WO2018036707A1

WO2018036707A1 - System and method for locating an object

Info

Publication number: WO2018036707A1
Application number: PCT/EP2017/066875
Authority: WO
Inventors: Andreas Kornbichler; Alejandro Ramirez; Oliver Zechlin
Original assignee: Siemens Aktiengesellschaft; Siemens Schweiz Ag
Priority date: 2016-08-26
Filing date: 2017-07-06
Publication date: 2018-03-01

Abstract

A system for locating an object is proposed. The system has a radio transmitter which is assigned to an object and is set up to transmit a radio signal, a mobile terminal which is set up to receive the radio signal from the radio transmitter, and a processing unit. The mobile terminal is set up to transmit the received radio signal and a position of the mobile terminal to the processing unit, and the processing unit is set up to determine a position of the object on the basis of the received radio signal and the position of the mobile terminal. A method for locating an object is also proposed. The proposed system and method make it possible to determine the position of different objects by using mobile terminals which move in a building or an installation. These objects are equipped with radio transmitters for this purpose.

Description

description

System and method for locating an object The present invention relates to a system for ^¬ ren localize an object. Furthermore, the present invention relates to a method ^¬ to locate an object. Moreover, the present invention relates to a Computerpro ^¬ program product, which causes the processing performing such a method in a program-controlled Einrich-.

The traceability and localization of mobile resources, which can include both objects and persons, is of interest in many applications. For example, it is in buildings and / or installations desirable to keep track of which located in the building or facility mobile resources, and preferred to allow accurate Loka ^¬ capitalization. This usually requires a complex infrastructure and cooperative behavior of resources.

For smartphones exist in the devices pre-installed location services, which allow after activation to locate the lost or misplaced device, for example via a web service. The accuracy depends on many factors, and in the worst case can be very inaccurate, for example if only one mobile radio cell can be used for location. Such features are often only used when a user has lost his device and he wants to localize it himself. Furthermore, there are special ^orientation applications with which a user can release the current position (via and via smartphone) to a defined circle of persons. In the industrial and commercial environment, for example, RFID is used. For the real-time localization of movable objects in a building here are RFID transponders, an RF infrastructure, ie receivers, which are distributed in the building are, and a backend software is used. The RFID transponders can pre-connect a resistor digitally to change the power consumption and thus indirectly send signals received by the infrastructure. These signals contain information that identifies the object. The infrastructure is distributed throughout the building, and its elements log into the backend software, passing on the information of the RFID transponders. Based on the local information of the fixed infrastructure, the backend software calculates the position of each RFID transponder. It may be necessary for all infrastructure elements with energy and with a ^¬ Since tenverbindung be supplied. Against this background, it is an object of the present invention to provide an improved way bereitzustel ^¬ len to objects in a building or a facility to lokali ^¬ Sieren. Accordingly, a system for locating a Whether ^¬ jekts is proposed. The system comprises a radio transmitter which is associated with an object and is adapted to transmit a radio signal, a mobile terminal that is to be ^¬ oriented to receive the radio signal from the radio transmitter, and a processing unit. The mobile terminal is adapted to the received radio signal and a positi ^¬ on the mobile terminal to the processing unit to ^¬ means, and the processing unit is adapted to a position of the object based on the received radio signal and the position of the mobile terminal to determine.

The respective unit, for example a processing unit, can be implemented in terms of hardware and / or software. In a hardware implementation, the respective technical unit can be configured as a device or as part ei ^¬ ner device such as a computer or a microprocessor. In a software implementation, the respective unit can be used as a computer program product, as a function, as a routine, as part of a program code or as an executable object.

The proposed system does not use fixed, ie. H. Fixed infrastructure, but instead uses mobile devices, which are located in the same area as the object to be located. The same area can be understood in this context to be a localized area such as a building or an industrial facility.

For this purpose, for example, an application can be installed on the mobile terminals, which is set up to receive radio signals from radio transmitters and forward them to a processing unit. In addition to the radio signal, the mobile terminal can also transmit its own position to the processing unit.

The system may comprise a plurality of mobile terminals and a plurality of OBJEK ^¬ te associated with radio transmitters. In particular, the location of a radio transmitter by means of a plurality of terminals can be performed, each of which receives a corresponding Funksig ^¬ nal. Furthermore, each mobile terminal can receive and forward the radio signals from a plurality of radio transmitters, whereby a simultaneous localization of a plurality of radio transmitters and their associated objects is possible.

The radio transmitter, which may be an RFID tag, for example, may be attached directly to the object or at least connected to the object. In this context, a mobile terminal can be understood as meaning mobile devices such as mobile phones (eg smartphones), tablet computers and personal digital assistants (PDAs), but also notebooks or subnotebooks. The mobile terminal may receive a radio signal from the radio transmitter, for example in the form of a Bluetooth signal.

The processing unit can then be based on the transmitted radio signal of the radio transmitter and the current move the position of the mobile terminal to draw conclusions about the position of the object. Here, the processing ^¬ unit may determine the position of the object by using various algorithms, such as within a building or a plant.

The processing unit may provide the determined position data to other devices. Such devices may be used, for example, for navigating the object, for tracking, d. H. Tracking, the object, for the inventory, for the statistical evaluation, z. For example, if the object is in a building and the building maps are not known, they can be created and refined using the system.

Other applications are as follows. It may be the last known position of a resource, that an object is ^¬ shows. This information can z. B. continue to be used to calculate a navigation to this position and display. Resources can be people, workpieces, tools, etc.

The system can be used as a visitor location system. Visitors to a building or facility receive a visitor's wristband with integrated radio transmitter at the reception. The gesende ^¬ th radio signal is detected from the mobile terminals and other communication terminals, optional of IT infrastructure, and by means of their own position than the position of the visitor in a local or online available software or database would be stored. This allows a movement profile to be called up by an authorized user (eg security service). If, on the basis of the recognition, a departure from the permitted path is shown, the guest can be informed and the security service can be sent to the place of deployment.

If an object moves unexpectedly or as Get used ^¬ Lich the case (eg. As for medical problem, over- case, or mechanical failure), an employee can be sent to the last known position.

If the system recognizes unusual movement behavior (or none), active use can be made of the existing radio transmitters and mobile terminals in order, for. For example, find out if multiple devices can confirm the detected incident. The processing unit may be provided as a central Verarbeitungsein ^¬ uniform, or the data can be distributed ad-hoc, so that each mobile terminal expects ^¬ be the position itself. In the second case, each mobile terminal used represents a processing unit.

According to one embodiment, the mobile terminal can transmit further sensor data, such as acceleration or rotation rate information from an inertial measurement unit (IMU), to the processing unit. This information can further improve localization.

According to one embodiment, the mobile terminal and the processing unit are adapted to communicate via a radio link ^¬ dung.

The radio connection can be set up as a mobile or another telecommunications service. Alternatively, the mobile terminal and the processing unit may also communicate via WLAN or other radio links.

According to a further embodiment, the radio signal contains information about the identity of the radio transmitter.

The identity of the radio transmitter can indicate the assigned object. Furthermore, it is thus possible to locate several radio transmitters and their associated objects, since these can be distinguished on the basis of their identity. According to a further embodiment, the mobile terminal is adapted to transmit with the position information about the identity of the mobile terminal. In this way, the processing unit can determine whether the same mobile terminal repeatedly transmits the radio signal of a radio transmitter or whether several different mobile terminals transmit the same radio signal. According to a further embodiment, the mobile terminal is adapted to transmit with the radio signal information about the signal strength of the received radio signal.

Depending on the signal strength, the removal of the radio transmitter to the mobile terminal can be concluded. The weaker the radio signal is, the farther the radio ^{transmitter is} away from the mobile terminal. In this way, an area around the mobile terminal can be determined around ^¬ , in which the radio transmitter can be located. This area may be defined as a perimeter at a certain distance around the mobile terminal.

According to a further embodiment, the processing unit adapted to determine the position of the object based on the signal strength of the radio signal and the position of the mo ^¬ bilen terminal.

The location of the mobile terminal in combination with the signal strength may determine an area within a building or facility in which the radio transmitter is located.

According to a further embodiment, the system has at least one further mobile terminal which is set up to receive the radio signal from the radio transmitter and to transmit the received radio signal and a position of the at least one further mobile terminal to the processing unit, the processing unit being set up for this purpose is, a position of the object based on the received radio signal, the position of the mobile terminal and the Posi ^¬ tion of at least one other mobile terminal to be ^¬ vote.

The system can be extended by any number of mobile devices. The more terminals are available, the more accurately the position of a radio transmitter can be determined. In particular, when the radio transmitter is moving, it is advantageous to pass when a plurality of mobile terminals at the same time the radio signal are received, ^¬ gene and to the processing unit. This can determine the position of the radio transmitter based on this information, ie the positions of the plurality of terminals and the respective received radio signal, in particular based on the signal strength. Moves this in the following, the position of the radio transmitter can be determined on the positi ^¬ ones of the plurality of terminals and the respectively received radio signal, in particular based on the signal strength again based.

According to a further embodiment, the processing unit is adapted to determine the position of the object by means of a lateration. At the lateration or trilateration, depending on the number of

Terminal devices also multilateration, the position of the radio transmitter is determined as a distance or distance measurement to several points. The trilateration involves three points or terminal devices, while multilateration involves any number of end devices.

If only the distance of the radio transmitter to a mobile terminal device is known, the position of the radio transmitter, when viewed ^flatly , lies on a circle, in 3D space on a spherical shell, around this terminal. Are the positions of two terminal device ^¬ th known that receive the radio signal from the radio transmitter, the location of the radio transmitter on the intersections of the two spherical shells, so on a circle. Depending on the The number of mobile terminals that receive the radio signal can therefore improve the accuracy of the position determination. According to a further embodiment, the mobile terminal and / or the at least one other mobile terminal to be a ^¬ directed receive the radio signal over a certain period and to transmit to the processing unit. The object moves and thus, the radio transmitter, the mobile terminals can receive the radio signal over a certain time ^¬ space of time. The processing unit can then perform a position determination over this period of time.

According to a further embodiment, the processing unit is configured to determine the position based on a time profile of the radio signal. If the processing unit only receives the radio signal from a mobile ^{terminal device} , the processing unit can determine a chronological progression, eg. B. a temporal course of the signal strength of the radio signal in determining the position be ^¬ consider. Using this time profile of a movement of the radio transmitter and the Ob ^¬ jekts can play as examples to be determined.

According to a further embodiment, the processing unit has a filter which is set up to filter out certain positions which are outside a possible range.

In determining the position, the processing unit may determine positions for the radio transmitter that are outside a possible range, for example, outside a building. These theoretically possible positions can be filtered out by the filter as virtually impossible positions. Furthermore, a method for locating an object is proposed. The method has the following

Steps of: transmitting a radio signal which is assigned to an object by a radio transmitters, receiving the Funksig ^¬ Nals by a mobile terminal, transmit the received radio signal and a position of the mobile terminal to a processing unit, and determining a position of the Ob ^¬ jekts based on the received radio signal and the position of the mobile terminal.

Those described for the proposed system execution ^¬ shapes and features apply mutatis mutandis to the proposed method.

Furthermore, a computer program product is proposed, which causes the execution of the method as explained above on a program-controlled device. A computer program product, such. As a computer program means, for example, as a storage medium such. As a memory card, USB stick, CD-ROM, DVD, or even in the form of a downloadable file from a server in a network provided or delivered. This can be done, for example, in a wireless communication network by the transmission of a corresponding file with the Computerprogrammpro ^¬ domestic product, or the computer program means.

Further possible implementations of the invention also include not explicitly mentioned combinations of features or embodiments described above or below with regard to the exemplary embodiments. The skilled person will also add individual aspects as improvements or additions to the respective basic form of the invention.

Further advantageous embodiments and aspects of the inven ^¬ tion are the subject of the dependent claims and in the following ^¬ described embodiments of the invention. In the way The invention will be explained with reference to preferred embodiments with reference to the accompanying figures. Fig. 1 shows a schematic block diagram of a system for locating an object;

Fig. 2 shows a schematic block diagram of an off ^¬-section of the system of Fig.l;

FIG. 3 is a schematic flow diagram of a method for locating an object; FIG.

Fig. 4 is a schematic view of a portion of an object located by a mobile terminal; and

Fig. 5 shows a schematic view of a portion of an object located by two mobile terminals. In the figures, the same or functionally identical elements have been given the same reference numerals, unless stated otherwise.

1 shows a system 100 for locating an object 10. The object 10 is equipped with a radio transmitter 1.

An object 10 is provided in the system 100, but other objects 10 with associated radio transmitters 1 may be present. Mobile terminals 2, 3 can receive a radio signal from the radio transmitter 1. This radio signal is then transmitted to ^¬ together with the respective position of the respective mobile terminal 2, 3 to a processing unit. 4

The processing unit 4 then determines a position of the object 10 based on the received radio signal and the position of the mobile terminal 2, 3. This will be explained in more detail below with reference to examples. The object 10, and thus the radio transmitter 1, can move, for example, in a building. This is shown in Fig. 2 by the radio transmitter 1, which, as shown by the arrows, moves. At the times Tl to T3, the radio transmitter 1 moves.

At the same time, the mobile terminal 2 moves in an arc around the radio transmitter 1, being at different positions on this sheet at the times Tl to T4.

The mobile terminal 2 may, during its own movement, receive the radio signal from the radio transmitter 1 at the various times and forward it to the processing unit 4 together with its own position. Based on this information, the processing unit 4 can determine at least one changing radius around the mobile ^terminal 2 on which the radio transmitter is located.

The localization of the object 10 takes place according to the method shown in Fig. 3.

First, in step 301, a radio signal is transmitted by the radio transmitter ^¬. 1 In step 302, the radio signal is received by the mobile terminal 2.

In step 303, the received radio signal and the positi ^¬ on the mobile terminal 2 is transmitted to the processing unit. 4

Finally, in step 304, the position of the object 10 is determined based on the received radio signal and the position of the mobile terminal 2.

The steps 301 to 304 can be repeated. In Fig. 2 this happens, for example, at the times Tl to T4. When the radio signal received from a terminal 2 and the signal strength of the radio signal subjected Hérange ^¬ for position determination, a circle around the mobile terminal 2 can be determined for example by means lateration, on which the Whether ^¬ ject 10 is located. This is shown in FIG. 4. The distance D of the circle depends on the signal strength of the received radio signal. If the signal is strong, the distance D is small. If the signal is weaker, the distance D is greater.

If two mobile terminals 2, 3 are used to locate a Whether ^¬ ject 10, the number of possible positions at which the object may be located 10 is reduced. This is shown in FIG.

In this case, the radio signal is also received by the Endge ^¬ advises. 3 By means of lateration, a circle around the mobile terminal 3 can then also be determined, on which the object 10 can be located. Again, the distance D of the circle depends on the signal strength of the received radio signal.

Since the possible positions of the object 10 based on the mobile terminal 2 and the mobile terminal 3 overlap only in two places, namely the intersections of the two circles, the object can only be at the positions PI or P2. The illustration of Figures 4 and 5 relates to a very accurate localization. Depending on the reception, or upon movement of the terminals 2 and 3 or the object 10, the possible location of the object 10 may refer to a larger area and not just the respective perimeter. In this case, it is advantageous if a plurality of terminals 2, 3 is used for position determination, since then the localization becomes more accurate. Although the present invention has been described with reference to Ausführungsbei ^¬ games, it is versatile modifiable.

Claims

claims

A system (100) for locating an object (10), comprising: a radio transmitter (1) associated with an object (10) and adapted to transmit a radio signal,

a mobile terminal (2) adapted to receive the radio signal from the radio transmitter (1), and

a processing unit (4),

wherein the mobile terminal (2) is adapted to forward the received radio signal and a position of the mobile terminal (2) to the processing unit (4), and wherein the processing unit (4) is arranged to (a Po ^¬ sition of the object 10) based on the received radio ^¬ signal and the position of the mobile terminal (2) to determine.

2. System according to claim 1,

characterized in that the mobile terminal (2) and the processing unit (4) are adapted to communicate via a radio link.

3. System according to claim 1 or 2,

characterized in that the radio signal contains information about the identity of the radio transmitter (1).

4. System according to one of claims 1 - 3,

characterized in that the mobile terminal (2) is adapted to communicate with the position information about the identity of the mobile terminal (2).

5. System according to one of claims 1 - 3,

characterized in that the mobile terminal (2) is adapted to transmit with the radio signal information about the signal strength of the received radio signal.

6. System according to claim 5,

characterized in that the processing unit (4) is as ^¬ to set up the position of the object (10) based on the signal strength of the radio signal and the position of the mo ^¬ bile terminal (2) to determine.

7. System according to one of claims 1 - 6,

characterized by at least one other mobile terminal (3), which is adapted to be received and the radio signal from the radio ^¬ sender (1) the received radio signal, and ei ^¬ ne position of at least one other mobile terminal (3) to the processing unit ( 4), wherein the processing unit (4) is adapted to determine a position of the object (10) based on the received radio signal, the position of the mobile terminal (2) and the position of the at least one further mobile terminal (3) ,

8. System according to any one of claims 1-7,

characterized in that the processing unit (4) is as ^¬ to set up the position of the object (10) to determine by means of a lateration.

9. System according to one of claims 1 - 8,

characterized in that the mobile terminal (2) and / or the at least one other mobile terminal (3) to be ^¬ are aligned, receive the radio signal over a certain period and to the processing unit (4) to transmit.

10. System according to claim 9,

characterized in that the processing unit (4) is there to ^¬ arranged to determine the position based on a zeitli ^¬ chen course of the radio signal.

11. System according to one of claims 1 - 10,

characterized in that the processing unit (4) ei ^¬ NEN filter adapted to filter out certain Po ^¬ sitions that are outside of a possible loading kingdom.

12. A method for locating an object (10), comprising: Transmitting (301) a radio signal by a radio transmitter (1) associated with an object (10)

Receiving (302) the radio signal by a mobile Endge ^¬ advises (2),

Transmitting (303) the received radio signal and a

Position of the mobile terminal (2) to a processing unit (4), and

Determining (304) a position of the object (10) based on the received radio signal and the position of the mobile terminal (2).

13. Computer program ^product , which causes the execution of the method according to claim 12 on a program-controlled device.