result of the second band reader group, obtaining a second reference position in the matrix of the second band reader reading the non-zero result;

[0012] determining a location of the positioning target according to the first reference position and/or the second reference position.

[0013] Optionally, the step of reading data of the dual-frequency electronic tag carried by the positioning target by using the first band reader group and the second band reader group further comprises: authorizing the positioning target, Generate authorization information, and record the authorization information into the dual-frequency electronic tag.

[0014] Optionally, the authorization information includes a target location, and the step of determining a location of the positioning target according to a reading result of the first frequency band reader group and the second frequency band reader group It also includes:

[0015] generating a travel route according to the location of the positioning target and the target location, and navigating according to the travel route.

[0016] Optionally, the authorization information includes an authorization area, and the step of determining the location of the positioning target according to the reading result of the first frequency band reader group and the second frequency band reader group It also includes:

[0017] determining, according to the authorization information, whether the location of the positioning target belongs to an authorized area;

[0018] When the location of the positioning target does not belong to the authorized area, an alarm is performed.

[0019] Optionally, after the step of determining the location of the positioning target according to the reading result of the first frequency band reader group and the second frequency band reader group, the method further includes: according to different engraving The location of the positioning target generates a motion trajectory of the positioning target.

[0020] Optionally, the first frequency band reader is disposed in an aisle area, and the second frequency band reader is disposed in a destination The object placement area.

[0021] Optionally, each target object aggregation area is configured with at least one second frequency band reader.

[0022] Optionally, a second frequency band reader is disposed in a region where each target object is located.

[0023] Optionally, the first frequency band reader is a high frequency reader, and the second frequency band reader is a low frequency reader.

[0024] In another aspect, an indoor positioning system is provided, including:

[0025] a data collection device, including a first frequency band reader group and a second frequency band reader group staggered indoors in a matrix, configured to pass the first frequency band reader group and the second frequency band The reader group reads data of the dual-frequency electronic tag carried by the positioning target;

And a positioning device configured to determine a location of the positioning target according to a reading result of the first frequency band reader group and the second frequency band reader group.

[0027] Optionally, the positioning device is configured to:

[0028] determining whether there is a non-zero result in the reading result of the first band reader group and the second band reader group; when the reading result of the first band reader group is a non-zero result 吋, obtaining a first reference position of the first band reader reading the non-zero result in the matrix; when the read result of the second band reader group has a non-zero result 吋, obtaining Reading a second reference position of the non-zero result second band reader in the matrix; determining a location of the positioning target according to the first reference position and/or the second reference position.

[0029] Optionally, the system further includes a processing device, where the processing device is configured to: authorize the positioning target, generate authorization information, and record the authorization information into the dual-frequency electronic tag.

[0030] Optionally, the authorization information includes a target location, and the processing device is further configured to: generate a travel route according to the location of the location target and the target location, and perform navigation according to the travel route.

[0031] Optionally, the authorization information includes an authorization area, and the processing device is further configured to: determine, according to the authorization information, whether the location of the location target belongs to an authorization area; and when the location of the location target is not authorized In the area 吋, an alarm is issued.

[0032] Optionally, the system further includes processing means, the processing means is configured to: generate a motion trajectory of the positioning target according to different locations of the positioning target.

[0033] Optionally, the first frequency band reader is disposed in an aisle area, and the second frequency band reader is disposed in a destination The object placement area.

Advantageous effects of the invention

Beneficial effect

[0034] The embodiment of the present invention provides a reader group that is arranged in two different frequency bands staggered in a matrix, and reads data of the dual-frequency electronic tag carried by the positioning target through the reader group. According to the reading result, the location of the positioning target is determined, and the positioning target is accurately positioned indoors. The indoor positioning method of the embodiment of the invention has good expansibility, high ease of use, reduces positioning error, simplifies system structure, improves stability and reliability, reduces implementation cost, and greatly improves overall system performance.

[0035] The indoor positioning method and system using the embodiments of the present invention have the following beneficial effects:

[0036] (1) The stability is good, and any reader in the reader matrix is damaged, and the overall performance is not affected;

[0037] (2) The operation is simple, the manpower is saved, and only one person is responsible for issuing the card authorization;

[0038] (3) powerful, capable of realizing personnel positioning, trajectory tracking, real navigation, and accidental entry alarm;

[0039] (4) The installation is simple and convenient to expand, and only a new reader needs to be connected to the matrix, and no need to re-arrange;

[0040] (5) It is easy to expand. With this scheme, the environment can be used in combination in the reader matrix, such as temperature, humidity, smoke, and the like.

Brief description of the drawing

DRAWINGS

1 is a flow chart of an indoor positioning method according to a first embodiment of the present invention;

2 is a schematic diagram of an optional indoor layout in an embodiment of the present invention;

3 is a schematic diagram of an optional reader matrix in an embodiment of the present invention;

4 is a schematic diagram of a second frequency reader group of the A region of FIG. 3;

[0045] FIG. 5 is a flow chart of an optional positioning process in an embodiment of the present invention;

6 is a partial schematic view of an indoor positioning area in an embodiment of the present invention;

7 is a schematic diagram of a planned travel route in an embodiment of the present invention;

8 is a flowchart of an indoor positioning method according to a second embodiment of the present invention;

9 is a schematic block diagram of an indoor positioning system according to a third embodiment of the present invention; 10 is a block diagram showing an indoor positioning system according to a fourth embodiment of the present invention;

11 is a schematic diagram showing an optional configuration of an indoor positioning system according to an embodiment of the present invention.

[0052] The implementation, functional features, and advantages of the present invention will be further described with reference to the accompanying drawings.

Embodiments of the invention

The specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0054] The positioning target described in the embodiment of the present invention refers to an object that needs to be positioned. The positioning target may be a moving object or a stationary object, and the positioning target may be any object that needs to be positioned, such as a person, an animal, a machine, a robot, a device, and the like.

[0055] The target object described in the embodiment of the present invention refers to any object (including a person) placed indoors. The target object separates the indoor space into an aisle area and a target object placement area. Optionally, the target object and the positioning target may be the same object in some scenarios, that is, the target object existing in the room may be positioned.

The indoor positioning method in the embodiment of the present invention can be applied to any indoor positioning scenario, for example, to the machine room, and the personnel entering the equipment room are positioned and guided to implement effective monitoring and management of the equipment room.

[0057] Embodiment 1

Referring to FIG. 1, an indoor positioning method according to a first embodiment of the present invention is provided. The method includes the following steps: [0059] Sl l, reading through a first frequency band reader group and a second frequency band reader group The data of the dual-frequency electronic tag carried by the target is located.

[0060] In the embodiment of the present invention, a first frequency band reader group composed of at least one first frequency band reader and a second frequency band reader group composed of at least one second frequency band reader are staggered indoors. Layoutd into a matrix, each reader (the first band reader and the second band reader) has corresponding position information in the matrix, and the position information can be coordinate, numbered, and the like. The first band reader can read the data of the electronic tag of the first frequency band, and the second band reader can read the data of the electronic tag of the second frequency band. The dual-frequency electronic tag in the embodiment of the present invention may be an electronic tag having two frequency bands, or two electronic tags having different frequency bands, and the two frequency bands are the first frequency band and the second frequency band, respectively. The electronic tag can be an RFID electronic tag or other electronic tag, and the reader reads the corresponding RFID. Or other readers.

[0061] In different application scenarios, the specific arrangement manners of the first frequency band reader group and the second frequency band reader group are different, as long as a basic principle can be met, the basic principle is: ensuring effective positioning area At least one reader (the first band reader and/or the second band reader) can effectively read the data of the dual frequency electronic tag carried by the positioning target.

[0062] For example, as shown in FIG. 2, if a plurality of target objects are placed indoors, and a plurality of target objects are divided into 9 groups, and the indoor space is divided into an aisle area and a target object placement area AI, the first The band reader group is set in the aisle area, and the second band reader group is set in the target object placement area. Wherein, the arrangement manner (such as density) of the first frequency band reader in the aisle is determined according to the sensing distance and actual needs; and for the setting mode of the second frequency band reader, according to the sensing distance, penetration strength and actual needs, At least one second band reader may be set in each target object aggregation area, or a second band reader may be set in the area where each target object is located, such as placing a second band reader at a suitable position of each target object. .

[0063] The first band reader group and the second band reader group may be arranged in a reader matrix as shown in FIG. Among them, the first frequency band reader has 16 groups, each group has 1 first frequency band reader, 16 groups of first frequency band readers are arranged in 4 rows and 4 columns; the second frequency band reader has 9 groups, each group has 9 The two-band reader, the nine groups of second-band readers and the first-band reader are arranged in a row of three rows and three columns, and each group of the second-band reader is located in a target object (such as a cabinet), and each target object Place a second band reader on it.

[0064] Each reader has corresponding position information in the matrix, and each reader in the matrix can be numbered according to a certain rule, and the number is used as position information. As shown in FIG. 3, the first row of the first band reader group is numbered Η1-1~Η1-4 from left to right, the second row is Η2-1~Η2-4, and the third row is H3- 1~H3- 4, the fourth row is Η4-1~Η4-4. The area of the 9 groups of the second band reader group can be named as the A area to the I area, wherein, as shown in FIG. 4, the first row of the A area is numbered from 1-1 to 1-3, from left to right. The second row is Α2-1~Α2-3, and the third row is Α3-1~Α3-3. The rest of the area is similar to this, and will not be described here.

[0065] The target object described above may be any object placed indoors, for example, when applied to a machine room, the target object is a cabinet placed in a machine room.

[0066] Optionally, the first frequency band reader can use a high frequency reader, and the second frequency band reader can adopt a low frequency Reader. The high-frequency reader has the characteristics of large sensing distance, wide range of action, fast transmission speed and weak penetrating power. Therefore, it is suitable for installation in a wide aisle area. For example, a high-frequency reader with a working frequency of 2.45 GHz can be selected. Its typical sensing distance is adjustable within 4-6m. The low-frequency reader has the characteristics of small sensing distance, narrow range of action, strong penetrating power (such as strong ability to penetrate metal objects), and low energy consumption. Therefore, it is suitable for setting in a target area where space is small. For example, a low frequency reader operating at 13.56 MHz can be used, which is remotely coupled, and the typical sensing distance is adjustable within lm.

[0067] It can be understood by those skilled in the art that the matrix in which the first band reader group and the second band reader group are arranged in the room can also be set to other modes according to actual needs, and details are not listed herein.

In the embodiment of the present invention, when the positioning target needs to be located, the data of the dual-frequency electronic tag carried by the positioning target is read by the first band reader group and the second band reader group. In the embodiment of the present invention, only one reader can read the data of the electronic tag in each frequency band of each engraving, so for the dual-frequency electronic tag, each engraving has at most two readers (one first frequency band) The reader and a second band reader) are able to read their data. When the reader does not read the data, the result is zero; when the reader reads the data, the result is non-zero. The specific process of reading the data of the electronic tag by the reader is the same as the prior art, and will not be described here.

[0069] S12. Determine a location of the positioning target according to the reading result of the first frequency band reader group and the second frequency band reader group.

[0070] Specifically, determining whether there is a non-zero result in the reading result of the first band reader group and the second band reader group; when there is a non-zero result in the reading result of the first band reader group吋, obtaining a first reference position of the first band reader reading out the non-zero result in the matrix; when there is a non-zero result in the reading result of the second band reader group, obtaining the first reading of the non-zero result The second reference position of the two-band reader in the matrix; determining the location of the positioning target according to the first reference position and/or the second reference position. For example, the first reference position or the second reference position may be directly used as the location of the positioning target, or the intersection of the first reference position and the second reference position may be used as the location of the positioning target, or the first reference position and/or the second position may be used. The area near the reference position is the location of the target.

[0071] In the specific implementation, the reader group of one frequency band may be scanned once every preset time (such as Is) to obtain the reading result of the reader of the frequency band, and the reader that reads the data ( Read out the non-zero junction If the reader is set to 1, otherwise set to zero, if the reading result of the reader in a certain frequency band is all zero, it means that the reader of the frequency band does not read the data of the dual-frequency electronic tag. The position of the first band reader reading out the non-zero result is Xn in the matrix, and the position of the second band reader reading the non-zero result in the matrix is Yn, then the coordinate A of the position of the positioning target can be obtained ( Xn, Yn) , when there is no non-zero result in the reading result of the first band reader group or the second band reader group, then Xn==0 or Yn==0

[0072] Alternatively, when the read data data==0吋, then Xn==0 or Yn==0; when the read data=! 曰 inch, Bay 1J record Xn== log2data+ l or Yn==log2data+l.

[0073] Taking the reader matrix shown in FIG. 3 as an example, the positioning result is divided into three cases: In the aisle area, in the target object (such as the cabinet) area, the positioning disappears. The positioning process is shown in Figure 5, where:

[0074] 1) If Xn==0, Yn==0, it means that the positioning target does not enter the room or the positioning disappears;

[0075] 2) If Xn==0, Yn!=0, it means that the positioning target is located in the target object area, and the specific position is obtained by Yn;

[0076] 3) If Xn!=0, Yn==0, it means that the positioning target is in the aisle area, and generally only the coarse positioning is performed, and the positioning target is near Χη, and then the comprehensive judgment is needed to obtain accurate positioning;

[0077] 4) If Xn!=0, Yn!=0, it is determined whether Yn is the area of the target object close to the aisle, if yes, the positioning target is in the aisle area, and if not, the positioning target is in the area of the target object (when The first-band reader is a high-frequency reader, which has a relatively low probability of occurrence due to poor high-frequency penetration. For example, as shown in FIG. 6, when the coordinates of the position of the positioning target are (H2-l, A3-1) 吋, it means that the positioning target is in the "one" area of the aisle; when the position of the positioning target is (H2-l) , A3-2) 吋, it means that the positioning target is in the "two" area of the aisle; when the coordinates of the position of the positioning target is (H2-2, D2-3) 吋, it means that the positioning target is in the target object "D2-3" area .

[0078] Optionally, when the positioning target is in the sensing range of two adjacent readers, the adjacent two readers can read the data of the dual-frequency electronic tag, and the positioning 吋 can be uniformly determined as Position the target in the area just passed or the area you just entered. For example, when the positioning target is in the middle of the aisle, the two adjacent high-frequency readers will read the data of the dual-frequency electronic tag, and the positioning 吋 determines that the positioning target is in the area just passed.

[0079] Optionally, the frequencies of the two adjacent first frequency band readers are different and/or the two adjacent second frequency bands are read. The frequency of the readers is different, that is, the readers of different frequencies are cross-distributed. When the positioning target is within the sensing range of two adjacent readers, the adjacent two readers can read the data of the dual-frequency electronic tag, and the positioning 吋 can be uniformly determined as the positioning target at a higher frequency. The area where the reader or the lower frequency reader is located. For example, the frequencies of two adjacent high frequency readers are different, and the positioning 吋 determines that the positioning target is in the region where the high frequency reader of the higher frequency is located.

[0080] Further, after acquiring the location of the positioning target, the specific location of the positioning target on the indoor map is also displayed on the screen. Thereby, the actual position of the positioning target can be intuitively monitored.

[0081] Further, after acquiring the location of the positioning target, the motion trajectory of the positioning target is generated according to the location of the positioning target. For example, the positions of different engraving positions are marked on the indoor map in the order of the day, and then the positions marked on the indoor map are connected in order of the time, thereby forming a movement track of the positioning target indoors. Thus, the actual travel route of the target can be visually viewed.

[0082] Further, after acquiring the location of the positioning target, the traveling route is further generated according to the target location of the positioning target and the current location of the positioning target, and navigation is performed according to the traveling route. If you make a sound through an indoor sounding device (such as a speaker), you can voice-guide the positioning target. Moreover, when the positioning target deviates from the original traveling route, the traveling route is re-planned according to the current location of the positioning target, and navigation is continued according to the new traveling route. As shown in Fig. 7, before the positioning target reaches the position 1, the planned traveling route is 1-2-3-4-5; when the positioning target reaches the position 1吋, it deviates from the original traveling route, and goes down toward the position 6吋, then re-plan the route to 1-6-7-8-5. Thereby guiding the positioning target

[0083] Further, after obtaining the location of the positioning target, it is further determined whether the location of the current positioning target belongs to an authorized area that the positioning target has the right to enter; and when the location of the positioning target does not belong to the authorized area, the alarm is performed. The alarm includes alerting the target and/or prompting the monitoring personnel by means of sound, light, etc., including sounding an alarm, making a voice prompt, and/or controlling the flashing of the light, such as: alerting the positioning target that the target has entered the unauthorized area by the sounding device, Exit the area quickly and navigate it to help it reach the target location. This allows for rights management.

[0084] For example, it is assumed that the authorized area is the target object 13-3 area in the lower right corner as shown in FIG. 3, as long as the positioning target enters any area of the AH in the target object area or any other area except the 13-3 in the I area. Target area ± or, it is determined that the positioning target enters the unauthorized area, and an alarm is issued, that is, the positioning target can only stay in the aisle area and the target object 13-3 area. When the first frequency band reader is a high frequency reader, according to the characteristics of poor high frequency penetration, the coordinates of the position of the positioning target are (Xn==0, Yn!=0), and Υη≠Ι 3-3 or If Υη does not belong to the I area, it is determined that the positioning target enters the unauthorized area; when the coordinates of the position of the positioning target are (Xn!=0, Yn!=0), and Υη does not belong to the area of the target object close to the aisle, Then, it is determined that the positioning target enters the unauthorized area.

[0085] The indoor positioning method in the embodiment of the present invention, by arranging a group of readers of two different frequency bands arranged in a matrix in a matrix, and reading data of the dual-frequency electronic tags carried by the positioning target through the reader group. According to the reading result, the location of the positioning target is determined, and the positioning target is accurately positioned indoors. The indoor positioning method of the embodiment of the invention has good expansibility, strong usability, reduces positioning error, simplifies system structure, improves stability and reliability, reduces implementation cost, and greatly improves overall performance of the system.

[0086] Embodiment 2

[0087] Referring to FIG. 8, an indoor positioning method according to a second embodiment of the present invention is provided. The method includes the following steps: [0088] S2 authorizes a positioning target, generates authorization information including a target location and an authorization area, and enters authorization information. Dual frequency electronic tag.

In the embodiment of the present invention, different rights are granted to different positioning targets, authorization information is generated, and the authorization information is recorded into the dual-frequency electronic tag, so as to manage and monitor the positioning target that carries the dual-frequency electronic tag into the room. .

[0090] Specifically, first, the information of the positioning target is registered, and the authorization information such as the target location and the authorized area is set to authorize the positioning target. Generally, when the target location is set, the authorized area is the target location area and the destination destination by default. The path area (such as the aisle area), of course, can also add other areas as authorized areas as needed. Then, a dual-frequency electronic tag is activated, and the authorization information is bound to the identification code (ID) of the dual-frequency electronic tag, so that the authorization information is entered into the dual-frequency electronic tag, and the data log is established. Finally, the dual-frequency electronic tag is issued to the positioning target, and when the positioning target (such as an entering person) carries (such as wearing) the dual-frequency electronic tag, it can be allowed to enter the indoor (such as the machine room) to reach the target location.

[0091] S22. Reading, by the first frequency band reader group and the second frequency band reader group, the pair carried by the positioning target Frequency electronic tag data.

[0092] S23. Determine a location of the positioning target according to the reading result of the first frequency band reader group and the second frequency band reader group.

[0093] In the embodiment of the present invention, steps S22 and S23 are the same as steps S11 and S12 in the first embodiment, and are not described herein again.

[0094] S24. Generate a travel route according to the target location and the location of the location target, and conduct navigation according to the route of travel.

[0095] In this step S24, after acquiring the location of the positioning target, the traveling route is generated according to the target location of the positioning target and the current location of the positioning target, and navigation is performed according to the traveling route. If the sound is emitted through an indoor sounding device (such as a speaker), the positioning target is voice-guided. Moreover, when the positioning target is away from the original traveling route, the traveling route is re-planned according to the current location of the positioning target, and the navigation is continued according to the new traveling route. As shown in Fig. 7, before the positioning target reaches the position 1, the planned travel route is 1-2-3-4-5; when the positioning target arrives at the position 1吋, it deviates from the original travel route, and moves downward toward the position 6 , then re-plan the route to 1-6-7-8-5.

[0096] S25. Determine whether the location of the positioning target belongs to an authorized area. When it belongs to the authorized area, it will not be processed; when it is not in the authorized authorization area, it will proceed to step S26.

[0097] In step S25, after the location of the location target is obtained, it is determined whether the location of the current location target is within the authorization zone. If the location of the location is not within the authorization zone, the process proceeds to step S26 to perform an alarm.

[0098] S26. Perform an alarm.

[0099] In step S26, when the location of the location target does not belong to the authorization zone, an alarm is generated. The alarm includes alerting the target and/or prompting the monitoring personnel by means of sound, light, etc., including sounding an alarm, making a voice prompt, and/or controlling the flashing of the light, such as: alerting the positioning target that the target has entered the unauthorized area by the sounding device, Exit the area quickly and navigate it to help it reach the target location.

[0100] For example, it is assumed that the authorized area is the target object 13-3 area in the lower right corner as shown in FIG. 3, as long as the positioning target enters any area of the AH in the target object area or any other area except the 13-3 in the I area. If the target object area is ± or, the positioning target is determined to enter the unauthorized area, and an alarm is issued, that is, the positioning target can only stay in the aisle area and the target object 13-3 area. When the first frequency band reader is a high frequency reader, according to the characteristics of poor high frequency penetration, the coordinates of the position of the positioning target are (Xn==0, Yn!=0), and Υη≠Ι 3-3 or Yn does not belong to the I area, then it is determined that the positioning target enters the unauthorized area; when the position of the positioning target is (Xn!=0, Yn!=0), and Yn does not belong to the target object close to the aisle In the area where 。, it is determined that the positioning target enters the unauthorized area.

[0101] Further, after acquiring the location of the positioning target, the motion trajectory of the positioning target may also be generated according to the location of the different positioning target. For example, the positions of different engraving positions are marked on the indoor map in order of the day, and then the positions marked on the indoor map are connected in order of the order, thereby forming a movement track of the positioning target indoors.

[0102] Further, after the positioning target access ends, the trajectory information, the alarm information, the navigation information, and the like of the positioning target are recorded, and the record is saved for subsequent subsequent query, and then the dual-frequency electronic tag is recorded. Recycle reset.

[0103] The indoor positioning method in the embodiment of the present invention implements the classification management of the positioning target by issuing dual-frequency electronic tags with different rights for different positioning targets, and can be applied to the monitoring and management of complex scenarios such as the machine room.

Embodiment 3

[0105] Referring to FIG. 9, an indoor positioning system according to a third embodiment of the present invention is provided. The system includes a data collection device and a positioning device. The data collection device includes a first frequency band reader group that is staggered indoors and arranged in a matrix. The second band reader group, where:

[0106] The data collection device is configured to read data of the dual-frequency electronic tag carried by the positioning target through the first band reader group and the second band reader group.

[0107] In the embodiment of the present invention, the first frequency band reader group is composed of at least one first frequency band reader, and the second frequency band reader group is composed of at least one second frequency band reader, each reader (first The band reader and the second band reader have corresponding position information in the matrix, and the position information may be coordinates, numbers, and the like. The first band reader can read the data of the electronic tag of the first frequency band, and the second band reader can read the data of the electronic tag of the second frequency band. The dual-frequency electronic tag in the embodiment of the present invention may be an electronic tag having two frequency bands, or two electronic tags having different frequency bands, and the two frequency bands are the first frequency band and the second frequency band, respectively. The electronic tag can be an RFID tag or other electronic tag, and the reader is a corresponding RFID reader or other reader.

[0108] In different application scenarios, the specific arrangement of the first band reader group and the second band reader group Different, as long as a basic principle can be met, the basic principle is: Ensure that at least one reader (first band reader and / or second band reader) can effectively read the positioning target in the effective positioning area The data of the dual-frequency electronic tag.

[0109] For example, as shown in FIG. 2, if a plurality of target objects are placed indoors, and a plurality of target objects are divided into 9 groups, and the indoor space is divided into an aisle area and a target object placement area AI, the first The band reader group is set in the aisle area, and the second band reader group is set in the target object placement area. Wherein, the arrangement manner (such as density) of the first frequency band reader in the aisle is determined according to the sensing distance and actual needs; and for the setting mode of the second frequency band reader, according to the sensing distance, penetration strength and actual needs, At least one second band reader may be set in each target object aggregation area, or a second band reader may be set in the area where each target object is located, such as placing a second band reader at a suitable position of each target object. .

[0110] The first band reader group and the second band reader group may be arranged in a matrix as shown in FIG. 3. Among them, the first frequency band reader has 16 groups, each group has 1 first frequency band reader, 16 groups of first frequency band readers are arranged in 4 rows and 4 columns; the second frequency band reader has 9 groups, each group has 9 The two-band reader, the nine groups of second-band readers and the first-band reader are arranged in a row of _three rows and _three columns, and each group of the second-band reader is located in a target object (such as a cabinet), and each target object Place a second band reader on it.

[0111] Each reader has corresponding position information in the matrix, and each reader in the matrix can be numbered according to a certain rule, and the number is used as position information. As shown in FIG. 3, the first row of the first band reader group is numbered Η1-1~Η1-4 from left to right, the second row is Η2-1~Η2-4, and the third row is H3- 1~H3- 4, the fourth row is Η4-1~Η4-4. The area of the 9 groups of the second band reader group can be named as the A area to the I area, wherein, as shown in FIG. 4, the first row of the A area is numbered from 1-1 to 1-3, from left to right. The second row is Α2-1~Α2-3, and the third row is Α3-1~Α3-3. The rest of the area is similar to this, and will not be described here.

[0112] The target object described above may be any object placed indoors, for example, when applied to a computer room.

The target object is a cabinet placed in the equipment room.

[0113] Alternatively, the first band reader may use a high frequency reader, and the second band reader may use a low frequency reader. The high-frequency reader has the characteristics of large sensing distance, wide range of action, fast transmission speed and weak penetrating power. Therefore, it is suitable for installation in a wide aisle area. For example, a high-frequency reader with a working frequency of 2.45 GHz can be selected. Its typical sensing distance is adjustable within 4-6m. Low frequency reader with sensing distance Smaller, narrower range, stronger penetrating power (such as stronger ability to penetrate metal objects), less energy consumption, etc., so it is suitable to be placed in a small space target area, for example, work can be selected A low frequency reader with a frequency of 13.56 MHz is telecoupled and the typical sensing distance is adjustable within lm.

[0114] It can be understood by those skilled in the art that the matrix in which the first band reader group and the second band reader group are arranged indoors can also be set to other modes according to actual needs, and details are not listed herein.

In the embodiment of the present invention, when the positioning target needs to be located, the data collection device reads the data of the dual-frequency electronic tag carried by the positioning target through the first frequency band reader group and the second frequency band reader group. . In the embodiment of the present invention, only one reader can read the data of the electronic tag in each frequency band of each engraving, so for the dual-frequency electronic tag, each engraving has at most two readers (one first frequency band) The reader and a second band reader) are able to read their data. When the reader does not read the data, the result is zero; when the reader reads the data, the result is non-zero.

[0116] The positioning device is configured to determine the location of the positioning target according to the reading result of the first band reader group and the second band reader group.

[0117] Specifically, the positioning apparatus determines whether there is a non-zero result in the reading result of the first band reader group and the second band reader group; when the reading result of the first band reader group is non-zero Zero result 吋, obtaining the first reference position of the first band reader reading out the non-zero result in the matrix; when there is a non-zero result in the reading result of the second band reader group, obtaining the read non-zero result The second frequency band reader is in a second reference position in the matrix; determining the location of the positioning target according to the first reference position and/or the second reference position. For example, the first reference position or the second reference position may be directly used as the location of the positioning target, or the intersection of the first reference position and the second reference position may be used as the location of the positioning target, or the first reference position and/or the second position may be used. The area near the reference position is the location of the target.

[0118] Specifically, the positioning device may perform a scan on a group of readers of one frequency band every preset time (such as Is), obtain a reading result of the reader in the frequency band, and read the read data. (that is, the reader that reads the non-zero result) is set to 1, otherwise set to zero. If the reading result of the reader in a certain frequency band is all zero, it means that the reader of the frequency band has not read the dual-frequency electronic tag. The data. The positioning device records that the position of the first band reader reading the non-zero result is _Xn in the matrix, and the position of the second band reader reading the non-zero result in the matrix is Yn, and the coordinates of the position of the positioning target are obtained. A (Xn, Yn) , When there is no non-zero result in the reading result of the first band reader group or the second band reader group, the shell 1J records Xn==0 or Yn==0.

Taking the reader matrix shown in Figure 3 as an example, the positioning results are divided into three cases: In the aisle area, the positioning disappears in the target object (such as the cabinet). The positioning process is shown in Figure 5, where:

[0120] 1) If Xn==0, Yn==0, the positioning device determines that the positioning target does not enter the room or the positioning disappears;

[0121] 2) If Xn==0, Yn!=0, the positioning device determines that the positioning target is located in the target object region, and the specific position is available from Υη;

[0122] 3) If Xn!=0, Yn==0, the positioning device determines that the positioning target is in the aisle region, and generally only the coarse positioning is performed, and the positioning target is near Χη, so that comprehensive judgment is needed to obtain accurate Positioning

[0123] 4) If Xn!=0, Yn!=0, the positioning device determines whether Υη is the area of the target object close to the aisle.

If yes, it means that the positioning target is in the aisle area. If it means that the positioning target is in the area where the target object is located (when the first frequency band reader is a high frequency reader, the probability of occurrence is relatively small, because the high frequency penetration is poor. ). For example, as shown in Fig. 6, when the coordinates of the position of the positioning target are (H2-l, A3-1) 吋, the positioning target is in the "one" area of the aisle; when the position of the positioning target is (Η2-1) , Α3 - 2) 吋, it means that the positioning target is in the "two" area of the aisle; when the coordinates of the position of the positioning target is (Η2-2, D2-3) 吋, it means that the positioning target is in the target object "D2-3" area .

[0124] Optionally, when the positioning target is in the sensing range of two adjacent readers, the adjacent two readers can read the data of the dual-frequency electronic tag, and the positioning device can be unified. It is determined that the target is in the area just passed or just entered. For example, when the positioning target is in the middle of the aisle, the two adjacent high-frequency readers will read the data of the dual-frequency electronic tag, and the positioning 吋 determines the positioning target is in the area just passed.

[0125] Optionally, the frequencies of the two adjacent first band readers are different and/or the frequencies of the adjacent two second band readers are different, that is, the readers of different frequencies are cross-distributed. When the positioning target is within the sensing range of two adjacent readers, the adjacent two readers can read the data of the dual-frequency electronic tag, and the positioning device positioning can be uniformly determined as the positioning target at the frequency. The area where the high reader or the lower frequency reader is located. For example, the frequency of two adjacent high frequency readers is different.

, Positioning 吋 Determines the location where the high-frequency reader is located at a higher frequency.

[0126] The positioning system of the embodiment of the present invention is arranged in two different frequency bands which are staggered into a matrix in the room. The reader group reads the data of the dual-frequency electronic tag carried by the positioning target through the reader group, determines the location of the positioning target according to the reading result, and realizes accurate positioning of the positioning target indoors. The indoor positioning system of the embodiment of the invention has good expandability, high usability, reduces positioning error, simplifies structure, improves stability and reliability, reduces implementation cost, and greatly improves overall performance.

Embodiment 4

Referring to FIG. 10, an indoor positioning system according to a fourth embodiment of the present invention is proposed. This embodiment adds a processing device to the first embodiment.

[0129] The processing device is configured to: after acquiring the location of the positioning target, display the specific location of the positioning target on the indoor map on the screen, so that the actual position of the positioning target can be visually monitored.

[0130] Further, the processing device is further configured to: after acquiring the location of the positioning target, generate a motion trajectory of the positioning target according to the location of the positioning target. For example, the processing device marks the locations of the different engraving positions on the indoor map in the order of the diurnal order, and then connects the positions marked on the indoor map in the order of the turns, thereby forming a movement track of the positioning target indoors. Thereby, the actual travel route of the positioning target can be visually checked.

[0131] Further, the processing device is further configured to: after acquiring the location of the positioning target, generate a traveling route according to the target location of the positioning target and the current location of the positioning target, and perform navigation according to the traveling route. For example, the processing device emits a sound through an indoor sounding device (such as a speaker) to perform voice navigation on the positioning target. Moreover, when the positioning target deviates from the original traveling route, the processing device re-plans the traveling route according to the current location of the positioning target, and continues to navigate according to the new traveling route. As shown in Fig. 7, before the positioning target reaches the position 1, the planned traveling route is 1-2-3-4-5; when the positioning target reaches the position 1吋, it deviates from the original traveling route, and goes down toward the position 6吋the processing means is re-plan the route is 1_ ₆ _7_ ₈ _5. Thereby, the positioning target can be guided.

[0132] Further, the processing device is further configured to: after obtaining the location of the positioning target, determine whether the location of the current positioning target belongs to an authorized area that the positioning target has the right to enter; and when the location of the positioning target does not belong to the authorized area, perform Alarm. The alarm includes alerting the target by sound, light, etc., and/or prompting the monitoring personnel, including sounding an alarm, making a voice prompt, and/or controlling the flashing of the light, for example, the processing device warns the positioning target that the unauthorized entry has entered the unauthorized operation. Area, quickly exit the area and navigate it to help it reach the target location. This allows for rights management. [0133] For example, it is assumed that the authorized area is the target object 13-3 area in the lower right corner as shown in FIG. 3, as long as the positioning target enters any area of the AH in the target object area or any other area except the 13-3 in the I area. In the target object area, the processing device determines that the positioning target enters the unauthorized area and performs an alarm, that is, the positioning target can only stay in the aisle area and the target object 13-3 area. When the first frequency band reader is a high frequency reader, according to the characteristics of poor high frequency penetration, the coordinates of the position of the positioning target are (Xn==0, Yn!=0), and Υη≠Ι3-3 or Υη If it does not belong to the I area, the processing device determines that the positioning target enters the unauthorized area; when the position of the positioning target is (Xn!=0, Yn!=0), and Υη does not belong to the area of the target object close to the aisle吋The processing device determines that the location target is determined to enter the unauthorized area.

[0134] Further, the processing device is further configured to: before the positioning target enters the indoor, authorize the positioning target, generate authorization information including the target location and/or the authorized area, and record the authorization information into the dual-frequency electronic tag. Therefore, the subsequent processing device may generate a travel route according to the target location in the authorization information corresponding to the dual-frequency electronic tag, and/or perform an error entry alarm according to the authorized area in the authorization information corresponding to the dual-frequency electronic tag.

[0135] Specifically, the processing device first registers the information of the positioning target, and sets authorization information such as the target location and the authorized area to authorize the positioning target. Generally, when the target location is set, the authorized area is defaulted to the target location area and arrives. The path area of the target location (such as the aisle area). Of course, other areas can be added as authorized areas as needed. Then, a dual-frequency electronic tag is activated, and the authorization information is bound to the identification code (ID) of the dual-frequency electronic tag, so that the authorization information is recorded into the dual-frequency electronic tag. Finally, the dual-frequency electronic tag is issued to the positioning target, and when the positioning target (such as the entering person) carries (such as wearing) the dual-frequency electronic tag, the user can be allowed to enter the indoor (such as the computer room) to reach the target location.

[0136] In the indoor positioning method of the embodiment of the present invention, the processing device issues dual-frequency electronic tags with different rights for different positioning targets, thereby realizing classification management of the positioning targets. At the same time, the navigation device realizes navigation and misentry alarms through the processing device.

[0137] The positioning system of the embodiment of the present invention can be applied to any indoor positioning scenario, for example, to a computer room, and locates and guides personnel entering the equipment room to implement effective monitoring and management of the equipment room.

[0138] In a specific implementation, an indoor positioning system as shown in FIG. 11 may be constructed, the system including a reader matrix composed of a group of high frequency reader 11 and a group of low frequency readers 12, two S-BUSs Converter 20, an acquisition gateway 30, a network management host computer 40, a speaker 50, a card issuer 60, and dual-band electronics Label 70. The high frequency reader 11 group (H1-1~H4-1) and the low frequency reader 12 group (Α1-1~Ι3-3) can form a reader matrix in a peripherally arranged combination, each reader 11 group A ring network is formed by the S-BUS bus and connected to the S-BUS converter 20, which is converted by the S-BUS converter 20, so the reader matrix contains two different S-BUS buses corresponding to two different The S-BUS converter 20, the reader matrix and the S-BUS converter 20 constitute the data acquisition device of the previous embodiment. The collection gateway 30 communicates with the S-BUS converter 20 in a serial communication manner, which is equivalent to the positioning device of the foregoing embodiment. The collection gateway 30 is connected to the network management host computer 40 through a wired or wireless network. The network management host computer 40 controls the speaker 50 and the card issuer 60, which is equivalent to the processing device of the foregoing embodiment.

[0139] The network management host computer 40 registers the positioning target 80, sets authorization information such as the target location and the authorized area, records the authorization information into a dual-frequency electronic tag 70, and controls the card issuer 60 to issue the dual-frequency electronic tag 70 to the positioning target 80. .

[0140] After the positioning target 80 carries the dual-frequency electronic tag 70 into the equipment room, the high-frequency reader 11 and the low-frequency reader 12 of the reader matrix start reading the data of the dual-frequency electronic tag 70, and pass through the S-BUS converter 20. Transfer to the collection gateway 30.

[0141] The acquisition gateway 30 obtains the reading result of the reader matrix, determines the location of the positioning target 80 according to the reading result, and sends the coordinates of the location to the network management host computer 40.

[0142] After obtaining the coordinates of the first position after the positioning target 80 enters the equipment room, the network management host computer 40 immediately displays the current location of the positioning target 80 on the screen, and plans the traveling route according to the current location and the positioning location of the positioning target 80. And performing voice navigation for the positioning target 80 through the speaker 40 according to the travel route. If the subsequent positioning 吋 finds that the positioning target 80 deviates from the navigation route, the travel route is re-planned according to the current position coordinates, and the loop is repeated until the positioning ends. At the same time, the motion trajectory of the positioning target 80 is drawn according to the position of the positioning target 80 0. When the positioning target is mistakenly entered into the unauthorized area, an alarm is issued through the speaker 40 or the like.

[0143] When the access of the positioning target 80 is completed and the computer room is exited, the network management computer 40 records the motion track information, the alarm information, the navigation information, and the like of the positioning target 80, and saves the record, so that the subsequent query is performed, and then the dual frequency is performed. The electronic tag 70 is recycled and reset.

[0144] The indoor positioning method and system using the embodiments of the present invention have the following beneficial effects:

[0145] (1) The stability is good, and any reader in the reader matrix is damaged, and the overall performance is not affected; [0146] (2) The operation is simple, the manpower is saved, and only one person is responsible for issuing the card authorization;

[0147] (3) powerful, can realize personnel positioning, trajectory tracking, real navigation, and accidental entry alarm;

[0148] (4) The installation is simple and convenient to expand, and only a new reader needs to be connected to the matrix, and no need to re-arrange;

[0149] (5) It is easy to expand. With this scheme, the environment can be used in combination in the reader matrix, such as temperature, humidity, smoke, and the like.

[0150] It should be noted that the indoor positioning system and the indoor positioning method are provided in the same embodiment, and the specific implementation process is described in the method embodiment, and the technical features in the method embodiment are in the system embodiment. Correspondence applies, and will not be repeated here.

Through the description of the above embodiments, those skilled in the art can clearly understand that the foregoing embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be through hardware, but in many cases, the former It is a better implementation. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium (such as ROM/RAM, disk, The optical disc includes a number of instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the methods described in various embodiments of the present invention.

The preferred embodiments of the present invention have been described above with reference to the drawings, and are not intended to limit the scope of the invention.

A person skilled in the art can implement the invention in various modifications without departing from the scope and spirit of the invention. For example, the features of one embodiment can be used in another embodiment to obtain a further embodiment. Any modifications, equivalent substitutions and improvements made within the technical concept of the invention are intended to be within the scope of the invention.

Industrial applicability

According to an embodiment of the present invention, a reader group of two different frequency bands arranged in a matrix is arranged in a room, and data of a dual-frequency electronic tag carried by the positioning target is read by a reader group. According to the reading result, the location of the positioning target is determined, and the positioning target is accurately positioned indoors. The indoor positioning method of the embodiment of the invention has good expansibility, high ease of use, reduces positioning error, simplifies system structure, improves stability and reliability, reduces implementation cost, and greatly improves overall system performance. Therefore, it has industrial applicability.

Claims

Claim

An indoor positioning method includes the following steps:

Reading, by the first frequency band reader group and the second frequency band reader group, data of the dual frequency electronic tag carried by the positioning target, where the first frequency band reader group and the second frequency band reader group are indoors Staggered into a matrix;

Determining a location of the positioning target according to a reading result of the first band reader group and the second band reader group.

The indoor positioning method according to claim 1, wherein the determining the location of the positioning target according to the reading result of the first band reader group and the second band reader group comprises:

Determining whether there is a non-zero result in the read result of the first band reader group and the second band reader group; when there is a non-zero result in the reading result of the first band reader group获取 obtaining a first reference position of the first band reader reading the non-zero result in the matrix; when the read result of the second band reader group has a non-zero result, obtaining the read non- a zero-result second band reader at a second reference position in the matrix;

Determining the location of the positioning target based on the first reference position and/or the second reference position.

The indoor positioning method according to claim 1, wherein the step of reading the data of the dual-frequency electronic tag carried by the positioning target by the first band reader group and the second band reader group further comprises: The positioning target is authorized to generate authorization information, and the authorization information is recorded into the dual-frequency electronic tag.

The indoor positioning method according to claim 3, wherein the authorization information includes a target location, and the determining is performed according to a reading result of the first frequency band reader group and the second frequency band reader group The step of locating the location of the target further includes: generating a travel route according to the location of the target and the target location, and navigating according to the travel route.

The indoor positioning method according to claim 3, wherein the authorization information includes authorization After the step of determining the location of the positioning target according to the reading result of the first frequency band reader group and the second frequency band reader group, the method further includes: determining, according to the authorization information, the positioning Whether the location of the target belongs to the authorized area; when the location of the target is not in the authorized area, an alarm is generated.

[Claim 6] The indoor positioning method according to claim 1, wherein the determining the positioning target according to the reading result of the first frequency band reader group and the second frequency band reader group The step of locating further comprises: generating a motion trajectory of the positioning target according to different locations of the positioning target.

The indoor positioning method according to any one of claims 1 to 6, wherein the first band reader is disposed in an aisle region, and the second band reader is disposed in a target object placement region.

[Claim 8] The indoor positioning method according to claim 7, wherein each of the target object aggregation areas is provided with at least one second band reader.

[Claim 9] The indoor positioning method according to claim 7, wherein a second band reader is provided in a region where each target object is located.

[Claim 10] The indoor positioning method according to claim 7, wherein the first band reader is a high frequency reader, and the second band reader is a low frequency reader.

[Claim 11] An indoor positioning system, comprising:

a data collection device, including a first frequency band reader group and a second frequency band reader group staggered indoors in a matrix, configured to pass through the first frequency band reader group and the second frequency band reader group The group reads the data of the dual-frequency electronic tag carried by the positioning target; the positioning device is configured to determine the location of the positioning target according to the reading result of the first frequency band reader group and the second frequency band reader group .

[Claim 12] The indoor positioning system according to claim 11, wherein the positioning device is configured to: determine a reading result of the first band reader group and the second band reader group Whether there is a non-zero result; when there is a non-zero result in the read result of the first band reader group, obtaining a first reference position of the first band reader reading the non-zero result in the matrix; When there is a non-zero result in the read result of the second band reader group, Taking a second reference position of the second band reader reading the non-zero result in the matrix; determining the location of the positioning target according to the first reference position and/or the second reference position.

[Claim 13] The indoor positioning system according to claim 11, wherein the system further comprises processing means, the processing means is configured to: authorize the positioning target, generate authorization information, and enter the authorization information Dual frequency electronic tag.

[Claim 14] The indoor positioning system according to claim 13, wherein the authorization information includes a target location, and the processing device is further configured to: generate a travel route according to the location of the positioning target and the target location, Navigation is performed according to the travel route.

[Claim 15] The indoor positioning system according to claim 13, wherein the authorization information includes an authorization area, and the processing device is further configured to: determine, according to the authorization information, whether the location of the positioning target belongs to an authorized area When the location of the target is not in the authorized area, an alarm is generated.

[Claim 16] The indoor positioning system according to claim 11, wherein the system further comprises a processing device, the processing device configured to: generate a motion of the positioning target according to different locations of the positioning target Track.

The indoor positioning system according to any one of claims 11 to 16, wherein the first band reader is disposed in an aisle region, and the second band reader is disposed in a target object placement region.

[Claim 18] The indoor positioning system according to claim 17, wherein each of the target object gathering areas is provided with at least one second band reader.

[Claim 19] The indoor positioning system according to claim 17, wherein a second band reader is provided in a region where each target object is located

[Claim 20] The indoor positioning system according to claim 17, wherein the first band reader is a high frequency reader, and the second band reader is a low frequency reader.