WO2022245118A1 - 자산 추적 시스템 및 방법 - Google Patents
자산 추적 시스템 및 방법 Download PDFInfo
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- WO2022245118A1 WO2022245118A1 PCT/KR2022/007085 KR2022007085W WO2022245118A1 WO 2022245118 A1 WO2022245118 A1 WO 2022245118A1 KR 2022007085 W KR2022007085 W KR 2022007085W WO 2022245118 A1 WO2022245118 A1 WO 2022245118A1
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- asset
- terminal
- location
- terminals
- location information
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- 238000000034 method Methods 0.000 title claims description 35
- 238000004891 communication Methods 0.000 claims abstract description 243
- 238000005259 measurement Methods 0.000 claims abstract description 14
- 230000004044 response Effects 0.000 claims description 51
- 238000012937 correction Methods 0.000 claims description 46
- 230000005540 biological transmission Effects 0.000 claims description 40
- 239000000284 extract Substances 0.000 claims description 28
- 230000003042 antagnostic effect Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 15
- 230000000694 effects Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
- G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
- G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/51—Relative positioning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
- G01S7/006—Transmission of data between radar, sonar or lidar systems and remote stations using shared front-end circuitry, e.g. antennas
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
Definitions
- the present invention relates to techniques for tracking the location of assets such as cargo, containers and pallets.
- Containers are used to transport cargo efficiently and economically. Containers are transported through vehicles, ships, airplanes, etc. after loading cargoes mounted on pallets.
- asset tracking technology installs various sensors on transport structures such as containers and pallets and transmits sensing information and location information detected by them to a management server.
- Conventional asset tracking technology mainly uses a GPS system to track the location of an asset, but there is a problem in that it is difficult to accurately track the location of an asset due to a location deviation of the GPS.
- the present invention has been proposed to solve the above problems, and provides an asset tracking system and method for tracking the exact location of an asset by correcting the location of an asset through GPS information using the relative location between a reference terminal and positioning targets. aims to do
- an asset tracking system is installed in a reference terminal and an asset to be tracked, and performs UWB communication with the reference terminal to measure a plurality of asset terminals relative to the reference terminal. and a management server that collects asset locations and relative locations from a plurality of asset terminals and corrects the asset location of the asset terminal using the relative locations.
- an asset tracking method includes the steps of collecting asset locations generated based on GPS signals from a plurality of asset terminals, UWB between a reference terminal and an asset terminal from a plurality of asset terminals. Collecting a relative position based on the reference terminal generated through communication, generating a reference position corresponding to the position of the reference terminal based on the asset position collected in the asset position collecting step, and generating the reference position and generating a corrected asset position by reflecting the relative position based on the reference position generated in the step of performing the step.
- an asset tracking method includes configuring one or more groups through mutual communication by a plurality of asset terminals, and assets belonging to each group in the step of configuring the groups.
- the asset tracking system and method reflect the relative position measured through UWB communication and correct the asset position measured based on GPS communication, compared to the prior art of measuring the asset position using only GPS communication. There is an effect of minimizing the measurement error of the position.
- the asset tracking system and method reflect the relative position measured through UWB communication and correct the asset position measured based on GPS communication, so that some errors occur with the actual position of the asset, but the relative position relative to the reference terminal can be displayed the same as the actual location, which has the effect of increasing the accuracy of asset tracking.
- the asset tracking system and method classify a plurality of asset terminals into groups, set at least one master asset terminal in each group, and measure the relative positions between the master asset terminal and the slave asset terminals through GPS information.
- the asset tracking system and method have an effect of increasing the accuracy of asset tracking by displaying the relative position with respect to the reference terminal as the same as the actual position, although some errors occur with the actual position of the asset.
- the asset tracking system and method classify a plurality of asset terminals into groups, set the asset position using the position of the master asset terminal of each group as a reference position and the relative position of the slave asset terminal, thereby determining the relative position between the assets. has the effect of being able to track accurately.
- the asset tracking system and method improve the efficiency of the battery mounted on the asset terminal by driving the GPS communication module of the master asset terminal and stopping the driving of the GPS communication module of the slave asset terminals, and through this, the asset that is loaded for a long time It has the effect of extending the period in which the position of the can be tracked.
- FIG. 1 is a diagram for explaining a conventional asset tracking system
- FIG. 2 is a view for explaining an asset tracking system according to a first embodiment of the present invention.
- FIG. 3 is a diagram for explaining the configuration of the asset terminal of FIG. 2;
- FIG. 4 is a diagram for explaining the configuration of the management server of FIG. 2;
- FIG. 5 is a diagram for explaining a location information storage module of FIG. 4;
- 6 to 11 are views for explaining an example in which the management server of FIG. 2 tracks (corrects) the location of an asset terminal.
- FIG. 12 is a flowchart for explaining an asset tracking method according to a first embodiment of the present invention.
- FIG. 13 is a flowchart for explaining a reference position setting step of FIG. 12;
- FIG. 14 is a diagram for explaining an asset tracking system according to a second embodiment of the present invention.
- FIG. 15 is a diagram for explaining the master asset terminal of FIG. 14;
- FIG. 16 is a diagram for explaining a slave asset terminal of FIG. 14;
- 17 is a diagram for explaining the configuration of the management server of FIG. 14;
- FIG. 18 is a diagram for explaining a location information storage module of FIG. 17;
- 19 to 24 are views for explaining an example in which the management server of FIG. 14 tracks (corrects) the location of an asset terminal.
- 25 is a flowchart for explaining an asset tracking method according to a second embodiment of the present invention.
- 26 is a flowchart for explaining the step of setting the reference position of FIG. 25;
- FIG. 27 is a diagram for explaining a conventional asset tracking system
- FIG. 28 is a diagram for explaining an asset tracking system according to a third embodiment of the present invention.
- FIG. 29 is a diagram for explaining the master asset terminal of FIG. 28;
- FIG. 30 is a diagram for explaining the slave asset terminal of FIG. 28;
- 31 is a diagram for explaining the configuration of the management server of FIG. 28;
- FIG. 32 is a diagram for explaining the location information storage module of FIG. 31;
- 33 and 34 are views for explaining an example in which the management server of FIG. 28 tracks (corrects) the location of an asset terminal.
- 35 is a flowchart for explaining an asset tracking method according to an embodiment of the present invention.
- a GPS-based location tracking terminal is mainly attached to an asset (ie, a container) and loaded in a storage yard. do. At this time, the asset tracking system tracks the location of the asset using the location information measured by the location tracking terminal.
- the tracking terminal mainly measures location information (1', 2', 3', 4', 5', 6') corresponding to the current location of the asset using GPS.
- location information (1', 2', 3', 4', 5', 6') corresponding to the current location of the asset using GPS.
- positioning using GPS can cause a positioning error of several tens of meters or more, so it is possible to position a position different from the actual position of the asset as the asset position. It is tracked differently from reality.
- the position of an asset for positioning is corrected through GPS information using the relative position between the reference terminal and positioning targets to track the exact position of the asset.
- the relative arrangement of assets is made the same as the actual arrangement while minimizing the error between the actual position of the asset and the measured position.
- the asset tracking system includes a plurality of asset terminals 100 , a reference terminal 200 and a management server 300 .
- the asset terminal 100 is a communication terminal mounted (or installed) on the asset 10 for asset management.
- the asset terminal 100 receives first location information corresponding to the current location of the asset 10 through GPS communication.
- the asset terminal 100 generates second location information corresponding to a relative position with the reference terminal 200 through UWB communication.
- the asset terminal 100 generates second location information including direction and distance.
- the asset terminal 100 transmits the first location information and the second location information to the management server 300 .
- the asset terminal 100 includes a first communication module 110, an asset location creation module 120, a second communication module 130, a relative location creation module 140, a control module 150, It is configured to include a third communication module 160 .
- the first communication module 110 is a GPS communication module that receives a GPS signal from a satellite
- the second communication module 130 is a UWB communication module that communicates with an adjacent reference terminal 200
- the third communication module 160 is an example of a Sigfox communication module that communicates with the management server 300 and the asset terminal 100 through low power communication.
- the first communication module 110 receives a GPS frequency band signal (hereinafter referred to as a GPS signal).
- the GPS signal received by the first communication module 110 is transmitted to the asset location generating module 120 .
- the asset location generation module 120 generates an asset location corresponding to the current location of the asset 10 based on the GPS signal transmitted from the first communication module 110 in response to the asset location generation request of the control module 150. do.
- generating location information using a GPS signal is a general technique, a detailed description thereof will be omitted.
- the asset location generating module 120 generates a first location information transmission request including the asset location and the unique identifier of the asset terminal 100 .
- the asset location generation module 120 transmits the first location information transmission request to the control module 150 .
- the second communication module 130 transmits and receives a signal (hereinafter referred to as a UWB signal) in a UWB frequency band.
- the second communication module 130 transmits and receives a UWB signal with the reference terminal 200 and transmits the received information to the relative location generation module 140 .
- the relative position generating module 140 transmits a positioning request requesting measurement of a relative position to the second communication module 130 in response to the asset position generating request of the control module 150 .
- the relative position generating module 140 receives the delay time from the second communication module 130 and generates the relative position of the asset terminal 100 based on the reference module based on this. At this time, the relative position generation module 140 generates a relative position through positioning techniques such as Time Difference of Arrival (TDoA) and Two Way Ranging (TWR).
- TDoA Time Difference of Arrival
- TWR Two Way Ranging
- the second communication module 130 receives a UWB signal (ie, an advertising signal or a location measurement request signal) from the reference terminal 200 and transmits the received UWB signal to the relative location generating module 140 .
- the relative location generation module 140 transmits a Ranging Request signal transmission request to the second communication module 130, and the second communication module 130 responds to the Ranging Request signal transmission request to the reference terminal 200 with a Ranging Request signal.
- send Upon receiving the ranging request signal, the reference terminal 200 transmits the first UWB pulse, and the second communication module 130 transmits the second UWB pulse in response to the first UWB pulse transmitted from the reference terminal 200. .
- the reference terminal 200 calculates the delay time between the first UWB pulse and the second UWB pulse and transmits it to the second communication module 130 .
- the second communication module 130 transmits the received delay time to the relative position generating module 140, and the relative position generating module 140 uses the delay time to determine the location of the reference terminal 200 as an asset terminal ( 100) relative position.
- the relative location generation module 140 generates second location information including the relative location, the unique identifier of the reference terminal 200 and the unique identifier of the asset terminal 100 .
- the relative location generating module 140 transmits the second location information to the control module 150 .
- the control module 150 transmits the asset location creation request to the asset location creation module 120 and the relative location creation module 140 . At this time, the control module 150 receives the asset location creation request from the management server 300 through the second communication module 130 or transmits the asset location creation request when the set time arrives.
- the control module 150 receives first location information and second location information in response to the asset location creation request.
- the control module 150 receives first location information that is location information generated based on a GPS signal from the asset location generating module 120 .
- the control module 150 receives second location information, which is relative location information generated based on the UWB signal, from the relative location generating module 140 .
- the control module 150 generates a location information transmission request including first location information and second location information.
- the control module 150 may generate a first location information transmission request including the first location information and a second location information transmission request including the second location information.
- the control module 150 transmits a location information transmission request to the third communication module 160 .
- the third communication module 160 transmits the first location information and the second location information to the management server 300 in response to the location information transmission request of the control module 150 .
- the third communication module 160 converts the first location information and the second location information into a Sigfox protocol and transmits it to the management server 300 .
- the reference terminal 200 is a communication terminal disposed around the asset 10 in order to calibrate the location measured by the asset terminal 100 .
- the reference terminal 200 is one of a portable terminal carried by a manager, an asset terminal 100 installed in an asset 10, a terminal fixedly installed in a place where the asset terminal 100 is loaded, and a plurality of asset terminals 100. It may be configured with the asset terminal 100 and the like.
- the reference terminal 200 transmits and receives a UWB signal with the second communication module 130 of the asset terminal 100 .
- the reference terminal 200 is configured to include a communication module capable of communicating with the second communication module 130 of the asset terminal 100 .
- the reference terminal 200 outputs an advertising signal or a location measurement request signal.
- the reference terminal 200 transmits the first UWB Pulse to the asset terminal 100 in response to the Ranging Request signal of the asset terminal 100 .
- the reference terminal 200 receives the second UWB Pulse from the asset terminal 100 in response to the first UWB Pulse.
- the reference terminal 200 calculates a delay time between the first UWB pulse and the second UWB pulse, and transmits the calculated delay time to the asset terminal 100 .
- the management server 300 collects location information from a plurality of asset terminals 100 .
- the management server 300 collects GPS-based asset location and UWB-based relative location.
- the management server 300 corrects the asset location using the relative location and outputs the corrected asset location generated as a result of the correction.
- the management server 300 includes a fourth communication module 310, a location information storage module 320, a reference location generation module 330, a correction module 340, and an output module 350. It consists of including.
- the fourth communication module 310 receives first location information and second location information from the plurality of asset terminals 100 .
- the fourth communication module 310 includes the first location information including the asset location and the unique identifier of the asset terminal 100, the relative location, the unique identifier of the reference terminal 200, and the unique identifier of the asset terminal 100 Receive second location information.
- the fourth communication module 310 transmits a location information storage request including the first location information and the second location information to the location information storage module 320 .
- the location information storage module 320 stores first location information and second location information in response to a location information storage request of the fourth communication module 210 . At this time, referring to FIG. 5 , the location information storage module 320 links and stores the unique identifier of the asset terminal 100, the unique identifier of the reference terminal 200, the asset location, and the relative location.
- the location information storage module 320 detects a unique identifier and a reference location from the reference location storage request in response to the reference location storage request of the reference location generation module 330 .
- the location information storage module 320 stores the reference location in association with the unique identifier of the reference terminal 200 identical to the detected unique identifier.
- the location information storage module 320 responds to the asset location storage request of the correction module 340 and detects a unique identifier and a calibrated asset location from the asset location storage request.
- the location information storage module 320 stores the corrected asset location in association with the unique identifier of the same asset terminal 100 as the detected unique identifier.
- the reference location generation module 330 generates a reference location of the reference terminal 200 based on the asset location and relative location stored in the location information storage module 320 .
- the reference location generation module 330 detects information linked to the unique identifier of the same reference terminal 200 from the location information storage module 320 .
- the reference location generation module 330 detects the unique identifier of the asset terminal 100 linked to the unique identifier of the same reference terminal 200, the asset location, and the relative location.
- the reference position generation module 330 extracts the midpoint of the two asset terminals 100 located at opposite points with respect to the reference terminal 200 . At this time, the reference position generation module 330 detects a position moved by the distance of the relative position in the direction of the relative position from the asset position for each asset terminal 100 . The reference position generation module 330 extracts a 1/2 point of a straight line connecting the positions of the two asset terminals 100 located at the Great Red Point among the detected positions as a midpoint.
- the reference location generating module 330 may generate a reference location of the reference terminal 200 based on the location of an asset stored in the location information storage module 320 .
- the reference location generation module 330 detects information linked to the unique identifier of the same reference terminal 200 from the location information storage module 320 .
- the reference location generation module 330 detects the unique identifier of the asset terminal 100 linked to the unique identifier of the same reference terminal 200 and the location of the asset.
- the reference position generation module 330 extracts the midpoint of the two asset terminals 100 located at opposite points with respect to the reference terminal 200 . At this time, the reference position generation module 330 extracts a 1/2 point of a straight line connecting the self image positions of the two asset terminals 100 located at the great red point with the reference terminal 200 as the center as the midpoint.
- the reference position generation module 330 extracts the center point of the figure connecting the midpoints, and creates the reference position (ie, the position of the reference terminal 200).
- the reference location generation module 330 generates a reference location storage request including the unique identifier of the reference terminal 200 and the reference location, and transmits the request to the location information storage module 320 .
- the reference position generating module 330 transmits a position correction request including the unique identifier of the reference terminal 200 and the reference position to the correction module 340 .
- the correction module 340 responds to the location correction request of the reference location creation module 330 to generate a correction asset location. That is, the correction module 340 detects the unique identifier and reference position of the reference terminal 200 from the position correction request. The correction module 340 detects the unique identifier and relative location of the asset terminal 100 linked to the unique identifier of the reference terminal 200 from the location information storage module 320 . The correction module 340 uses the reference position as a reference point and reflects the relative position to place the asset terminal 100 to generate a corrected asset position of each asset terminal 100 . The correction module 340 generates an asset location storage request including the unique identifier of the asset terminal 100 and the corrected asset location, and transmits the request to the location information storage module 320 . Calibration module 340 generates an asset output request and sends it to output module 350 .
- the output module 350 outputs the reference terminal 200 and the plurality of asset terminals 100 to the screen in response to the output request of the correction module 340 . At this time, the output module 350 outputs a screen in which the reference terminal 200 is displayed at the reference position and the asset terminal 100 is displayed at the corrected asset position.
- the management server 300 describes an example of correcting the location of the asset terminal 100 as follows.
- the first asset terminal (A1) and the sixth asset terminal (A6) are located at opposite points with respect to the reference terminal (R), and the second asset terminal (A2) and the fifth asset terminal (A5) are located on the reference terminal (R).
- the third asset terminal (A3) and the fourth asset terminal (A4) are located at the opposite point with respect to the reference terminal (R).
- the asset locations (A1' to A6') collected from the asset terminal 100 are displayed differently from the actual locations because they are generated based on GPS signals, and the relative locations between the asset terminals 100 are also displayed. It is displayed differently from the actual location.
- the management server 300 sets a reference position corresponding to the position of the reference terminal 200 .
- the management server 300 detects, for each asset terminal 100, a position moved by a distance of the relative position in the direction of the relative position from the asset position as the asset position.
- the management server 300 extracts a 1/2 point of a straight line connecting the asset locations of the two asset terminals 100 located at opposite points relative to the reference terminal 200 as a midpoint.
- A is the central point of the first asset terminal A1 and the sixth asset terminal A1
- B is the central point of the second asset terminal A2 and the fifth asset terminal A5
- the third asset terminal A3 C which is the central point of the fourth asset terminal A4, is extracted.
- the management server 300 extracts the center point D of the triangle formed by connecting the extracted midpoints A, B, and C, and creates this as a reference position (R", that is, the position of the reference terminal 200).
- the management server 300 is a straight line connecting the asset positions (asset positions that do not reflect the relative position) of the two asset terminals 100 located at the opposite point relative to the reference terminal 200.
- Half points can also be extracted as midpoints (A, B, C).
- the management server 300 sets the reference position (R") as the position of the reference terminal 200, and reflects the relative position of the asset terminal 100 based on the reference position (R").
- Each asset terminal 100 is arranged to generate a calibrated asset position (A1" to A6") of each asset terminal 100.
- the corrected asset positions (A1" to A6") generated by the management server 300 have an error compared to the asset positions (A1' to A6') measured based on the GPS signal. can be reduced, and although an error occurs with the actual positions (A1 to A6), the relative position with respect to the reference terminal 200 can be displayed identically, so the accuracy of asset tracking can be increased.
- the management server 300 collects asset locations from a plurality of asset terminals 100 (S110).
- the plurality of asset terminals 100 measure asset locations based on GPS signals and transmit the asset locations to the management server 300 at the request of the management server 300 .
- the management server 300 stores the asset location transmitted from the plurality of asset terminals 100 .
- the management server 300 links and stores the unique identifier of the asset terminal 100 and the location of the asset.
- the management server 300 collects relative positions from a plurality of asset terminals 100 (S120).
- the plurality of asset terminals 100 measure relative positions based on the reference terminal 200 through UWB communication with the reference terminal 200, and the relative position is determined by the management server 300 at the request of the management server 300.
- the management server 300 stores the relative positions transmitted from the plurality of asset terminals 100 .
- the management server 300 links and stores the unique identifier of the asset terminal 100, the unique identifier of the reference terminal 200, and the relative location.
- the management server 300 sets a reference location based on the asset location and relative location (S130).
- the management server 300 detects the asset location and relative location associated with the same reference terminal 200 (that is, the unique identifier of the reference terminal 200) among the stored asset locations and relative locations (S131). .
- the management server 300 extracts the midpoint of the two asset terminals 100 located at the opposite point relative to the reference terminal 200 (S132). At this time, the management server 300 detects a position moved by the distance of the relative position in the direction of the relative position from the asset position for each asset terminal 100 .
- the reference position generation module 330 extracts a 1/2 point of a straight line connecting the positions of the two asset terminals 100 located at the Great Red Point among the detected positions as a midpoint.
- the management server 300 may extract an intermediate point using only the asset location. That is, the management server 300 detects the unique identifier of the asset terminal 100 linked to the unique identifier of the same reference terminal 200 and the location of the asset. The management server 300 extracts the midpoint of the two asset terminals 100 located at opposite points relative to the reference terminal 200 . At this time, the management server 300 extracts a 1/2 point of a straight line connecting the self image positions of the two asset terminals 100 located at the great red point with the reference terminal 200 as the center.
- the management server 300 extracts the center point of the figure connecting the midpoints detected in step S132 and creates it as a reference position (ie, the position of the reference terminal 200) (S133).
- the management server 300 stores the reference location in association with the unique identifier of the reference terminal 200 .
- the management server 300 generates a corrected asset position by reflecting the relative position based on the reference position set in step S130 (S140).
- the management server 300 detects the unique identifier and relative position of the asset terminal 100 linked to the unique identifier of the reference terminal 200 .
- the management server 300 creates a corrected asset position of each asset terminal 100 by arranging the asset terminal 100 by taking the reference position as a reference point and reflecting the relative position.
- the management server 300 links and stores the unique identifier of the asset terminal 100 and the position of the corrected asset.
- the management server 300 displays the asset terminal 100 based on the stored corrected asset location (S150). That is, the management server 300 outputs the reference terminal 200 and the plurality of asset terminals 100 to the screen, displays the reference terminal 200 at the reference position, and displays the asset terminal 100 at the corrected asset position. do.
- the asset tracking method can reduce errors compared to the asset location measured based on the GPS signal, and although some errors occur with the actual location, the relative location based on the reference terminal 200 can be displayed identically, increasing the accuracy of asset tracking.
- a plurality of asset terminals are classified into groups, at least one master asset terminal is set in each group, and relative positions between the master asset terminal and the slave asset terminals are used for positioning through GPS information. Calibrate the asset location to track the exact location of the asset.
- a plurality of asset terminals are divided into a plurality of groups through UWB communication.
- the asset tracking system sets one of the asset terminals belonging to each group as a master asset terminal and sets the remaining asset terminals as slave asset terminals.
- the master asset terminal measures the relative position as location information through UWB communication with the slave asset terminal, and transmits the measured location information to the management server at set time intervals. This allows the asset tracking system to determine the relative placement of the same assets as the actual placement.
- the asset tracking system includes a plurality of asset terminals 400a and 400b and a management server 500 .
- the plurality of asset terminals 400a and 400b are communication terminals respectively mounted (or installed) on the asset 10 for asset management.
- the plurality of asset terminals 400a and 400b are divided into a plurality of groups by reflecting communication ranges, locations, and the like.
- the plurality of asset terminals 400a and 400b communicate with each other through UWB communication to generate relative positions, and configure one or more groups based on this.
- the group configured in this way includes two or more asset terminals 400a and 400b.
- the asset terminals 400a and 400b belonging to the same group one operates as a master asset terminal 400a serving as a standard for asset tracking, and the remaining asset terminals operate as slave asset terminals 400b.
- the plurality of asset terminals 400a and 400b are divided into one or more groups, and each group includes one master asset terminal 400a and a plurality of slave asset terminals 400b.
- the master asset terminal 400a generates an asset location through GPS communication, and generates a relative position of the asset 10 in which the slave asset terminal 400b is installed through UWB communication with the slave asset terminals 400b belonging to the same group. do.
- the relative position means a relative position of the slave asset terminal 400b based on the position of the master asset terminal 400a, and the relative position may include a direction and a distance.
- the master asset terminal (400a) transmits location information to the management server (500) at a set time interval or upon request from the management server (500). At this time, the master asset terminal 400a transmits location information including the location of the asset 10 in which the master asset terminal 400a is installed and the relative location of the assets 10 in which the slave asset terminal 400b is installed to the management server. Send to (500).
- the plurality of asset terminals 400a and 400b change the master asset terminal 400a to another asset terminal according to GPS communication quality, UWB communication quality, battery level, and the like.
- one of the slave asset terminals 400b is set as a new master asset terminal 400a, and the existing master asset terminal 400a is changed to the slave asset terminal 400b.
- the master asset terminal 400a includes a first communication module 410a, an asset location creation module 420a, a second communication module 430a, a relative location creation module 440a, and a control module 450a. and a third communication module 460a.
- the first communication module 410a is a GPS communication module that receives a GPS signal from a satellite
- the second communication module 430a is a UWB communication module that communicates with the slave asset terminal 400b belonging to the same group
- the communication module 460a is a Sigfox communication module that communicates with the management server 500 and the slave asset terminal 400b belonging to the same group through low power communication.
- the relative position generation module does not perform a separate operation.
- the master asset terminal 400a since the master asset terminal 400a may later be changed to a slave asset terminal 400b, it is configured to include a relative location generating module 420a similarly to the slave asset terminal 400b to be described later.
- the first communication module 410a receives a GPS frequency band signal (hereinafter referred to as a GPS signal).
- the GPS signal received by the first communication module 410a is transmitted to the asset location generating module 420a.
- the asset location generation module 420a generates an asset location corresponding to the current location of the asset 10 based on the GPS signal transmitted from the first communication module 410a in response to the asset location generation request of the control module 450a. do.
- generating location information using a GPS signal is a general technique, a detailed description thereof will be omitted.
- the asset location generation module 420a generates a first location information transmission request including the asset location and the unique identifier of the master asset terminal 400a.
- the asset location creation module 420a transmits the first location information transmission request to the control module 450a.
- the second communication module 430a transmits and receives a signal (hereinafter referred to as a UWB signal) in a UWB frequency band.
- the second communication module 430a transmits and receives UWB signals with slave asset terminals 400b belonging to the same group.
- the second communication module 430a transmits and receives a UWB signal with the second communication module 430b of the slave asset terminal 400b. To this end, the second communication module 430a outputs an advertising signal or a location measurement request signal.
- the second communication module 430a transmits the first UWB Pulse to the slave asset terminal 400b in response to the Ranging Request signal of the slave asset terminal 400b.
- the second communication module 430a receives the second UWB Pulse from the slave asset terminal 400b in response to the first UWB Pulse.
- the second communication module 430a calculates a delay time between the first UWB pulse and the second UWB pulse. Positioning information is generated from the unique identifier and delay time of the slave asset terminal 400b and transmitted to the control module 450a.
- the control module 450a sends an asset location creation request to the asset location creation module 420a.
- the control module 450a receives first location information that is location information generated based on a GPS signal in response to the asset location generation request.
- the control module 450a transmits a location information collection request to the third communication module 460a.
- the control module 450a receives first location information and second location information as a response to the location information collection request from the third communication module 460a.
- the control module 450a generates a location information transmission request including the first location information received from the asset location generation module 420a, the first location information received from the slave asset terminals 400b, and the second location information. do. In this case, the control module 450a may generate a first location information transmission request including the first location information and a second location information transmission request including the second location information. The control module 450a transmits the location information transmission request to the third communication module 460a.
- the third communication module 460a transmits a relative location transmission request to a plurality of slave asset terminals 400b belonging to the same group in response to a request of the control module 450a.
- the third communication module 460a receives the second location information in response to the relative location transmission request.
- the third communication module 460a receives second location information including a unique identifier and relative location of the slave asset terminal 400b.
- the third communication module 460a transmits the received second location information to the control module 450a.
- the third communication module 460a manages first location information (the asset location of the master asset terminal 400a and the slave asset terminal 400b) and second location information in response to the location information transmission request of the control module 450a. It is transmitted to the server 500.
- the third communication module 460a converts the first location information and the second location information into a Sigfox protocol and transmits it to the management server 500 .
- the slave asset terminal 400b includes a first communication module 410b, an asset location generation module 420b, a second communication module 430b, a relative location generation module 440b, and a control module 450b. and a third communication module 460b.
- the first communication module 410b is a GPS communication module that receives a GPS signal from a satellite
- the second communication module 430b is a UWB communication module that communicates with the slave asset terminal 400b belonging to the same group
- the communication module 460b is a Sigfox communication module that communicates with the management server 500 and the slave asset terminal 400b belonging to the same group through low-power communication.
- the first communication module 410b receives a GPS frequency band signal (hereinafter referred to as a GPS signal).
- the GPS signal received by the first communication module 410b is transmitted to the asset location generation module 420b.
- the asset location generation module 420b generates an asset location corresponding to the current location of the asset 10 based on the GPS signal transmitted from the first communication module 410b in response to the asset location generation request of the control module 450b. do.
- generating location information using a GPS signal is a general technique, a detailed description thereof will be omitted.
- the asset location generating module 420b generates a first location information transmission request including the asset location and the unique identifier of the slave asset terminal 400b.
- the asset location generation module 420b transmits the first location information transmission request to the control module 450b.
- the second communication module 430b transmits and receives a signal (hereinafter referred to as a UWB signal) in a UWB frequency band.
- the second communication module 430b transmits and receives a UWB signal with the master asset terminal 400a belonging to the same group, and transmits the received information to the relative location generation module 440b.
- the relative position generating module 440b transmits a positioning request requesting measurement of a relative position to the second communication module 430b in response to the asset position generating request of the control module 450b.
- the relative location generating module 440b receives the delay time from the second communication module 430b and generates the relative location of the slave asset terminal 400b based on the reference module. At this time, the relative position generating module 440b generates a relative position through positioning techniques such as Time Difference of Arrival (TDoA) and Two Way Ranging (TWR).
- TDoA Time Difference of Arrival
- TWR Two Way Ranging
- the relative location generation module 440b generates second location information including the relative location, the unique identifier of the master asset terminal 400a and the unique identifier of the slave asset terminal 400b.
- the relative location generation module 440b transmits the second location information to the control module 450b.
- the control module 450b transmits the asset location creation request to the asset location creation module 420b and the relative location creation module 440b.
- the control module 450b receives first location information and second location information in response to the asset location creation request.
- the control module 450b receives first location information, which is location information generated based on a GPS signal, from the asset location generating module 420b.
- the control module 450b receives second location information, which is relative location information generated based on the UWB signal, from the relative location generating module 440b.
- the control module 450b generates a location information transmission request including first location information and second location information.
- the control module 450b may generate a first location information transmission request including the first location information and a second location information transmission request including the second location information.
- the control module 450b transmits the location information transmission request to the third communication module 460b.
- the third communication module 460b transmits the first location information and the second location information to the master asset terminal 400a in response to the location information transmission request of the control module 450b.
- the third communication module 460b converts the first location information and the second location information into a Sigfox protocol and transmits it to the master asset terminal 400a.
- the management server 500 collects location information from the master asset terminal 400a of each group. At this time, the management server 500 collects the asset location of the master asset terminal 400a belonging to the group, the asset location and relative positions of the slave asset terminals 400b. The management server 500 corrects the asset location by using the relative location for each group, and outputs the corrected asset location generated as a result of the correction.
- the management server 500 includes a fourth communication module 510, a location information storage module 520, a reference location generation module 530, a correction module 540, and an output module 550. It consists of including.
- the fourth communication module 510 receives first location information and second location information from the plurality of asset terminals 400a and 400b.
- the fourth communication module 510 receives first location information including the unique identifier and asset location of the master asset terminal 400a and/or the unique identifier and asset location of the slave asset terminal 400b.
- the fourth communication module 510 receives second location information including the unique identifier and relative position of the slave asset terminal 400b and the unique identifier of the master asset terminal 400a.
- the fourth communication module 510 transmits a location information storage request including the first location information and the second location information to the location information storage module 520 .
- the location information storage module 520 stores first location information and second location information in response to a location information storage request of the fourth communication module 510 .
- the location information storage module 520 links and stores the unique identifier of the master asset terminal 400a and the location of the asset.
- the location information storage module 520 links and stores the unique identifier of the slave asset terminal 400b, the unique identifier of the master asset terminal 400a, the asset location, and the relative location.
- the location information storage module 520 detects a unique identifier and a reference location from the reference location storage request in response to the reference location storage request of the reference location generation module 530 .
- the location information storage module 520 stores the reference location in association with the unique identifier of the slave asset terminal 400b identical to the detected unique identifier.
- the location information storage module 520 responds to the asset location storage request of the correction module 540 and detects a unique identifier and a calibrated asset location from the asset location storage request.
- the location information storage module 520 stores the corrected asset location in association with the detected unique identifier and the same unique identifier of the slave asset terminal 400b.
- the reference position generation module 530 generates a reference position of the slave asset terminal 400b based on the asset position and relative position stored in the position information storage module 520 .
- the reference location generating module 530 detects information linked to the unique identifier of the same master asset terminal 400a from the location information storage module 520 .
- the reference location generation module 530 detects the unique identifier of the asset terminal 400 linked to the unique identifier of the same master asset terminal 400a and the asset location and relative location.
- the reference position generation module 530 extracts the midpoint of two asset terminals 400 located at opposite points with respect to the master asset terminal 400a. At this time, the reference position generation module 530 detects a position moved by the distance of the relative position in the direction of the relative position from the asset position for each asset terminal 400 . The reference position generation module 530 extracts a 1/2 point of a straight line connecting the positions of the two asset terminals 400 located at the Great Red Point among the detected positions as the midpoint.
- the reference position generating module 530 may generate a reference position of the master asset terminal 400a based on the asset position stored in the location information storage module 520 . That is, the reference position generation module 530 may generate the asset position of the master asset terminal 400a as a reference position without performing a separate operation.
- the reference location generating module 530 detects information linked to the unique identifier of the same master asset terminal 400a from the location information storage module 520 .
- the reference location generation module 530 detects the unique identifier of the asset terminal 400 and the asset location linked to the unique identifier of the same master asset terminal 400a.
- the reference position generation module 530 extracts the midpoint of two asset terminals 400 located at opposite points with respect to the master asset terminal 400a. At this time, the reference position generation module 530 extracts a 1/2 point of a straight line connecting the self image positions of the two asset terminals 400 located at the great red point with the master asset terminal 400a as the center as the midpoint.
- the reference position generation module 530 extracts the center point of the figure connecting the midpoints, and creates it as a reference position (ie, the position of the master asset terminal 400a).
- the reference location generation module 530 generates a reference location storage request including the unique identifier and the reference location of the master asset terminal 400a and transmits the request to the location information storage module 520 .
- the reference location generation module 530 transmits a location correction request including the unique identifier and the reference location of the master asset terminal 400a to the correction module 540 .
- the correction module 540 generates a correction asset location in response to a location correction request of the reference location generation module 530 . That is, the correction module 540 detects the unique identifier and reference location of the master asset terminal 400a from the location correction request. The correction module 540 detects the unique identifier and relative position of the asset terminal 400 linked to the unique identifier of the master asset terminal 400a from the location information storage module 520 . The correction module 540 uses the reference position as a reference point and reflects the relative position to place the asset terminal 400 to generate a corrected asset position of each asset terminal 400 . The correction module 540 generates an asset location storage request including the unique identifier of the asset terminal 400 and the corrected asset location, and transmits the request to the location information storage module 520 . Calibration module 540 generates an asset 10 output request and sends it to output module 550 .
- the output module 550 outputs the master asset terminal 400a and the plurality of asset terminals 400a and 400b to the screen in response to the output request of the correction module 540 . At this time, the output module 550 outputs a screen in which the master asset terminal 400a is displayed at the reference position and the asset terminal 400 is displayed at the corrected asset position.
- the first asset terminal A1 to the seventh asset terminal A7 are stored in the yard, and the first asset terminal A1 is set as the master asset terminal 400a.
- the second asset terminal A2 to the seventh asset terminal A7 are set as slave asset terminals 400b and will be described as an example.
- the second asset terminal (A2) and the seventh asset terminal (A7) are located at opposite points with respect to the master asset terminal (A1), and the third asset terminal (A3) and the sixth asset terminal (A6) are the master asset terminal ( A1) is located at an antipode point, and the fourth asset terminal A4 and the fifth asset terminal A5 are located at an antipode point with respect to the master asset terminal A1.
- the asset locations (A2' to A7') collected from the asset terminal 400 are displayed differently from the actual locations because they are generated based on GPS signals, and the relative locations between the asset terminals 400 are also displayed. It is displayed differently from the actual location.
- the management server 500 sets a reference location corresponding to the location of the master asset terminal (400a).
- the management server 500 detects, for each asset terminal 400, a position moved by a distance of the relative position in the direction of the relative position from the asset position as the asset position.
- the management server 500 extracts the center point D of the triangle formed by connecting the extracted midpoints A, B, and C, and creates it as a reference position (A1 ", that is, the position of the master asset terminal 400a).
- the management server 500 is a straight line connecting the asset positions (asset position that does not reflect the relative position) of the two asset terminals 400 located at the opposite point relative to the master asset terminal 400a. 1/2 points of can be extracted as midpoints (A, B, C).
- the management server 500 sets the reference position (A1 ") as the position of the master asset terminal (400a), and reflects the relative position of the asset terminal 400 based on the reference position (A1") Then, each asset terminal 400 is arranged to generate a corrected asset position (A2" to A7") of each asset terminal 400.
- the corrected asset positions (A2" to A7") generated by the management server 500 have an error compared to the asset positions (A2' to A7') measured based on the GPS signal. Can be reduced, and although an error occurs with the actual positions (A2 to A7), the relative position based on the master asset terminal (400a) can be displayed identically, so the accuracy of asset tracking can be increased.
- a plurality of slave asset terminals 400b form one or more groups through mutual communication (S210).
- the plurality of slave asset terminals 400b measure relative distances through mutual UWB communication and form one or more groups based on the relative distances.
- slave asset terminals 400b belonging to each group one is set as the master asset terminal 400a, and the others are set as slave asset terminals 400b (S220).
- the asset terminals 400a and 400b set the master asset terminal 400a in consideration of the remaining battery capacity, communication range, and quality.
- the management server 500 collects the relative location, which is UWB-based location information, from the master asset terminal 400a of each group (S240).
- the master asset terminal 400a measures the relative position of the slave asset terminal 400b with respect to the master asset terminal 400a by performing UWB communication with the slave asset terminals 400b of the same group, and the management server 500 ) transmits the relative location to the management server 500 according to the request.
- the management server 500 stores the relative position transmitted from the master asset terminal 400a. At this time, the management server 500 stores the unique identifier and relative position of the slave asset terminal 400b in association with the unique identifier of the master asset terminal 400a.
- the management server 500 sets a reference location based on the asset location and relative location (S250).
- the management server 500 detects the asset location and relative location associated with the same master asset terminal 400a (that is, the unique identifier of the master asset terminal 400a) among the stored asset locations and relative locations ( S251).
- the management server 500 extracts the midpoint of the two slave asset terminals 400b located at opposite points relative to the master asset terminal 400a (S252). At this time, the management server 500 detects a position moved by the distance of the relative position in the direction of the relative position from the asset position for each slave asset terminal 400b.
- the reference position generation module 530 extracts a 1/2 point of a straight line connecting the positions of the two slave asset terminals 400b located at the Great Red Point among the detected positions as an intermediate point.
- the management server 500 may extract an intermediate point using only the asset location. That is, the management server 500 detects the unique identifier and asset location of the slave asset terminal 400b linked to the unique identifier of the same master asset terminal 400a. The management server 500 extracts the midpoint of the two slave asset terminals 400b located at opposite points relative to the master asset terminal 400a. At this time, the management server 500 extracts a 1/2 point of a straight line connecting the positions of the two slave asset terminals 400b located at the great red point centered on the master asset terminal 400a as the midpoint.
- the management server 500 extracts the center point of the figure connecting the midpoints detected in step S252 and creates it as a reference position (ie, the position of the master asset terminal 400a) (S253).
- the management server 500 stores the reference location in association with the unique identifier of the master asset terminal 400a.
- the management server 500 generates a corrected asset position by reflecting the relative position based on the reference position set in step S250 (S260).
- the management server 500 detects the unique identifier and relative position of the slave asset terminal 400b linked to the unique identifier of the master asset terminal 400a.
- the management server 500 creates a corrected asset position of each slave asset terminal 400b by arranging the slave asset terminal 400b by taking the reference position as a reference point and reflecting the relative position.
- the management server 500 links and stores the unique identifier of the slave asset terminal 400b and the position of the corrected asset.
- the management server 500 displays the master asset terminal 400a and the slave asset terminal 400b based on the stored corrected asset location (S270). That is, the management server 500 outputs the master asset terminal 400a and the plurality of slave asset terminals 400b to the screen, displays the master asset terminal 400a at the reference position, and displays the slave asset terminal at the corrected asset position ( 400b).
- the plurality of asset terminals 400a and 400b change the master asset terminal 400a to another asset terminal according to GPS communication quality, UWB communication quality, battery level, and the like.
- one of the slave asset terminals 400b is set as a new master asset terminal 400a, and the existing master asset terminal 400a is changed to the slave asset terminal 400b.
- the asset tracking method can reduce errors compared to the asset location measured based on the GPS signal, and some errors occur with the actual location, but relative to the master asset terminal 400a. Locations can be displayed identically, increasing the accuracy of asset tracking.
- the third embodiment of the present invention classifies a plurality of asset terminals into groups, uses the position of the master asset terminal of each group as a reference position, and sets the asset position using the relative position of the slave asset terminal to determine the relative position between the assets. track accurately.
- the asset tracking system and method according to the third embodiment of the present invention drives the GPS communication module of the master asset terminal and stops the driving of the GPS communication module of the slave asset terminals to extend the position tracking period of the asset loaded for a long time. allow it to be extended.
- the third embodiment of the present invention after classifying a plurality of asset terminals into a plurality of groups through UWB communication, one of the asset terminals belonging to each group is set as a master asset terminal, and the remaining asset terminals are slave assets. set to terminal
- the master asset terminal measures the relative position as location information through UWB communication with the slave asset terminal, and transmits the measured location information to the management server at set time intervals. This allows the asset tracking system to determine the relative placement of the same assets as the actual placement.
- a plurality of asset terminals measure the location of each asset and transmits the measurement to the management server.
- the asset terminal needs to keep the GPS module and the low-power communication module always running in order to measure the location of the asset and transmit it to the management server, which inevitably reduces the efficiency of the battery mounted in the asset terminal.
- the asset terminal cannot measure the location of the asset due to a decrease in battery efficiency.
- a plurality of asset terminals are divided into a plurality of groups, one of the asset terminals belonging to each group is set as a master asset terminal, and the remaining asset terminals are slave assets. set to terminal
- the master asset terminal measures the location of the asset based on GPS communication and transmits it to the management server, and collects the relative location based on UWB communication from the slave asset terminals and transmits it to the management server. At this time, the slave asset terminals stop measuring the asset location through GPS communication, and measure their relative position with respect to the master asset terminal through UWB communication with the master asset terminal.
- the management server arranges the slave asset terminals based on the asset location of the master asset terminal and reflects the relative positions of the slave asset terminals so that the relative positions of the assets can be accurately grasped.
- the asset tracking system includes a plurality of asset terminals 600a and 600b and a management server 700 .
- the plurality of asset terminals 600a and 600b are communication terminals each mounted (or installed) on the asset 10 for managing the asset 10 .
- the plurality of asset terminals 600a and 600b are divided into a plurality of groups by reflecting communication ranges, locations, and the like.
- the plurality of asset terminals 600a and 600b communicate with each other through UWB communication to generate relative positions, and configure one or more groups based on this.
- the group configured in this way includes two or more asset terminals 600a and 600b.
- the asset terminals 600a and 600b belonging to the same group one operates as a master asset terminal 600a serving as a standard for asset tracking, and the other asset terminals operate as slave asset terminals 600b.
- the plurality of asset terminals 600a and 600b are divided into one or more groups, and each group includes one master asset terminal 600a and a plurality of slave asset terminals 600b.
- the master asset terminal 600a generates an asset location through GPS communication, and generates a relative position of the asset 10 in which the slave asset terminal 600b is installed through UWB communication with the slave asset terminals 600b belonging to the same group. do.
- the relative position means a relative position of the slave asset terminal 600b based on the position of the master asset terminal 600a, and the relative position may include a direction and a distance.
- the master asset terminal (600a) transmits the location information to the management server (700) at a set time interval or upon request from the management server (700). At this time, the master asset terminal 600a transmits location information including the location of the asset 10 in which the master asset terminal 600a is installed and the relative location of the assets 10 in which the slave asset terminal 600b is installed to the management server. Send to (700).
- the plurality of asset terminals 600a and 600b change the master asset terminal 600a to another asset terminal according to GPS communication quality, UWB communication quality, battery level, and the like.
- one of the slave asset terminals 600b is set as a new master asset terminal 600a, and the existing master asset terminal 600a is changed to the slave asset terminal 600b.
- the master asset terminal 600a includes a first communication module 610a, an asset location creation module 620a, a second communication module 630a, a relative location creation module 640a, and a control module 650a. and a third communication module 660a.
- the first communication module 610a is a GPS communication module that receives a GPS signal from a satellite
- the second communication module 630a is a UWB communication module that communicates with the slave asset terminal 600b belonging to the same group
- the communication module 660a is a Sigfox communication module that communicates with the management server 700 and the slave asset terminal 600b belonging to the same group through low power communication.
- the relative position generation module does not perform a separate operation.
- the master asset terminal 600a may be changed to a slave asset terminal 600b later, it is configured to include a relative location generation module 620a in the same manner as the slave asset terminal 600b to be described later.
- the first communication module 610a receives a GPS frequency band signal (hereinafter referred to as a GPS signal).
- the GPS signal received by the first communication module 610a is transmitted to the asset location generation module 620a.
- the asset location generation module 620a generates an asset location corresponding to the current location of the asset 10 based on the GPS signal transmitted from the first communication module 610a in response to the asset location generation request of the control module 650a. do.
- generating location information using a GPS signal is a general technique, a detailed description thereof will be omitted.
- the asset location generation module 620a generates a first location information transmission request including the asset location and the unique identifier of the master asset terminal 600a.
- the asset location generation module 620a transmits a first location information transmission request to the control module 650a.
- the second communication module 630a transmits and receives a signal (hereinafter referred to as a UWB signal) in a UWB frequency band.
- the second communication module 630a transmits and receives UWB signals with slave asset terminals 600b belonging to the same group.
- the second communication module 630a transmits and receives a UWB signal to and from the second communication module 630b of the slave asset terminal 600b. To this end, the second communication module 630a outputs an advertising signal or a location measurement request signal.
- the second communication module 630a transmits the first UWB Pulse to the slave asset terminal 600b in response to the Ranging Request signal of the slave asset terminal 600b.
- the second communication module 630a receives the second UWB Pulse from the slave asset terminal 600b in response to the first UWB Pulse.
- the second communication module 630a calculates a delay time between the first UWB pulse and the second UWB pulse. Positioning information is generated from the unique identifier and delay time of the slave asset terminal 600b and transmitted to the control module 650a.
- the control module 650a transmits the asset location creation request to the asset location creation module 620a.
- the control module 650a receives first location information that is location information generated based on a GPS signal in response to the asset location generation request.
- the control module 650a transmits a location information collection request to the third communication module 660a.
- the control module 650a receives second location information as a response to the location information collection request from the third communication module 660a.
- the control module 650a generates a location information transmission request including first location information received from the asset location creation module 620a and second location information received from the slave asset terminals 600b. In this case, the control module 650a may generate a first location information transmission request including the first location information and a second location information transmission request including the second location information. The control module 650a transmits a location information transmission request to the third communication module 660a.
- the third communication module 660a transmits a relative location transmission request to a plurality of slave asset terminals 600b belonging to the same group in response to a request of the control module 650a.
- the third communication module 660a receives the second location information in response to the relative location transmission request.
- the third communication module 660a receives second location information including a unique identifier and relative location of the slave asset terminal 600b.
- the third communication module 660a transmits the received second location information to the control module 650a.
- the third communication module 660a receives the first location information (ie, the asset location of the master asset terminal 600a) and the second location information (ie, the slave asset terminal (ie, the slave asset terminal) in response to the location information transmission request of the control module 650a. 600b) is transmitted to the management server (700).
- the third communication module 660a converts the first location information and the second location information into a Sigfox protocol and transmits it to the management server 700 .
- the slave asset terminal 600b includes a first communication module 610b, an asset location generation module 620b, a second communication module 630b, a relative location generation module 640b, and a control module 650b. and a third communication module 660b.
- the first communication module 610b is a GPS communication module that receives a GPS signal from a satellite
- the second communication module 630b is a UWB communication module that communicates with the slave asset terminal 600b belonging to the same group
- the communication module 660b is a Sigfox communication module that communicates with the management server 700 and the slave asset terminal 600b belonging to the same group through low power communication.
- the first communication module 610b and asset location generation module 620b are set to a sleep mode to stop receiving GPS signals and generating asset locations. That is, the first communication module 610b and the asset location generating module 620b stop driving in response to the stop request of the control module 650b.
- the second communication module 630b transmits and receives a signal (hereinafter referred to as a UWB signal) in a UWB frequency band.
- the second communication module 630b transmits and receives a UWB signal with the master asset terminal 600a belonging to the same group, and transmits the received information to the relative location generating module 640b.
- the relative position generating module 640b transmits a positioning request requesting measurement of a relative position to the second communication module 630b in response to the asset position generating request of the control module 650b.
- the relative location generation module 640b receives the delay time from the second communication module 630b and generates the relative location of the slave asset terminal 600b based on the reference module. At this time, the relative position generating module 640b generates a relative position through positioning techniques such as Time Difference of Arrival (TDoA) and Two Way Ranging (TWR).
- TDoA Time Difference of Arrival
- TWR Two Way Ranging
- the relative location generation module 640b generates second location information including the relative location, the unique identifier of the master asset terminal 600a, and the unique identifier of the slave asset terminal 600b.
- the relative location generation module 640b transmits the second location information to the control module 650b.
- the control module 650b transmits a stop request to the first communication module 610b and the asset location generating module 620b. That is, when the asset terminal operates in the slave mode, the control module 650b stops the first communication module 610b and the asset location generation module 620b to prevent unnecessary consumption of the battery built in the asset terminal. At this time, the control module 650b transmits a restart request to the first communication module 610b and the asset location generation module 620b when the asset terminal is changed to the master mode.
- the control module 650b transmits the asset location creation request to the relative location creation module 640b.
- the control module 650b receives the second location information generated by the relative location generation module 640b in response to the asset location generation request, and the second location information is relative location information generated based on the UWB signal.
- the control module 650b generates a location information transmission request including the second location information.
- the control module 650b transmits the location information transmission request to the third communication module 660b.
- the third communication module 660b transmits the second location information to the master asset terminal 600a in response to the location information transmission request of the control module 650b.
- the third communication module 660b converts the second location information into a Sigfox protocol and transmits it to the master asset terminal 600a.
- the management server 700 collects location information from the master asset terminal 600a of each group. At this time, the management server 700 collects the asset position of the master asset terminal 600a belonging to the group and the relative positions of the slave asset terminals 600b. The management server 700 disposes the slave asset terminals 600b by reflecting the relative position of each slave asset terminal 600b based on the asset location of the master asset terminal 600a for each group.
- the management server 700 includes a fourth communication module 710, a location information storage module 720, a reference location generation module 730, a correction module 740, and an output module 750. It consists of including.
- the fourth communication module 710 receives first location information and second location information from the plurality of asset terminals 600a and 600b.
- the fourth communication module 710 receives first location information including the unique identifier and asset location of the master asset terminal 600a and second location information including the unique identifier and relative location of the slave asset terminal 600b. .
- the fourth communication module 710 transmits a location information storage request including first location information and second location information to the location information storage module 720 .
- the location information storage module 720 stores first location information and second location information in response to a location information storage request of the fourth communication module 710 .
- the location information storage module 720 links and stores the unique identifier of the master asset terminal 600a and the location of the asset.
- the location information storage module 720 links and stores the unique identifier of the slave asset terminal 600b, the unique identifier of the master asset terminal 600a, and the relative location.
- the location information storage module 720 detects a unique identifier and a reference location from the reference location storage request in response to the reference location storage request of the reference location generation module 730 .
- the location information storage module 720 stores the reference location by associating the detected unique identifier with the slave asset terminal 600b linked to the unique identifier of the same master reference terminal 600a.
- the location information storage module 720 responds to the asset location storage request of the correction module 740 and detects a unique identifier and a calibrated asset location from the asset location storage request.
- the location information storage module 720 stores the corrected asset location in association with the detected unique identifier and the same unique identifier of the slave asset terminal 600b.
- the reference position generation module 730 creates the asset position of the master asset terminal 600a stored in the location information storage module 720 as the reference position of the slave asset terminal 600b.
- the reference position generation module 730 generates the master asset position.
- a reference location storage request including the unique identifier of the terminal 600a and the reference location is generated and transmitted to the location information storage module 720 .
- the reference location generation module 730 transmits a location correction request including the unique identifier and the reference location of the master asset terminal 600a to the correction module 740 .
- the correction module 740 responds to the location correction request of the reference location creation module 730 to generate a correction asset location. That is, the correction module 740 detects the unique identifier, reference location, and relative location of the slave asset terminal 600a from the location correction request.
- the correction module 740 disposes the master asset terminal 600a at the reference position, reflects the relative position of the reference position as a reference point, and arranges the slave asset terminal 600 to generate the corrected asset position of the slave asset terminal 600b. do.
- the correction module 740 generates an asset location storage request including the unique identifier of the asset terminal 600 and the corrected asset location, and transmits it to the location information storage module 720 .
- Calibration module 740 generates an asset 10 output request and sends it to output module 750 .
- the output module 750 outputs the master asset terminal 600a and the plurality of asset terminals 600a and 600b to the screen in response to the output request of the correction module 740 . At this time, the output module 750 outputs a screen in which the master asset terminal 600a is displayed at the reference position and the asset terminal 600 is displayed at the corrected asset position.
- the first asset terminal A1 to the seventh asset terminal A7 are stored in the yard, the first asset terminal A1 is set as the master asset terminal 600a, and the second asset terminal 600a. It is assumed that terminals A2 to 7th asset terminals A7 are configured as slave asset terminals 600b.
- a plurality of slave asset terminals 600b form one or more groups through mutual communication (S310).
- the plurality of slave asset terminals 600b measure relative distances through mutual UWB communication and form one or more groups based on the relative distances.
- slave asset terminals 600b belonging to each group one is set as the master asset terminal 600a, and the others are set as slave asset terminals 600b (S320).
- the asset terminals 600a and 600b set the master asset terminal 600a in consideration of the remaining battery capacity, communication range, and quality.
- the slave asset terminal 600b stops measuring the asset location (S330). That is, the slave asset terminal 600b sets the first communication module 610b, which is a GPS communication module, and the asset location generation module 620b to a sleep mode to stop receiving a GPS signal and generating an asset location. Through this, the efficiency of the battery mounted in the slave asset terminal 600b can be improved to extend the period for tracking the location of an asset that is loaded for a long time.
- the first communication module 610b which is a GPS communication module
- the asset location generation module 620b to a sleep mode to stop receiving a GPS signal and generating an asset location.
- the management server 700 collects the asset location, which is GPS-based location information, from the master asset terminal 600a of each group (S340).
- the master asset terminal 600a of each group measures the asset location based on the GPS signal and transmits the asset location to the management server 700 at the request of the management server 700 .
- the management server 700 stores the asset location transmitted from the master asset terminal 600a. At this time, the management server 700 stores the unique identifier of the master asset terminal 600a in association with the location of the asset.
- the management server 700 collects the relative location, which is UWB-based location information, from the master asset terminal 600a of each group (S350).
- the master asset terminal 600a measures the relative position of the slave asset terminal 600b with respect to the master asset terminal 600a by performing UWB communication with the slave asset terminals 600b of the same group, and the management server 700 ) transmits the relative location to the management server 700 according to the request.
- the management server 700 stores the relative position transmitted from the master asset terminal 600a. At this time, the management server 700 stores the unique identifier and relative position of the slave asset terminal 600b in association with the unique identifier of the master asset terminal 600a.
- the management server 700 sets the asset location of the master asset terminal 600a as a reference location (S360).
- the management server 700 stores the reference location in association with the unique identifier of the master asset terminal 600a.
- the management server 700 generates a corrected asset position of the slave asset terminals 600b by reflecting the relative position based on the reference position set in step S360 (S370).
- the management server 700 detects the unique identifier and relative position of the slave asset terminal 600b linked to the unique identifier of the master asset terminal 600a.
- the management server 700 creates a corrected asset position for each slave asset terminal 600b by arranging the slave asset terminal 600b by taking the reference position as a reference point and reflecting the relative position.
- the management server 700 links and stores the unique identifier of the slave asset terminal 600b and the corrected asset location.
- the management server 700 displays the master asset terminal 600a and the slave asset terminal 600b based on the stored corrected asset location (S380). That is, the management server 700 outputs the master asset terminal 600a and the plurality of slave asset terminals 600b to the screen, displays the master asset terminal 600a at the reference position, and displays the slave asset terminal at the corrected asset position ( 600b).
- the plurality of asset terminals 600a and 600b change the master asset terminal 600a to another asset terminal according to GPS communication quality, UWB communication quality, battery level, and the like.
- one of the slave asset terminals 600b is set as a new master asset terminal 600a, and the existing master asset terminal 600a is changed to the slave asset terminal 600b.
- the asset tracking method can accurately track the relative positions of assets, improve the efficiency of the battery mounted on the asset terminal, and extend the period for tracking the position of assets that are loaded for a long time. can be extended
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Abstract
Description
Claims (20)
- 기준 단말;추적 대상인 자산에 설치되어 상기 기준 단말과 UWB 통신을 수행하여 상기 기준 단말을 기준으로 한 상대적 위치를 측정하는 복수의 자산 단말; 및상기 복수의 자산 단말로부터 자산 위치 및 상대적 위치를 수집하고, 상기 상대적 위치를 이용해 자산 단말의 자산 위치를 보정하는 관리 서버를 포함하는 자산 추적 시스템.
- 제1항에 있어서,상기 복수의 자산 단말은,GPS 신호를 수신하는 제1 통신 모듈;상기 제1 통신 모듈에서 수신한 GPS 신호를 근거로 자산의 현재 위치에 대응되는 자산 위치를 생성하고, 상기 자산 위치 및 자산 단말의 고유 식별자를 포함하는 제1 위치 정보를 생성하는 자산 위치 생성 모듈;상기 기준 단말과 UWB 신호를 송수신하고, 상기 UWB 신호의 지연 시간을 수신하는 제2 통신 모듈;상기 제2 통신 모듈에서 수신한 지연 시간을 근거로 상기 기준 단말로부터의 방향 및 거리를 포함하는 상대적 위치를 생성하고, 상기 상대적 위치 및 자산 단말의 고유 식별자를 포함하는 제2 위치 정보를 생성하는 상대적 위치 생성 모듈;상기 자산 위치 생성 모듈에서 생성된 상기 제1 위치 정보와 상기 상대적 위치 생성 모듈에서 생성된 상기 제2 위치 정보를 수집하고, 상기 제1 위치 정보 및 상기 제2 위치 정보 중에서 적어도 하나의 위치 정보를 포함하는 위치 정보 전송 요청을 전송하는 제어 모듈; 및상기 제어 모듈의 위치 정보 전송 요청에 응답하여 상기 제1 위치 정보 및 상기 제2 위치 정보를 Sigfox 프로토콜로 변환한 후 상기 관리 서버로 전송하는 제3 통신 모듈을 포함하는 자산 추적 시스템.
- 제1항에 있어서,상기 관리 서버는,상기 복수의 자산 단말로부터 제1 위치 정보 및 제2 위치 정보를 수신하고, 상기 제1 위치 정보 및 상기 제2 위치 정보를 포함한 위치 정보 저장 요청을 출력하는 제4 통신 모듈;상기 제4 통신 모듈의 위치 정보 저장 요청에 응답하여, 상기 제1 위치 정보 및 상기 제2 위치 정보로부터 검출된 자산 단말의 고유 식별자, 기준 단말의 고유 식별자, 자산 위치 및 상대적 위치를 연계하여 저장하는 위치 정보 저장 모듈;상기 위치 정보 저장 모듈에 저장된 상기 자산 위치 및 상대적 위치를 근거로 상기 기준 단말의 위치에 대응되는 기준 위치를 생성하고, 상기 기준 위치 및 상기 기준 단말의 고유 식별자를 포함하는 위치 보정 요청을 출력하는 기준 위치 생성 모듈; 및상기 기준 위치 생성 모듈의 위치 보정 요청에 응답하여, 상기 기준 단말의 고유 식별자에 연계된 자산 단말의 고유 식별자 및 상대적 위치를 검출하고, 상기 기준 위치를 기준점으로 하고, 상기 기준점에서 상기 상대적 위치의 방향 및 거리에 대응하는 위치를 상기 자산 단말의 보정 자산 위치로 생성하는 보정 모듈을 포함하고,상기 기준 위치 생성 모듈은,상기 기준 단말을 기준으로 대척점에 위치한 두 자산 단말의 중간점을 추출하고, 추출한 중간점들을 연결한 도형의 중심점을 상기 기준 위치로 생성하되,두 자산 단말의 자산 위치들을 연결한 직선의 1/2 지점 및 두 자산 단말의 자산 위치에서 상대적 위치의 방향으로 상대적 위치의 거리만큼 이동한 위치들을 연결한 직선의 1/2 지점 중에서 하나의 지점을 중간점으로 추출하는 자산 추적 시스템.
- 제1항에 있어서,상기 복수의 자산 단말은 상기 복수의 자산 단말은 상호 간의 UWB 통신을 통해 상대적 위치를 생성하고, 상기 상대적 위치를 근거로 하나의 마스터 자산 단말과 복수의 슬레이브 자산 단말을 포함한 하나 이상의 그룹을 구성하고,GPS 통신 품질, UWB 통신 품질, 배터리 잔량 중 적어도 하나를 근거로 제1 그룹에 포함된 복수의 슬레이브 자산 단말 중에서 하나가 상기 제1 그룹의 마스터 자산 단말로 설정되고, 상기 제1 그룹의 기존의 마스터 자산 단말은 상기 제1 그룹의 슬레이브 자산 단말로 설정되고,상기 복수의 슬레이브 자산 단말은 추적 대상인 자산에 설치되어 GPS 신호를 근거로 자산 위치를 측정하고, 상기 마스터 자산 단말과 UWB 통신을 수행하여 상기 마스터 자산 단말을 기준으로 한 상대적 위치를 측정하고,상기 마스터 자산 단말은 상기 기준 단말이고, 추적 대상인 자산에 설치되어 GPS 신호를 근거로 자산 위치를 측정하고, 동일한 그룹에 속한 상기 복수의 슬레이브 자산 단말로부터 자산 위치 및 상대적 위치를 수집하고,상기 관리 서버는 상기 마스터 자산 단말로부터 상기 복수의 슬레이브 자산 단말의 자산 위치 및 상대적 위치를 수집하고, 상기 상대적 위치를 이용해 상기 자산 위치를 보정하는 자산 추적 시스템.
- 제4항에 있어서,상기 마스터 자산 단말은,GPS 신호를 수신하는 제1 통신 모듈;상기 제1 통신 모듈에서 수신한 GPS 신호를 근거로 자산의 현재 위치에 대응되는 자산 위치를 생성하고, 상기 자산 위치 및 자산 단말의 고유 식별자를 포함하는 제1 위치 정보를 생성하는 자산 위치 생성 모듈;상기 복수의 슬레이브 자산 단말과 UWB 신호를 송수신하되,슬레이브 자산 단말로 Advertising 신호 및 위치 측정 요청 신호 중에서 하나의 신호를 출력하고, Ranging Request 신호를 전송한 자산 단말로 제1 UWB Pulse를 전송한 후 상기 자산 단말로부터 제2 UWB Pulse를 수신하고, 상기 제1 UWB Pulse와 상기 제2 UWB Pulse 사이의 지연시간을 측정하여 상기 슬레이브 자산 단말로 전송하는 제2 통신 모듈;상기 자산 위치 생성 모듈로 자산 위치 생성 요청을 전송한 후 상기 자산 위치 생성 요청에 대한 응답으로 상기 제1 위치 정보를 수신하고, 위치 정보 수집 요청을 전송한 후 상기 위치 정보 수집 요청에 대한 응답으로 상기 복수의 슬레이브 자산 단말의 자산 위치 및 상대적 위치를 수신하고, 상기 제1 위치 정보와 상기 복수의 슬레이브 자산 단말의 자산 위치 및 상대적 위치를 포함한 위치 정보 전송 요청을 전송하는 제어 모듈; 및상기 제어 모듈의 위치 정보 수집 요청에 응답하여 동일한 그룹에 속한 상기 복수의 슬레이브 자산 단말로부터 자산 위치 및 상대적 위치를 수집하여 상기 제어 모듈로 전송하고, 상기 제어 모듈의 위치 정보 전송 요청에 응답하여 상기 제1 위치 정보와 상기 복수의 슬레이브 자산 단말의 자산 위치 및 상대적 위치를 Sigfox 프로토콜로 변환한 후 상기 관리 서버로 전송하는 제3 통신 모듈을 포함하는 자산 추적 시스템.
- 제4항에 있어서,상기 복수의 슬레이브 자산 단말은,GPS 신호를 수신하는 제1 통신 모듈;상기 제1 통신 모듈에서 수신한 GPS 신호를 근거로 자산의 현재 위치에 대응되는 자산 위치를 생성하고, 상기 자산 위치 및 슬레이브 자산 단말의 고유 식별자를 포함하는 제1 위치 정보를 생성하는 자산 위치 생성 모듈;상기 마스터 자산 단말과 UWB 신호를 송수신하고, 상기 UWB 신호의 지연 시간을 수신하는 제2 통신 모듈;상기 제2 통신 모듈에서 수신한 지연 시간을 근거로 상기 마스터 자산 단말로부터의 방향 및 거리를 포함하는 상대적 위치를 생성하고, 상기 상대적 위치 및 상기 슬레이브 자산 단말의 고유 식별자를 포함하는 제2 위치 정보를 생성하는 상대적 위치 생성 모듈;상기 자산 위치 생성 모듈에서 생성된 상기 제1 위치 정보와 상기 상대적 위치 생성 모듈에서 생성된 상기 제2 위치 정보를 수집하고, 상기 제1 위치 정보 및 상기 제2 위치 정보 중에서 적어도 하나의 위치 정보를 포함하는 위치 정보 전송 요청을 전송하는 제어 모듈; 및상기 제어 모듈의 위치 정보 전송 요청에 응답하여 상기 제1 위치 정보 및 상기 제2 위치 정보를 Sigfox 프로토콜로 변환한 후 상기 마스터 자산 단말로 전송하는 제3 통신 모듈을 포함하는 자산 추적 시스템.
- 제4항에 있어서,상기 관리 서버는,마스터 자산 단말로부터 제1 위치 정보와 상기 복수의 슬레이브 자산 단말의 자산 위치 및 상대적 위치를 수신하고, 상기 제1 위치 정보와 상기 복수의 슬레이브 자산 단말의 자산 위치 및 상대적 위치를 포함한 위치 정보 저장 요청을 출력하는 제4 통신 모듈;상기 제4 통신 모듈의 위치 정보 저장 요청에 응답하여, 상기 제1 위치 정보와 상기 복수의 슬레이브 자산 단말의 자산 위치 및 상대적 위치를 저장하는 위치 정보 저장 모듈;상기 위치 정보 저장 모듈에 저장된 상기 자산 위치 및 상대적 위치를 근거로 상기 마스터 자산 단말의 위치에 대응되는 기준 위치를 생성하고, 상기 기준 위치 및 상기 마스터 자산 단말의 고유 식별자를 포함하는 위치 보정 요청을 출력하는 기준 위치 생성 모듈; 및상기 기준 위치 생성 모듈의 위치 보정 요청에 응답하여, 상기 마스터 자산 단말의 고유 식별자에 연계된 슬레이브 자산 단말의 고유 식별자 및 상대적 위치를 검출하고, 상기 기준 위치를 기준점으로 하고, 상기 기준점에서 상기 상대적 위치의 방향 및 거리에 대응하는 위치를 상기 슬레이브 자산 단말의 보정 자산 위치로 생성하는 보정 모듈을 포함하는 자산 추적 시스템.
- 제1항에 있어서,상기 복수의 자사 단말은 상호 간의 UWB 통신을 통해 상대적 위치를 생성하고, 상기 상대적 위치를 근거로 마스터 자산 단말과 복수의 슬레이브 자산 단말을 포함하는 하나 이상의 그룹을 구성하고,상기 복수의 슬레이브 자산 단말은 추적 대상인 자산에 설치되어 동일한 그룹에 속한 마스터 자산 단말과 UWB 통신을 수행하여 상기 마스터 자산 단말을 기준으로 한 상대적 위치를 측정하고,상기 마스터 자산 단말은 상기 기준 단말이고, 추적 대상인 자산에 설치되어 GPS 신호를 근거로 자산 위치를 측정하고, 동일한 그룹에 속한 상기 복수의 슬레이브 자산 단말로부터 상대적 위치를 수집하고,상기 관리 서버는 각 그룹의 마스터 자산 단말로부터 상기 마스터 자산 단말의 자산 위치와 상기 복수의 슬레이브 자산 단말의 상대적 위치를 수집하고, 상기 자산 위치를 기준 위치로 설정하고, 상기 기준 위치를 상기 자산 위치에 상기 상대적 위치를 반영해 상기 복수의 슬레이브 자산 단말의 보정 자산 위치를 생성하는 자산 추적 시스템.
- 제8항에 있어서,상기 복수의 자산 단말은,GPS 신호를 수신하는 제1 통신 모듈; 및상기 제1 통신 모듈에서 수신한 GPS 신호를 근거로 자산의 현재 위치에 대응되는 자산 위치를 생성하고, 상기 자산 위치 및 자산 단말의 고유 식별자를 포함하는 제1 위치 정보를 생성하는 자산 위치 생성 모듈을 포함하고,상기 복수의 자산 단말 중에서 슬레이브 자산 단말로 설정된 자산 단말은 상기 제1 통신 모듈 및 상기 자산 위치 생성 모듈을 슬립 모드로 설정하여 자산 위치의 생성을 중단하는 자산 추적 시스템.
- 제8항에 있어서,상기 관리 서버는 상기 기준 위치에서 상대적 위치의 방향으로 상대적 위치의 거리만큼 이동한 위치를 슬레이브 자산 단말의 보정 자산 위치로 생성하는 자산 추적 시스템.
- 기준 단말 및 복수의 자산 단말과 통신이 가능한 관리 서버에 의해 수행되는 자산 추적 방법에 있어서,상기 복수의 자산 단말로부터 GPS 신호를 근거로 생성된 자산 위치를 수집하는 단계;상기 복수의 자산 단말로부터 상기 기준 단말과 자산 단말과의 UWB 통신을 통해 생성된 상기 기준 단말을 기준으로 한 상대적 위치를 수집하는 단계;상기 자산 위치를 수집하는 단계에서 수집한 자산 위치를 근거로 상기 기준 단말의 위치에 대응하는 기준 위치를 생성하는 단계; 및상기 기준 위치를 생성하는 단계에서 생성된 기준 위치를 기준으로 상기 상대적 위치를 반영하여 보정 자산 위치를 생성하는 단계를 포함하는 자산 추적 방법.
- 제11항에 있어서,상기 기준 위치를 생성하는 단계에서는,상기 기준 단말을 기준으로 대척점에 위치한 두 자산 단말의 중간점을 추출하되, 상기 기준 단말을 기준으로 대척점에 위치한 두 자산 단말의 자산 위치들을 연결한 직선의 1/2 지점, 및 상기 기준 단말을 기준으로 대척점에 위치한 두 자산 단말의 자산 위치에서 상대적 위치의 방향으로 상대적 위치의 거리만큼 이동한 위치들을 연결한 직선의 1/2 지점 중에 하나의 지점을 중간점으로 추출하고,추출한 중간점들을 연결한 도형의 중심점을 상기 기준 위치로 생성하는 자산 추적 방법.
- 제11항에 있어서,상기 보정 자산 위치를 생성하는 단계에서는,상기 기준 위치를 기준점으로 하고, 상기 기준점에서 상기 상대적 위치의 방향으로 상기 상대적 위치의 거리만큼 이동한 위치를 상기 보정 자산 위치로 생성하는 자산 추적 방법.
- 복수의 자산 단말에 의해, 상호간의 통신을 통해 하나 이상의 그룹을 구성하는 단계;상기 그룹을 구성하는 단계에서 각 그룹에 속한 자산 단말들에 의해, 그룹의 마스터 자산 단말 및 복수의 슬레이브 자산 단말을 설정하는 단계;관리 서버에 의해, 각 그룹의 마스터 자산 단말로부터 GPS 신호를 근거로 생성된 상기 복수의 슬레이브 자산 단말의 자산 위치, 및 상기 마스터 자산 단말의 자산 위치 중에서 하나를 수집하는 단계;관리 서버에 의해, 상기 각 그룹의 마스터 자산 단말로부터 상기 마스터 자산 단말을 기준으로 한 상기 복수의 슬레이브 자산 단말의 상대적 위치를 수집하는 단계;상기 관리 서버에 의해, 상기 자산 위치를 수집하는 단계에서 수집한 상기 마스터 자산 단말의 자산 위치를 근거로 기준 위치를 설정하는 단계; 및상기 관리 서버에 의해, 상기 기준 위치로 생성하는 단계에서 생성된 기준 위치를 기준으로 상기 상대적 위치를 반영하여 상기 복수의 슬레이브 자산 단말의 보정 자산 위치를 생성하는 단계를 포함하는 자산 추적 방법.
- 제14항에 있어서,상기 마스터 자산 단말에 의해, 상기 상대적 위치를 수집하는 단계 이전에 상기 복수의 슬레이브 자산 단말로부터 자산 위치 및 상대적 위치를 수집하는 단계를 더 포함하고,상기 복수의 슬레이브 자산 단말의 상대적 위치는 상기 마스터 자산 단말 및 상기 복수의 슬레이브 자산 단말의 UWB 통신을 통해 생성된 자산 추적 방법.
- 제14항에 있어서,상기 그룹을 구성하는 단계에서는 상기 복수의 자산 단말 사이의 UWB 통신을 통해 상대적 위치를 생성하고, 상기 상대적 위치를 근거로 하나 이상의 그룹을 구성하는 자산 추적 방법.
- 제14항에 있어서,GPS 통신 품질, UWB 통신 품질, 배터리 잔량 중 적어도 하나를 근거로 상기 복수의 슬레이브 자산 단말 중에서 하나를 마스터 자산 단말로 설정하는 단계; 및기존의 마스터 자산 단말은 슬레이브 자산 단말로 설정하는 단계를 더 포함하는 자산 추적 방법.
- 제14항에 있어서,상기 설정하는 단계에서 슬레이브 자산 단말로 설정된 자산 단말들에 의해, GPS 통신 모듈을 정지하는 단계를 더 포함하고,상기 정지하는 단계에서는 상기 복수의 자산 단말 중에서 상기 슬레이브 자산 단말로 설정된 자산 단말을 슬립 모드로 설정하여 GPS 신호의 수신 및 자산 위치 생성을 중단하는 자산 추적 방법.
- 제14항에 있어서,상기 기준 위치를 생성하는 단계에서는,상기 마스터 자산 단말을 기준으로 대척점에 위치한 두 슬레이브 자산 단말의 중간점을 추출하고, 추출한 중간점들을 연결한 도형의 중심점을 상기 기준 위치로 생성하되,상기 마스터 자산 단말을 기준으로 대척점에 위치한 두 슬레이브 자산 단말의 자산 위치들을 연결한 직선의 1/2 지점, 및 상기 마스터 자산 단말을 기준으로 대척점에 위치한 두 슬레이브 자산 단말의 자산 위치에서 상대적 위치의 방향으로 상대적 위치의 거리만큼 이동한 위치들을 연결한 직선의 1/2 지점 중에서 하나의 지점을 중간점으로 추출하는 자산 추적 방법.
- 제14항에 있어서,상기 보정 자산 위치를 생성하는 단계에서는,상기 기준 위치를 기준점으로 하고, 상기 기준점에서 상기 상대적 위치의 방향으로 상기 상대적 위치의 거리만큼 이동한 위치를 슬레이브 자산 단말의 보정 자산 위치로 생성하는 자산 추적 방법.
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KR100819392B1 (ko) * | 2006-12-29 | 2008-04-04 | (재)대구경북과학기술연구원 | Gps 및 uwb 연동 측위 시스템 및 방법 |
US20080191937A1 (en) * | 2007-02-13 | 2008-08-14 | Wherenet Corp. | System and method for tracking vehicles and containers |
KR20130093025A (ko) * | 2012-02-11 | 2013-08-21 | 한성대학교 산학협력단 | 절대위치 및 상대위치 정보를 이용한 실내 자동 위치측정 시스템 및 방법 |
US20140049429A1 (en) * | 2012-05-01 | 2014-02-20 | 5D Robotics, Inc. | Collaborative Spatial Positioning |
KR20140086780A (ko) * | 2012-12-28 | 2014-07-08 | 동아대학교 산학협력단 | Lot 별 컨테이너 추적 장치, 시스템 및 방법 |
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KR100819392B1 (ko) * | 2006-12-29 | 2008-04-04 | (재)대구경북과학기술연구원 | Gps 및 uwb 연동 측위 시스템 및 방법 |
US20080191937A1 (en) * | 2007-02-13 | 2008-08-14 | Wherenet Corp. | System and method for tracking vehicles and containers |
KR20130093025A (ko) * | 2012-02-11 | 2013-08-21 | 한성대학교 산학협력단 | 절대위치 및 상대위치 정보를 이용한 실내 자동 위치측정 시스템 및 방법 |
US20140049429A1 (en) * | 2012-05-01 | 2014-02-20 | 5D Robotics, Inc. | Collaborative Spatial Positioning |
KR20140086780A (ko) * | 2012-12-28 | 2014-07-08 | 동아대학교 산학협력단 | Lot 별 컨테이너 추적 장치, 시스템 및 방법 |
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