阅读说明：本技术 一种智慧建筑高精室内定位系统及方法 (Intelligent building high-precision indoor positioning system and method ) 是由 杨付军 杨红军 王蓉 于 2021-08-05 设计创作，主要内容包括：本发明公开了一种智慧建筑高精室内定位系统及方法,该系统包括：铺设设备、网关和云端服务器；所述铺设设备由多个传感器检测单元串联或并联组成,用于平铺在建筑目标区域的室内检测压力信号,并将检测到的压力信号,通过所述网关传输到云端服务器；所述压力信号包括：压力参数、压力感应时间和所在传感器检测单元的节点编号；所述云端服务器根据接收的压力信号,计算出被检测对象的位置、重力和运动速度,生成定位服务。其中,铺设设备可以根据室内检测区域的形状进行铺设,检测压力信号,基于压力信号,该系统可以精准识别定位目标的重量,运动轨迹,运动速度和其他特征,可应用于多种场景。(The invention discloses a high-precision indoor positioning system and a method for an intelligent building, wherein the system comprises the following components: laying equipment, a gateway and a cloud server; the laying equipment is formed by connecting a plurality of sensor detection units in series or in parallel and is used for flatly laying indoor detection pressure signals in a building target area and transmitting the detected pressure signals to the cloud server through the gateway; the pressure signal includes: pressure parameters, pressure sensing time and node numbers of sensor detection units where the pressure sensing time is located; and the cloud server calculates the position, gravity and movement speed of the detected object according to the received pressure signal to generate positioning service. Wherein, lay equipment and can lay according to indoor detection area's shape, detect pressure signal, based on pressure signal, this system can accurate discernment fix a position the weight of target, movement track, movement speed and other characteristics, can be applied to multiple scene.)

1. The utility model provides a high-accuracy indoor positioning system of wisdom building which characterized in that includes: laying equipment, a gateway and a cloud server;

the laying equipment is formed by connecting a plurality of sensor detection units in series or in parallel and is used for flatly laying indoor detection pressure signals in a building target area and transmitting the detected pressure signals to the cloud server through the gateway; the pressure signal includes: pressure parameters, pressure sensing time and node numbers of sensor detection units where the pressure sensing time is located;

and the cloud server calculates the position, gravity and movement speed of the detected object according to the received pressure signal to generate positioning service.

2. The intelligent building high-precision indoor positioning system of claim 1, wherein the sensor detection unit comprises: the device comprises a substrate, and a pressure power generation module, a power storage module, a pressure induction module, a signal sending module and a control module which are arranged below the substrate;

the control module is respectively connected with the pressure power generation module, the power storage module, the pressure sensing module and the signal sending module;

the pressure power generation module is connected with the power storage module;

and the control module transmits the detection pressure signal of the pressure sensing module to the gateway through the signal sending module.

3. The intelligent high-precision indoor positioning system for buildings according to claim 2, wherein the pressure sensing module is a circuit with a sub-sensitive resistor, and the pressure sensing module realizes the change of pressure current according to the pressure, so as to send a pressure sensing signal to the control module.

4. The intelligent building high-precision indoor positioning system as claimed in claim 2, wherein the pressure generating module is made of a thin film molecular piezoelectric material, and is converted into electric energy and stored in the electricity storage module.

5. The system according to claim 2, wherein the signal transmission module is an NBLet communication module.

6. The intelligent building high-precision indoor positioning system of claim 1, further comprising: a mobile terminal; the mobile terminal is in communication connection with the cloud server and used for displaying the positioning data of the detected object sent by the cloud server.

7. An intelligent building high-precision indoor positioning method, characterized in that the indoor positioning of the detected object is realized by using the intelligent building high-precision indoor positioning system as claimed in any one of claims 1-6.

Technical Field

The invention relates to the technical field of indoor positioning, in particular to an intelligent building high-precision indoor positioning system and method.

Background

Wisdom building, wisdom house are more and more urgent to the demand of high-accuracy indoor location. Indoor positioning refers to positioning in an indoor environment in a room, currently, positioning technologies on the market include UWB, bluetooth, WiFi, ZigBee, RFID, and the like, and these positioning technologies are distinguished according to precision and can be divided into three categories: 1, accurate location, also high accuracy location, the positioning accuracy is in the sub-meter level, also within 50 cm. Bluetooth 5.0 positioning and UWB (ultra wide band) positioning. 2 meter level location, positioning accuracy is within 1 ~ 3 meters, and location technique includes bluetooth 4.0 location. And 3, positioning at a regional level, wherein no positioning precision can be said, the positioning technology generally refers to a certain region which can be positioned to a certain floor, and the positioning technology comprises WiFi, ZigBee and RFID. In addition to the positioning technologies, other indoor positioning technologies based on optical tracking positioning, magnetic fields, infrared rays, ultrasonic waves and the like exist, but how to apply the indoor positioning technologies to practical scenes is the value of research and development of people, and the indoor positioning technologies are needed by many industries when being applied to the practical scenes in a large scale, so that the pain points of the industries are solved. How to use that is selected according to the application requirements of the industry on indoor positioning. The high-precision real-time indoor positioning has great application prospect in a plurality of fields such as hospitals, old people, building energy conservation, building safety and the like. The application scene has different solutions for medical treatment, industry, intelligent buildings and the like.

The three common positioning modes all need to have a signal receiving device which is worn or carried to a person as a signal source. The mode can only carry out equipment holding aiming at a target group, and the position of a positioned person can be detected after a signal is connected into a network. There is one admission threshold: and (5) installing equipment.

Furthermore, device charging is also a bottleneck in use, and in the presence of a highly intelligent building, the locating personnel should be free from disturbance or transparent. The intelligent building needs to have an automatic sensing tentacle to report the location of the location and the state of people in the environment at any time.

Based on the above situation, how to provide a novel positioning method becomes a problem to be solved urgently by practitioners of the same industry.

Disclosure of Invention

The invention aims to solve the defects of the prior art and provides an intelligent building high-precision indoor positioning system and method, which can realize real-time tracking and positioning and perception of specific objects by perceiving the change of ground pressure without wearing any equipment on a detected object.

In order to achieve the purpose, the invention adopts the technical scheme that:

in a first aspect, an embodiment of the present invention provides an intelligent building high-precision indoor positioning system, including: laying equipment, a gateway and a cloud server;

the laying equipment is formed by connecting a plurality of sensor detection units in series or in parallel, is used for flatly laying indoor detection pressure signals in a building target area, and transmits the detected pressure signals to the cloud server through the gateway; the pressure signal includes: pressure parameters, pressure sensing time and node numbers of sensor detection units where the pressure sensing time is located;

and the cloud server calculates the position, gravity and movement speed of the detected object according to the received pressure signal to generate positioning service.

Further, the sensor detection unit includes: the device comprises a substrate, and a pressure power generation module, a power storage module, a pressure induction module, a signal sending module and a control module which are arranged below the substrate;

the control module is respectively connected with the pressure power generation module, the power storage module, the pressure sensing module and the signal sending module;

the pressure power generation module is connected with the power storage module;

and the control module transmits the detection pressure signal of the pressure sensing module to the gateway through the signal sending module.

Furthermore, the pressure sensing module is a circuit with a sub-sensitive resistor, and the pressure current changes according to the pressure, so that a pressure sensing signal is sent out and transmitted to the control module.

Furthermore, the pressure power generation module adopts a film molecular piezoelectric material, converts the film molecular piezoelectric material into electric energy and stores the electric energy into the power storage module.

Further, the signal sending module is an NBLet communication module.

Further, still include: a mobile terminal; the mobile terminal is in communication connection with the cloud server and used for displaying the positioning data of the detected object sent by the cloud server.

In a second aspect, an embodiment of the present invention further provides an intelligent building high-precision indoor positioning method, which uses the intelligent building high-precision indoor positioning system according to any one of the above embodiments to achieve indoor positioning of a detected object.

Compared with the prior art, the invention has the following beneficial effects:

the embodiment of the invention provides an intelligent building high-precision indoor positioning system, which comprises: laying equipment, a gateway and a cloud server; the laying equipment is formed by connecting a plurality of sensor detection units in series or in parallel, is used for flatly laying indoor detection pressure signals in a building target area, and transmits the detected pressure signals to the cloud server through the gateway; the pressure signal includes: pressure parameters, pressure sensing time and node numbers of sensor detection units where the pressure sensing time is located; and the cloud server calculates the position, gravity and movement speed of the detected object according to the received pressure signal to generate positioning service. The laying equipment can lay according to the shape of an indoor detection area, detect pressure signals and realize high indoor positioning precision and small errors based on the pressure signals. Meanwhile, the problems of signal drift and accumulated error of inertial indoor positioning are completely avoided. The comparison of camera identification and positioning has the risk of protecting personal privacy from leakage. Furthermore, the weight, the motion track, the motion speed and other characteristics of the positioning target can be identified, and the method can be applied to various scenes.

Drawings

Fig. 1 is a structural diagram of an intelligent building high-precision indoor positioning system according to an embodiment of the present invention.

Fig. 2 is a block diagram of a sensor detection unit according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of intelligent building high-precision indoor positioning according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of calculating a motion speed of a detection object by intelligent building high-precision indoor positioning according to an embodiment of the present invention.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1, an embodiment of the present invention provides an intelligent building high-precision indoor positioning system, including: laying equipment 1, a gateway 2 and a cloud server 3;

the laying equipment 1 is formed by connecting a plurality of sensor detection units in series or in parallel, is used for flatly laying indoor detection pressure signals in a building target area, converts the detected pressure signals into positioning data, and transmits the positioning data to the cloud server 3 through the gateway 2; this location data includes: pressure parameters, pressure sensing time and node numbers of sensor detection units where the pressure sensing time is located; the cloud server 3 calculates the position, gravity and movement speed of the detected object according to the received positioning data, and generates positioning service.

In the embodiment, the system can realize real-time tracking, positioning and specific object perception by perceiving the change, the motion track and the starting position of the ground pressure environment.

The gateway 2 is a wireless gateway, so that wiring can be reduced, and complicated steps for installation are reduced. The paving equipment can be conveniently paved according to the shape of a detection area, the pressure measurement precision is high, and the detection error can be customized according to the size and the actual requirement of each control node; for example, the floor can be customized based on the size of the existing floor or floor tile, and the square size of 0.5 decimeter multiplied by 0.5 decimeter can be directly customized. Therefore, signal algorithms such as bluetooth and RIFID are comparable to each other based on the positioning accuracy performed by the sensor detection unit, not WIFI. Simultaneously, adopt this high-accuracy indoor positioning system of wisdom building, also do not have the signal drift and the accumulative error problem of inertia indoor location completely. And compared with the camera identification positioning, the method has the risk of protecting personal privacy from leakage.

Furthermore, the cloud server can identify the weight, the movement track, the movement speed and other characteristics of the positioning target; the application scene is wider, for example when being applied to a nursing home, the device can be used for detecting the movement track of the old people and whether the old people fall down or not.

In one embodiment, as shown in fig. 2, the sensor detecting unit 2 includes: a base plate (not shown in the figure), and a pressure power generation module, a power storage module, a pressure sensing module, a signal sending module and a control module which are arranged below the base plate; the five parts are packaged below the substrate through insulating and waterproof materials.

The control module is respectively connected with the pressure power generation module, the power storage module, the pressure sensing module and the signal sending module; the pressure power generation module is connected with the power storage module; the control module converts the detection pressure signal of the pressure sensing module into positioning data, and the positioning data is transmitted to the gateway through the signal transmitting module.

The pressure sensing module is a circuit with a sub-sensitive resistor, and changes of pressure current according to the pressure, so that a pressure sensing signal is sent out and transmitted to the control module.

By utilizing the design of the sub-sensitive resistor, the pressure current is changed according to the pressure, so that a pressure sensing signal is sent out, and the sub-sensitive resistor has the scale of the pressure.

The pressure power generation module can ensure the electricity utilization guarantee of equipment, adopts a film molecular piezoelectric material, such as a PVDF flexible piezoelectric film, and has the parameters shown in the table below, and when the pressure power generation module is specifically implemented, the pressure power generation module is equivalent to the upper surface area of a substrate, so that the power generation area can be increased; converted into electric energy and stored in the electricity storage module.

And the electricity storage module is a rechargeable battery and stores redundant electricity into the battery for power supplement when the power generation is relatively small and insufficient. In addition, the mains supply can be accessed in a concealed cable mode. When a plurality of sensor detection units are laid, the serial-parallel connection relation between the concealed cables is not limited in the embodiment of the disclosure.

The signal sending module is an NBLet communication module. And adopting an NBLet communication protocol to trigger and wake up passive communication so as to save electric energy.

For the better locating data of looking over, this high-accuracy indoor positioning system of wisdom building, it is shown with reference to fig. 1, still include: a mobile terminal 4; the mobile terminal is in communication connection with the cloud server and used for displaying the positioning data of the detected object sent by the cloud server.

Taking the nursing home as an example, laying equipment consisting of a plurality of sensor detection units connected in series or in parallel is respectively laid in a plurality of rooms on the same floor, and the plurality of sensor detection units in the plurality of rooms can also share one communication gateway (within an allowable communication distance range); when each sensor detection unit is laid, numbering is respectively preset; such as: 010506, where the first two digits can represent the room number, the middle two digits are the line number, and the last two are the specific serial number. For example, a fixed address mode may be employed: and burning address codes in a control module of each sensor detection unit, and installing according to the address code sequence of each sensor detection unit during installation. The mode can also be set by software: the sensor detection unit can be installed at will, and before the sensor detection unit is used for the 1 st time, the address code of each sensor detection unit needs to be set on line through a control software system. Other ways are possible as long as it is guaranteed to have a unique address code.

When the old people move indoors, the pressure change of each sensor detection unit can be monitored in real time, the movement track of the old people can be generated based on the pressure change values, and the weight of the old people can be judged; for example, the adjacent sensor detection units all return positioning data, the pressure parameters after analysis are smaller than the weight pressure parameters of the old, the old can be presumed to be in a falling state, alarm information can be sent out timely, a sound and light prompt is sent out by combining with on-site alarm equipment, and a prompt can be sent to a guardian through a mobile phone terminal; therefore, the monitoring personnel can find the situation in time and monitor the living of the old dynamically in real time.

The intelligent building high-precision indoor positioning system provided by the embodiment of the invention can realize monitoring of the target entering the monitoring area at any time, and the detected object does not need to carry any equipment; moreover, the laying equipment does not need to be charged and laid; multi-target recognition and trace recognition may also be performed, for example, a cloud server may be able to perform deep-level analysis of various useful data on a monitored object using prior art AI algorithms, for example: weight, movement speed, movement characteristics, whether the user falls down, jumps, slides, and analyzes the posture of the upper body. On the other hand, compared with the traditional video monitoring, the system also has the advantages of privacy protection, no disturbance at all and transparence.

Based on the same inventive concept, the embodiment of the invention further provides an intelligent building high-precision indoor positioning method, and as shown in fig. 3, the intelligent building high-precision indoor positioning system according to the embodiment of the invention is used for realizing indoor positioning of the detected object.

Because the principle of the problem solved by the method is similar to that of the intelligent building high-precision indoor positioning system, the implementation of the method can be referred to the implementation of the intelligent building high-precision indoor positioning system, and repeated details are not repeated.

Referring to fig. 3, the detection object enters the detection area, the sensor detection unit is trampled, the pressure power generation module generates power and stores the power storage module, and meanwhile, the control module is activated, the pressure signal of the pressure sensing module is collected, the pressure signal is transmitted to the wireless gateway through the signal transmission module, the wireless gateway transmits the pressure data with the node number to the cloud server, the cloud server transmits the pressure sensing time, the node number (the nodes are laid in a certain sequence, and the position of the monitoring object is calculated according to the actual size of each module), and the gravity and the change speed are calculated, the position of the detection object, the gravity and the movement speed and the like can be calculated, and the positioning service is generated.

Referring to fig. 4, for example, each sensing block has a block size with a side length of a, and in the drawing, the sensing block a is spaced from time t1 to time t2 of B by a distance of p grids, L: a × p (error is 0-a/2), and speed V ═ Σ_na/(t 2-t1)/n.n is a calculation period, and the speed calculation precision is continuously improved along with the accumulation of the calculation period n and is infinitely close to the real speed. In addition, the gravity parameters can be illustrated from the middle part of fig. 4, like a thermodynamic diagram; the right part may represent the behavioral pose of the detected object. Namely: from the gravity thermodynamic diagram, the posture of the detection object can be predicted by a related technique of the related art.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.