WO2005121830A1 - Moving object position recognition method and system using ultrasonic waves - Google Patents
Moving object position recognition method and system using ultrasonic waves Download PDFInfo
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- WO2005121830A1 WO2005121830A1 PCT/KR2005/001742 KR2005001742W WO2005121830A1 WO 2005121830 A1 WO2005121830 A1 WO 2005121830A1 KR 2005001742 W KR2005001742 W KR 2005001742W WO 2005121830 A1 WO2005121830 A1 WO 2005121830A1
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- moving object
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- 238000005259 measurement Methods 0.000 description 4
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- 238000007796 conventional method Methods 0.000 description 1
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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
- 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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
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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
- 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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/30—Determining absolute distances from a plurality of spaced points of known location
Definitions
- the present invention relates to a moving object position recognition method and system using ultrasonic waves, and more particularly, a method and system for calculating the coordinates of a moving object such as a robot in an area where the moving object is used using ultrasonic waves to recognize the position of the moving object.
- the ultrasonic transmitters Al, A2, A3 and A4 of the unit region A generate ultrasonic signals having a time delay corresponding to 0 millisecond (the unit of time division is not limited in the embodiment of the present invention) and the ultrasonic transmitters Bl, B2, B3, B4 of the unit region B sequentially generate ultrasonic signals having a time delay corresponding to Dt. That is, the moving object position recognition system using ultrasonic waves according to the first embodiment of the present invention transmits data (representing unit regions of the one-dimensional position recognition area in this embodiment) required for recognizing the position of the moving object using the ultrasonic signals transmitted from the ultrasonic transmitters.
- the ultrasonic transmitters in the position recognition area respectively generate ultrasonic signals as reference signals at the same time (0T, 2T, ... .) when the ultrasonic transmitters of the first unit region generate ultrasonic signals, and then the ultrasonic transmitters generate ultrasonic signals for transmitting data at points of time (IT, 3T, ... . such that the moving object to recognize the points of time of transmitting the data.
- the ultrasonic transmitters according to the first embodiment of the present invention are used in a manner that at least one ultrasonic transmitter repeatedly generates an ultrasonic signal having a time delay corresponding to the information about the corresponding unit region to transmit the information about the unit region.
- the ultrasonic transmitters B 1, B2, B3 and B4 of the unit region B in FIG. 1 respectively generate ultrasonic signals and then generate ultrasonic signals after the lapse of 0.001 second from the first generation of the ultrasonic signals.
- the synchronization signal can use time information and the ultrasonic signals can be replaced by sonic signals.
- the moving object includes an ultrasonic receiver having a plurality of sensors (not shown) such that it has directivity in multiple directions to recognize the directions of received signals and receive additional data to recognize a region where the moving object is located.
- the first unit region XYZ has a sequential number "0" in the directions X, Y and Z.
- the respective unit regions have unit region values based on the directions X, Y and Z such that identification data is given to the unit regions irrespective of positions of the position recognition area where the unit regions are located.
- the position recognition area includes three-dimensional unit regions in this embodiment, one-dimensional unit regions respectively have sequential numbers in the case where the position recognition area is composed of only the one-dimensional unit regions.
- the ultrasonic signals are generated twice such that the moving object recognizes a region where it is located. In this case, a long period of time is required for transmitting data when the number of unit regions is increased. Furthermore, interference of ultrasonic signals can occur.
- the position recognition area is a two-dimensional or three-dimensional, region
- ultrasonic signals are generated a predetermined number of times corresponding to the two-dimension or three-dimension. Thus, all the unit regions can be recognized even in the case of two-dimensional and three-dimensional regions.
- FIG. 6 is a flow chart showing a method of transmitting data using ultrasonic signals having time delays in a moving object position recognition method and system using ultrasonic waves according to a preferred embodiment of the present invention
- FIG. 7 is a flow chart for explaining an example of a method of transmitting a large quantity of data including specific numbers of ultrasonic transmitters and user- defined data.
- a moving object position recognition method using ultrasonic waves comprising the steps of: arranging the first unit region through the last unit region such that they respectively have sequential numbers to construct a position recognition area, each of the unit regions including the first ultrasonic transmitter through the last ultrasonic transmitter for generating ultrasonic signals, the first ultrasonic transmitter through the last ultrasonic transmitter being arranged, respectively having sequential numbers; generating a synchronization signal in the position recognition area; and permitting the first ultrasonic transmitter through the last ultrasonic transmitter of each unit region to sequentially generate ultrasonic signals in synchronization with the synchronization signal, wherein the ultrasonic transmitters of the first unit region through the last unit region respectively generate ultrasonic signals having time delays respectively determined for the respective unit regions such that data required for recognizing the position of a moving object is transmitted using the ultrasonic signals transmitted from the ultrasonic transmitters.
- the ultrasonic transmitters respectively generate ultrasonic signals as reference signals at the same time when the ultrasonic transmitters of the first unit region generate ultrasonic signals, and then the ultrasonic transmitters generate ultrasonic signals for transmitting the data, thereby allowing the moving object to recognize the point of time of transmitting the data.
- the data transmitted using the ultrasonic signals sequentially transmitted by the ultrasonic transmitters of the first unit region through the last unit region, having predetermined time delays is segmented into a predetermined number of bits.
- the data transmitted using the ultrasonic signals sequentially transmitted by the ultrasonic transmitters of the first unit region through the last unit region, having predetermined time delays includes specific numbers of the respective ultrasonic transmitters.
- the data can include at least one of user-defined data including unit region numbers, nearby distance identification numbers, operation regulations and coordinates.
- a moving object position recognition system using ultrasonic waves comprising: a synchronization signal generator for generating a synchronization signal; ultrasonic transmitters respectively given specific numbers and user-defined data, the ultrasonic transmitters generating ultrasonic signals in synchronization with the synchronization signal generated by the synchronization signal generator, the user-defined data being given to the ultrasonic transmitters when the ultrasonic transmitters are installed; a moving object receiving the synchronization signal and the ultrasonic signals such that its position is recognized; and a controller for controlling the synchronization signal generator, the ultrasonic transmitters and the moving object, wherein the ultrasonic transmitters transmit the ultrasonic signals having predetermined time delays to transmit the specific numbers and the user-defined data, and the moving object receives the ultrasonic signals generated by the ultrasonic transmitters having the predetermined time delays and converts the ultrasonic signals into data to recognize information of the ultrasonic transmitters.
- the user can input regulations about an operating method such as periods of the ultrasonic transmitters, the number of times of generating signals, the order of generating signals. Individual characteristics such as the nearby distance identification numbers and global coordinates should be inputted by the user and common regulations can be transmitted from a synchronization signal generator.
- the above-mentioned method of transmitting data required for recognizing the position of a moving object using ultrasonic signals provide various advantages. Specifically, while the conventional techniques control the moving object using ultrasonic waves in a single region, the present invention allows the moving object to recognize the coordinates of ultrasonic transmitters even when the position recognition area is composed of a three-dimensional region to enable effective position recognition. Thus, the position recognition area of the moving object can be constructed in various forms. Furthermore, the moving object position recognition method and system using ultrasonic waves according to the present invention transmit data using ultrasonic signals that are natural frequencies of the moving object and the ultrasonic transmitters.
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Provided are a moving object position recognition method and system using ultrasonic waves for transmitting data required for recognizing the position of a moving object using ultrasonic signals. The moving object position recognition method using ultrasonic waves includes the steps of: arranging the first unit region through the last unit region such that they respectively have sequential numbers to construct a position recognition area, each of the unit regions including the first ultrasonic transmitter through the last ultrasonic transmitter for generating ultrasonic signals, the first ultrasonic transmitter through the last ultrasonic transmitter being arranged, respectively having sequential numbers; generating a synchronization signal in the position recognition area; and permitting the first ultrasonic transmitter through the last ultrasonic transmitter of each unit region to sequentially generate ultrasonic signals in synchronization with the synchronization signal. The ultrasonic transmitters of the first unit region through the last unit region respectively generate ultrasonic signals having time delays respectively determined for the respective unit regions such that data required for recognizing the position of a moving object is transmitted using the ultrasonic signals transmitted from the ultrasonic transmitters.
Description
Description MOVING OBJECT POSITION RECOGNITION METHOD AND SYSTEM USING ULTRASONIC WAVES Technical Field
[1] The present invention relates to a moving object position recognition method and system using ultrasonic waves, and more particularly, a method and system for calculating the coordinates of a moving object such as a robot in an area where the moving object is used using ultrasonic waves to recognize the position of the moving object. Background Art
[2] The Applicant proposed a technique that sufficiently amplifies a received ultrasonic signal, separates a natural frequency from the ultrasonic signal mixed with unnecessary signals and extracts an initial pulse arrival signal to calculate a distance, to thereby effectively measure the distance using the ultrasonic signal without being affected by restrictions of environment such as the atmosphere and noise, which is disclosed in Korean Pat. Application No. 10-2003-0052239 "Distance Measurement Method and System using Separation of Frequency from Ultrasonic Signal".
[3] Furthermore, the Applicant proposed a technique that sequentially gives specific numbers and, generates a synchronization signal to the plurality of ultrasonic transmitters, allows a moving object to receive ultrasonic signals respectively generated by the ultrasonic transmitters in synchronization with the synchronization signal in the order of the specific numbers to measure a distance, thereby enabling accurate and effective position recognition while saving radio resources, which is disclosed in Korean Patent Application No. 10-2004-0015377 "Coordinate Recognition System using Ultrasonic Satellite". Disclosure of Invention Technical Problem
[4] The aforementioned techniques proposed by the Applicant can recognize the position of a moving object more easily and accurately using ultrasonic waves. However, these techniques require a position recognition method and system in consideration of the extension of a position recognition area. Though the above-described techniques enable accurate position recognition even in the case of relatively long distance by using ultrasonic waves, a small number of transmitters cannot provide sufficient ultrasonic waves required for controlling the moving object in a wide area because of restrictions on ultrasonic transmission/reception distances. That is, there is a need for a technique of effectively controlling the moving object when a position
recognition area having a unit region including several transmitters is extended to an area having a plurality of large unit regions including a plurality of transmitters. Here, the position recognition area means a space (whose shape is not restricted) where a plurality of unit regions are continuously arranged (in the case of generating interference of ultrasonic waves between unit regions) or a plurality of unit regions are respectively form independent spaces (in case of generating no interference of ultrasonic waves between unit regions or position recognition areas). For example, the position recognition area can be one of the floors of a multi-storied building, which has a plurality of rooms each correspond to a unit region or a building having multiple floors (Here, each of the floors can have a plurality of unit regions).
[5] Furthermore, to control the moving object more effectively when the position recognition area becomes wider, transmission of specific data is required. Specifically, in the aforementioned techniques proposed by the Applicant, the moving object receives ultrasonic signals transmitted from a plurality of transmitters and distances between the plurality of transmitters and the moving object are calculated to obtain spatial coordinates and recognize the position of the moving object. When the position recognition area includes a plurality of unit regions where a plurality of transmitters are arranged (particularly, when ultrasonic interference occurs between transmitters), however, it is necessary to obtain the coordinate value of the moving object more effectively. Technical Solution
[6] Accordingly, the present invention has been made to improve the techniques proposed by the Applicant and it is an object to provide a moving object position recognition method and system using ultrasonic waves, which can effectively recognize the position of a moving object even in a position recognition area including a plurality of unit regions.
[7] It is another object of the present invention to provide a moving object position recognition method and system using ultrasonic waves, which can transmit and receive additional data to effectively calculate the coordinate value of the moving object even in a position recognition area composed of a plurality of unit regions including a plurality of transmitters. Advantageous Effects
[8] According to the moving object position recognition method and system using ultrasonic waves of the present invention, data required for recognizing the position of a moving object is transmitted using ultrasonic signals. Thus, the moving object can recognize the coordinates of ultrasonic transmitters even when the position recognition area of the moving object is composed of a three-dimensional region to enable
effective position recognition and construct the position recognition area in various forms. Furthermore, data is transmitted using ultrasonic signals corresponding to natural frequencies of the moving object and ultrasonic transmitters and thus deterioration of efficiency (generation of noise), which occurs when other frequency signals are used, is prevented. Accordingly, the data can be transmitted without damaging long distance measurement effect of ultrasonic signals. Moreover, the specific numbers of ultrasonic transmitters and user-defined data, which require long transmission time due to high resolution, are segmented into a predetermined number of bits and transmitted to efficiently transmit the data using time differential ultrasonic signals.
[9] While the present invention has been described with reference to the particular illustrative embodiments, it is not to be restricted by the embodiments but only by the appended claims. It is to be appreciated that those skilled in the art can change or modify the embodiments without departing from the scope and spirit of the present invention. Brief Description of the Drawings
[10] Further objects and advantages of the invention can be more fully understood from the following detailed description taken in conjunction with the accompanying drawings, in which:
[11] FIG. 1 is a diagram for explaining a moving object position recognition method and system using ultrasonic waves according to a first embodiment of the present invention;
[12] FIG. 2 is a timing chart of ultrasonic signals used in the moving object position recognition method and system using ultrasonic waves according to the first embodiment of the present invention;
[13] FIG. 3 is a diagram for explaining the interference of ultrasonic signals in the moving object position recognition method and system using ultrasonic waves;
[14] FIG. 4 is a diagram for explaining a moving object position recognition method and system using ultrasonic waves according to a second embodiment of the present invention;
[15] FIG. 5 is a timing chart of ultrasonic signals used in the moving object position recognition method and system using ultrasonic waves according to the second embodiment of the present invention;
[16] FIG. 6 is a flow chart showing a method of transmitting data using ultrasonic signals having time delays in a moving object position recognition method and system using ultrasonic waves according to a preferred embodiment of the present invention; and
[17] FIG. 7 is a flow chart for explaining an example of a method of transmitting a large quantity of data including specific numbers of the ultrasonic transmitters and user- defined data. Best Mode for Carrying Out the Invention
[18] The present invention will now be described in detail in connection with preferred embodiments with reference to FIGS. 1 through 7. For reference, like reference characters designate corresponding parts throughout several views. Illustration and detailed explanation for technical configurations and operations of an ultrasonic transmitter, a moving object and a synchronization signal generator, which are previously proposed and applied by the Applicant easily understood by those skill in the art, are simplified or omitted and parts relating to the present invention are illustrated and explained.
[19] FIG. 1 is a diagram for explaining a moving object position recognition method and system using ultrasonic waves according to the first embodiment of the present invention, and FIG. 2 is a timing chart of ultrasonic signals used in the moving object position recognition method and system using ultrasonic waves according to the first embodiment of the present invention.
[20] Referring to FIGS. 1 and 2, a position recognition area of the moving object position recognition method and system using ultrasonic is composed of a one- dimensional region. That is, the position recognition area is formed in such a manner that unit regions A, B, ... . are arranged in a row in one direction (one of X, Y and Z directions). The unit regions respectively include a predetermined number of ultrasonic transmitters Al, A2, A3, A4, Bl, B2, B3, B4, ... . The shape and arrangement of the unit regions are set as needed and the number of ultrasonic transmitters Al, A2, A3, A4, Bl, B2, B3, B4, ... .is determined as needed. In the position recognition area, a synchronization signal generator (not shown) is arranged and a controller (not shown) for controlling the synchronization signal generator, the ultrasonic transmitters and a moving object is disposed. Here, the synchronization signal generator and the controller can have various forms previously proposed by the Applicant. The position of the moving object is recognized by receiving synchronization signals and ultrasonic signals.
[21] In the moving object position recognition method and system using ultrasonic waves according to the first embodiment of the present invention, the ultrasonic transmitters Al, A2, A3, A4, Bl, B2, B3, B4, are installed in respective unit regions A, B, ... . in the order of the first ultrasonic transmitter A, B, to the last ultrasonic transmitter A4, B4, ... . The unit regions are arranged in the position recognition area in the order of the first unit region A to the last unit region. When a synchronization
signal is generated in the position recognition area, the first ultrasonic transmitters Al, Bl, ... . to the last ultrasonic transmitters A4, B4, ... . sequentially generate ultrasonic signals in synchronization with the synchronization signal in the respective unit regions A, B, ... . Referring to FIG. 2, in the moving object position recognition method and system using ultrasonic waves according to the present invention, the ultrasonic transmitters Al, A2, A3, A4, Bl, B2, B3, B4, ... . of the first unit region A to the last unit region sequentially generate ultrasonic signals having time delays determined with respect to the respective unit regions. Here, the ultrasonic transmitters Al, A2, A3 and A4 of the unit region A generate ultrasonic signals having a time delay corresponding to 0 millisecond (the unit of time division is not limited in the embodiment of the present invention) and the ultrasonic transmitters Bl, B2, B3, B4 of the unit region B sequentially generate ultrasonic signals having a time delay corresponding to Dt. That is, the moving object position recognition system using ultrasonic waves according to the first embodiment of the present invention transmits data (representing unit regions of the one-dimensional position recognition area in this embodiment) required for recognizing the position of the moving object using the ultrasonic signals transmitted from the ultrasonic transmitters.
[22] As shown in FIG. 2, the ultrasonic transmitters in the position recognition area respectively generate ultrasonic signals as reference signals at the same time (0T, 2T, ... .) when the ultrasonic transmitters of the first unit region generate ultrasonic signals, and then the ultrasonic transmitters generate ultrasonic signals for transmitting data at points of time (IT, 3T, ... . such that the moving object to recognize the points of time of transmitting the data.
[23] The ultrasonic transmitters according to the first embodiment of the present invention are used in a manner that at least one ultrasonic transmitter repeatedly generates an ultrasonic signal having a time delay corresponding to the information about the corresponding unit region to transmit the information about the unit region. For example, the ultrasonic transmitters B 1, B2, B3 and B4 of the unit region B in FIG. 1 respectively generate ultrasonic signals and then generate ultrasonic signals after the lapse of 0.001 second from the first generation of the ultrasonic signals. Here, the synchronization signal can use time information and the ultrasonic signals can be replaced by sonic signals. The moving object includes an ultrasonic receiver having a plurality of sensors (not shown) such that it has directivity in multiple directions to recognize the directions of received signals and receive additional data to recognize a region where the moving object is located.
[24] Referring to FIGS. 1 and 2, in the moving object position recognition system using ultrasonic waves according to the first embodiment of the present invention, when the moving object is placed in the position recognition area and powered on, the syn-
chronization signal is generated. Then, the ultrasonic transmitters Al, A2, A3, A4, Bl, B2, B3, B4, ... of the respective unit regions A, B, ... . respectively generate ultrasonic signals. Subsequently, the ultrasonic transmitters Al, A2, A3 and A4 of the unit region A generate ultrasonic signals in synchronization with the next synchronization signal without having a time delay (Here, the ultrasonic transmitters transmit ultrasonic signals in the order of the unit regions) and the ultrasonic transmitters of the following unit regions transmit ultrasonic signals after time delays given to the respective unit regions. The unit region having ultrasonic transmitters that are transmitting ultrasonic signals to the moving object can be recognized by measuring arrival time of signals from the ultrasonic transmitters. That is, when a difference between arrival time of the first signal after the synchronization signal and arrival time of the next signal is identical to a predetermined time, the moving object can be judged to be located in the unit region A.
[25] FIG. 3 is a diagram for explaining interference of ultrasonic signals in the moving object position recognition method and system using ultrasonic waves, and FIG. 4 is a diagram for explaining a moving object position recognition method and system using ultrasonic waves according to a second embodiment of the present invention. FIG. 5 is a timing chart of ultrasonic signals used in the moving object position recognition method and system using ultrasonic waves according to the second embodiment of the present invention.
[26] Referring to FIGS. 3, 4, and 5, the moving object position recognition system using ultrasonic waves according to the second embodiment of the present invention extends the fundamental technical configuration (to give time delays to ultrasonic signals to transmit data) of the moving object position recognition system using ultrasonic waves according to the first embodiment of the present invention to enable effective moving object position recognition even in a position recognition area having a 2-dimnsional or three-dimensional space. That is, the moving object position recognition system according to the first embodiment transmits data (particularly, unit region data) using time differential ultrasonic signals to extend a conventional position recognition area composed of a unit region to a position recognition area having continuous unit regions, thereby recognizing the position of a moving object. However, when the position recognition area has a spatial form, a problem of generating interference of ultrasonic signals, as shown in FIG. 3, should be solved. In FIG. 3, the moving object is placed in a region where it receives ultrasonic signals transmitted from an ultrasonic transmitter A4 of a unit region A, an ultrasonic transmitter B3 of a unit region B and ultrasonic transmitters Cl and C2 of a unit region C, for example. Thus, the interference region of adjacent ultrasonic transmitters becomes large. This problem becomes serious in the case of a 3-dimensional position recognition area.
[27] Accordingly, the moving object position recognition method and system using ultrasonic waves according to the second embodiment of the present invention have been made to effectively transmit unit region data to the moving object even when the position recognition area is a two-dimensional or three-dimensional region using the above-described basic technical configuration.
[28] In the moving object position recognition system according to the second embodiment of the present invention, the position recognition area has a 3-dimensional arrangement (X, Y, Z), as shown in FIG. 4. That is, the position recognition area includes the first unit region XYZ to the last unit region arranged having sequential numbers. The position recognition area includes one-dimensional regions in a row direction (Y), two-dimensional regions in a column direction (X) and three-dimensional regions in a height direction (Z), starting from the first unit region XYZ . Here, the unit regions can mean spaces or positions of ultrasonic transmitters.
[29] The unit regions XYZ , Y , Y , , X , X , , Z , Z , respectively have sequential numbers based on the one-dimensional regions (Y), two-dimensional regions (X) and three-dimensional regions (Z). Referring to FIG. 4, the one-dimensional unit regions Y , Y , in the row direction (Y) have a sequential number "0" in the directions X and Z, and two-dimensional unit regions X , X , in the column direction (X) have a sequential number "0" in the direction Z. Three-dimensional unit regions Z , Z , in the height direction (Z) have their sequential numbers in all directions. The first unit region XYZ has a sequential number "0" in the directions X, Y and Z. According to the second embodiment of the present invention, the respective unit regions have unit region values based on the directions X, Y and Z such that identification data is given to the unit regions irrespective of positions of the position recognition area where the unit regions are located. While the position recognition area includes three-dimensional unit regions in this embodiment, one-dimensional unit regions respectively have sequential numbers in the case where the position recognition area is composed of only the one-dimensional unit regions.
[30] In the moving object position recognition method and system according to the second embodiment of the present invention, when a synchronization signal is generated in the position recognition area, the first ultrasonic transmitters XYZ 1, ... , Y 1, ... , X 1, ... , Z 1, ... through the last ultrasonic transmitters XYZ 4, ... , Y 4, ... , X i l l 0 1 1 4, ... , Z 4, ... sequentially generate ultrasonic signals in synchronization with the synchronization sig °nal in the resp rective unit reg °ions XYZ 0 , Y 1, Y2, ... , X 1, X2, ... , Z 1, Z 2, ... Here, the ultrasonic transmitters XYZ 01, XYZ 02, XYZ 03, XYZ 04, ... , Y11, Y12, Y13, Y 14, ... , X 11, X12, X13, X14, ... , Z 11, Z12, Z13, Z14, resp eectively J g °enerate ultrasonic signals as reference signals at the same time (0T, 4T, ...)when the ultrasonic transmitters of the first unit region XYZ generate ultrasonic signals, and then the
ultrasonic transmitters XYZ 1, XYZ 2, XYZ 3, XYZ 4, ... , Y 1, Y 2, Y 3, Y 4, ... , X 0 0 0 0 1 1 1 1 1 1, X 2, X 3, X 4, ... , Z 1, Z 2, Z 3, Z 4, ... generate ultrasonic signals for transmitting data at points of time (IT, 2T, 3T, ...) such that the moving object recognizes the points of time of transmitting the data, as shown in FIG. 5. In the transmission of data, time delays respectively corresponding to the unit regions having corresponding position values based on their dimensions are generated. For example, as shown in FIG. 5, the unit regions having one-dimensional, two-dimensional and three-dimensional region values (X, Y, Z) respectively have time delay values Dt , Dt and Dt given thereto. When the unit regions have only one-dimensional region values (Y) (in the case of the first embodiment of the present invention), time delays according to the two- dimensional and three-dimensional regions X and Z will be zero.
[31] According to the first embodiment of the present invention, the ultrasonic signals are generated twice such that the moving object recognizes a region where it is located. In this case, a long period of time is required for transmitting data when the number of unit regions is increased. Furthermore, interference of ultrasonic signals can occur. In the second embodiment of the present invention, when the position recognition area is a two-dimensional or three-dimensional, region, ultrasonic signals are generated a predetermined number of times corresponding to the two-dimension or three-dimension. Thus, all the unit regions can be recognized even in the case of two-dimensional and three-dimensional regions.
[32] FIG. 6 is a flow chart showing a method of transmitting data using ultrasonic signals having time delays in a moving object position recognition method and system using ultrasonic waves according to a preferred embodiment of the present invention, and FIG. 7 is a flow chart for explaining an example of a method of transmitting a large quantity of data including specific numbers of ultrasonic transmitters and user- defined data.
[33] Referring to FIG. 6, the ultrasonic transmitters of the respective unit regions generate ultrasonic signals as reference signals at the same time when the ultrasonic transmitters of the first unit region generate ultrasonic signals, and then the ultrasonic transmitters generate ultrasonic signals for transmitting data such that the moving object recognizes the point of time of transmitting the data and required data is transmitted.
[34] Here, the data is transmitted by the ultrasonic signals generated having time delays given to the respective unit regions. The number (i) of times of generating ultrasonic signals is determined based on the dimension of the unit regions. In the case of one- dimensional unit regions, for example, time differential ultrasonic signals are generated only once (in this case, ultrasonic signals as reference signals are not generated). In the case of two-dimensional or three-dimensional unit regions, ultrasonic signals are
generated a predetermined number of times corresponding to two-dimension or three- dimension. That is, when the position recognition area is composed of one-dimensional unit regions, ultrasonic signals are generated twice. When the position recognition area includes two-dimensional unit regions, ultrasonic signals are generated three times. When the position recognition area is composed of three-dimensional unit regions, ultrasonic signals are generated four times. That is, a predetermined number of times of generating ultrasonic signals is given to each dimension.
[35] In the meantime, the moving object position recognition method and system using ultrasonic waves according to the present invention can transmit specific information of the ultrasonic transmitters using ultrasonic signals in order to perform moving object position recognition more effectively. The specific information includes specific numbers of the ultrasonic transmitters. Furthermore, the specific information includes at least one of user-defined data including nearby distance identification numbers, operation regulations and coordinates. For example, specific numbers corresponding to serial numbers are respectively given to the ultrasonic transmitters when the ultrasonic transmitters are manufactured, unit regions numbers and unit region data, required when a user constructs a position recognition area, are respectively given to the ultrasonic transmitters when the ultrasonic transmitters are installed, and then the data given to the ultrasonic transmitters are transmitted according to the method of the present invention. This enables more effective recognition of the moving object position. That is, the respective ultrasonic transmitters have their specific numbers and user-defined data including the unit region numbers, nearby distance identification numbers, operation regulations and coordinates, given by the user when the user constructs the position recognition area. When the specific numbers of the ultrasonic transmitters and the user-defined data are transmitted when the moving object is initially operated (when the moving object is powered on), the moving object can correctly recognize its current position in the position recognition area and position recognition can be made more conveniently. Here, the unit region numbers are included in the user-defined data given to the ultrasonic transmitters when the ultrasonic transmitters are installed. In the embodiment which will be described later, the unit region numbers are used as data separately from the user-defined data.
[36] The specific numbers of the ultrasonic transmitters and the user-defined data increase the quantity of transmitted data because the specific numbers given to the respective ultrasonic transmitters for the purpose of identifying the ultrasonic transmitters are large in size and the quantity of the user-defined data depends on information added thereto. This increase in the quantity of data can be a burden on the moving object position recognition method and system of the present invention.
[37] To eliminate this burden, the present invention time-divides the data having large
capacity into a predetermined number of bits and transmits the time division data. That is, the present invention time-divides the data into a predetermined number of bits and transmits the divided data multiple times to solve the problem of increasing the quantity of data. When data to be transmitted includes the specific numbers, unit region numbers and user-defined data, for example, the data are transmitted in 24 bits in a manner that 3-bit data is transmitted 8 times.
[38] Referring to FIG. 7, in the transmission of the specific numbers of the ultrasonic transmitters, unit region numbers and user-defined data each have a predetermined number of bits, the data of FIG. 6 is defined as every-time data (step 1). For reference, the number of times of generating ultrasonic signals is 1 in FIG. 6. Here, the every- time data corresponds to unit region numbers. Subsequently, the ultrasonic transmitters generate ultrasonic signals in synchronization with the synchronization signal (step 2), and the number (i) of times of generating ultrasonic signals corresponding to the every- time data is initialized (step 3). Then, the ultrasonic signals corresponding to the every- time data are generated having predetermined time delays (step 4), and the number (i) of times of generating the ultrasonic signals is increased by 1. When the increased number (i=i+l) of times of generating the ultrasonic signals is not identical to the number of times of transmitting the every-time data, the routine is returned to the step 2 (step 5). This routine designates a node in the data transmission process. Here, the node is a basis of transmission of sequential data including user-defined data other than the specific numbers of the ultrasonic transmitters and the unit region numbers.
[39] When the node has been set, the increased number (i=i+l) of times of generating the ultrasonic signals becomes identical to the number of times of transmitting the every-time data. Then, the number (I) of times of generating ultrasonic signals corresponding to the sequential data is initialized to 1 (step 6). Subsequently, the data is defined as every-time data plus sequential data and the steps 2, 3, 4 and 5 are repeated (step 7). When the step 7 is finished, the number (I) of times of generating the ultrasonic signals corresponding to the sequential data is increased by 1 and, when the increased number (1=1+1) of times of generating the ultrasonic signals corresponding to the sequential data is smaller than the value obtained by dividing the number of bits of the data to be transmitted by the number of bits of the sequential data, the step 7 is repeated (step 8) to transmit the sequential data including the user-defined data other than the specific numbers of the ultrasonic transmitters and unit region numbers. Here, while the number of times of generating the ultrasonic signals is 1 in FIG. 6, the sequential data is transmitted three times for one-time call (routine call) when the number of times of generating the ultrasonic signals is 3, and the number of times of calling the routine is reduced from 9 to 3.
Mode for the Invention
[40] To accomplish the objects of the present invention, there is provided a moving object position recognition method using ultrasonic waves, comprising the steps of: arranging the first unit region through the last unit region such that they respectively have sequential numbers to construct a position recognition area, each of the unit regions including the first ultrasonic transmitter through the last ultrasonic transmitter for generating ultrasonic signals, the first ultrasonic transmitter through the last ultrasonic transmitter being arranged, respectively having sequential numbers; generating a synchronization signal in the position recognition area; and permitting the first ultrasonic transmitter through the last ultrasonic transmitter of each unit region to sequentially generate ultrasonic signals in synchronization with the synchronization signal, wherein the ultrasonic transmitters of the first unit region through the last unit region respectively generate ultrasonic signals having time delays respectively determined for the respective unit regions such that data required for recognizing the position of a moving object is transmitted using the ultrasonic signals transmitted from the ultrasonic transmitters.
[41] In the moving object position recognition method using ultrasonic waves, the ultrasonic transmitters respectively generate ultrasonic signals as reference signals at the same time when the ultrasonic transmitters of the first unit region generate ultrasonic signals, and then the ultrasonic transmitters generate ultrasonic signals for transmitting the data, thereby allowing the moving object to recognize the point of time of transmitting the data.
[42] In the moving object position recognition method using ultrasonic waves, the data transmitted using the ultrasonic signals sequentially transmitted by the ultrasonic transmitters of the first unit region through the last unit region, having predetermined time delays, is segmented into a predetermined number of bits. Here, the data transmitted using the ultrasonic signals sequentially transmitted by the ultrasonic transmitters of the first unit region through the last unit region, having predetermined time delays, includes specific numbers of the respective ultrasonic transmitters. The data can include at least one of user-defined data including unit region numbers, nearby distance identification numbers, operation regulations and coordinates.
[43] In the moving object position recognition method, the position recognition area, constructed by arranging the first unit region through the last unit region, includes one- dimensional regions in a row direction, two-dimensional regions in a column direction and three-dimensional regions in a height direction, starting from the first unit region, and the unit regions respectively have sequential numbers based on the one-dimensional regions, two-dimensional regions and three-dimensional regions, starting
from the first unit region.
[44] To accomplish the objects of the present invention, there is provided a moving object position recognition method using ultrasonic waves, comprising the steps of: preparing ultrasonic transmitters respectively having specific numbers; sequentially arranging the ultrasonic transmitters from the first ultrasonic transmitter to the last ultrasonic transmitter to construct a unit region, arranging a plurality of unit regions from the first to the last unit region such that the unit regions respectively have sequential numbers to construct a position recognition area for recognizing the position of a moving object, each of the ultrasonic transmitters being given a corresponding unit region number and user-defined data selected among nearby distance identification numbers, operation regulations and coordinates; generating a synchronization signal in the position recognition area; and permitting the first ultrasonic transmitter through the last ultrasonic transmitter to sequentially generate ultrasonic signals in synchronization with the synchronization signal in the respective unit regions, wherein the ultrasonic transmitters of the first unit region through the last unit region respectively generate ultrasonic signals having time delays respectively determined for the respective unit regions such that the specific numbers of the ultrasonic transmitters, unit region numbers and user-defined data are transmitted.
[45] In the moving object position recognition method using ultrasonic waves, the position recognition area, constructed by sequentially arranging the first unit region to the last unit region in order, includes one-dimensional regions in a row direction, two- dimensional regions in a column direction and three-dimensional regions in a height direction, starting from the first unit region. The unit regions respectively have sequential numbers based on the one-dimensional regions, two-dimensional regions and three-dimensional regions, starting from the first unit region. The ultrasonic signals used for transmitting the specific numbers of the ultrasonic transmitters, unit region numbers and user-defined data are generated after the ultrasonic transmitters generate ultrasonic signals as reference signals at the same time when the ultrasonic transmitters of the first unit region generate ultrasonic signals such that the moving object recognizes the point of time of transmitting the data.
[46] In the moving object position recognition method using ultrasonic waves, the specific numbers of the ultrasonic transmitters, unit region numbers and user-defined data, transmitted using the ultrasonic signals sequentially transmitted by the ultrasonic transmitters of the first unit region through the last unit region, having predetermined time delays, are segmented into a predetermined number of bits. Here, the specific numbers of the ultrasonic transmitters and user-defined data, which are segmented into a predetermined number of bits, include data transmitted every time such as the unit region numbers, and sequential data transmitted several times such as the specific
numbers of the ultrasonic transmitters or the user-defined data. The sequential data is transmitted having a single node or multiple nodes.
[47] To accomplish the objects of the present invention, there is also provided a moving object position recognition system using ultrasonic waves comprising: a synchronization signal generator for generating a synchronization signal; ultrasonic transmitters respectively given specific numbers and user-defined data, the ultrasonic transmitters generating ultrasonic signals in synchronization with the synchronization signal generated by the synchronization signal generator, the user-defined data being given to the ultrasonic transmitters when the ultrasonic transmitters are installed; a moving object receiving the synchronization signal and the ultrasonic signals such that its position is recognized; and a controller for controlling the synchronization signal generator, the ultrasonic transmitters and the moving object, wherein the ultrasonic transmitters transmit the ultrasonic signals having predetermined time delays to transmit the specific numbers and the user-defined data, and the moving object receives the ultrasonic signals generated by the ultrasonic transmitters having the predetermined time delays and converts the ultrasonic signals into data to recognize information of the ultrasonic transmitters.
[48] The moving object position recognition method and system using ultrasonic waves according to the present invention transmit data required for recognizing the position of a moving object using ultrasonic signals. That is, the moving object position recognition method and system using ultrasonic waves according to the present invention generate ultrasonic signals having time delays to produce time differential data. Ultrasonic transmitters transmit the ultrasonic signals including the time differential data (user-defined data such as specific numbers of the ultrasonic transmitters and unit region numbers) having predetermined time delays. The moving object receives the ultrasonic signals transmitted having time delays and distances between the moving object and the ultrasonic transmitters are calculated to obtain the coordinates of the moving object and the data.
[49] In general, position recognition using ultrasonic waves is effective in a space having a distance of several meters. Thus, if a plurality of ultrasonic transmitters are arranged in the space and the coordinates of the ultrasonic transmitters are known, the position of a moving object in the space can be recognized by measuring distances between the respective ultrasonic transmitters and the moving object. In the present invention, ultrasonic transmitters generate ultrasonic signals at predetermined points of time, respectively, such that the ultrasonic transmitters can be identified through measurement of time because the moving object is difficult to identify the ultrasonic transmitters using the ultrasonic signals when the multiple ultrasonic transmitters simultaneously transmit the ultrasonic signals. When a position recognition area is composed of a
single region, the single region includes a single recognizable ultrasonic transmitter. Thus, the moving object can identify the ultrasonic transmitter using a signal arrived at the moving object after a lapse of a predetermined period of time. Even when the position recognition area includes a plurality of unit regions, the present invention allocates time delays to the respective unit regions such that ultrasonic transmitters included in the respective unit regions can be identified. Furthermore, the present invention records user-defined data and specific number data in the ultrasonic transmitters such that the ultrasonic transmitters transmit ultrasonic signals including the data. A user can input unit region numbers, nearby distance identification numbers, global coordinates and so on in the ultrasonic transmitters as the user-defined data. Furthermore, the user can input regulations about an operating method such as periods of the ultrasonic transmitters, the number of times of generating signals, the order of generating signals. Individual characteristics such as the nearby distance identification numbers and global coordinates should be inputted by the user and common regulations can be transmitted from a synchronization signal generator.
[50] The above-mentioned method of transmitting data required for recognizing the position of a moving object using ultrasonic signals provide various advantages. Specifically, while the conventional techniques control the moving object using ultrasonic waves in a single region, the present invention allows the moving object to recognize the coordinates of ultrasonic transmitters even when the position recognition area is composed of a three-dimensional region to enable effective position recognition. Thus, the position recognition area of the moving object can be constructed in various forms. Furthermore, the moving object position recognition method and system using ultrasonic waves according to the present invention transmit data using ultrasonic signals that are natural frequencies of the moving object and the ultrasonic transmitters. This prevents deterioration of efficiency (generation of noise), which occurs when frequencies other than the natural frequencies are used, to enable transmission of a large quantity of data without damaging long distance measurement effect of ultrasonic signals, previously proposed by the Applicant. Moreover, the specific numbers and user-defined data, which require long transmission time because of high resolution, are segmented into a predetermined number of bits and transmitted. Thus, data transmission according to time differential ultrasonic signals can be effectively carried out. Industrial Applicability
[51] According to the moving object position recognition method and system using ultrasonic waves of the present invention, data required for recognizing the position of a moving object is transmitted using ultrasonic signals. Thus, the moving object can
recognize the coordinates of ultrasonic transmitters even when the position recognition area of the moving object is composed of a three-dimensional region to enable effective position recognition and construct the position recognition area in various forms. Furthermore, data is transmitted using ultrasonic signals corresponding to natural frequencies of the moving object and ultrasonic transmitters and thus deterioration of efficiency (generation of noise), which occurs when other frequency signals are used, is prevented. Accordingly, the data can be transmitted without damaging long distance measurement effect of ultrasonic signals. Moreover, the specific numbers of ultrasonic transmitters and user-defined data, which require long transmission time due to high resolution, are segmented into a predetermined number of bits and transmitted to efficiently transmit the data using time differential ultrasonic signals. [52] While the present invention has been described with reference to the particular illustrative embodiments, it is not to be restricted by the embodiments but only by the appended claims. It is to be appreciated that those skilled in the art can change or modify the embodiments without departing from the scope and spirit of the present invention.
Claims
[1] A moving object position recognition method using ultrasonic waves, comprising the steps of: arranging the first unit region through the last unit region such that they respectively have sequential numbers to construct a position recognition area, each of the unit regions including the first ultrasonic transmitter through the last ultrasonic transmitter for generating ultrasonic signals, the first ultrasonic transmitter through the last ultrasonic transmitter being arranged, respectively having sequential numbers; generating a synchronization signal in the position recognition area; and permitting the first ultrasonic transmitter through the last ultrasonic transmitter of each unit region to sequentially generate ultrasonic signals in synchronization with the synchronization signal, wherein the ultrasonic transmitters of the first unit region through the last unit region respectively generate ultrasonic signals having time delays respectively determined for the respective unit regions such that data required for recognizing the position of a moving object is transmitted using the ultrasonic signals transmitted from the ultrasonic transmitters.
[2] The moving object position recognition method using ultrasonic waves as claimed in claim 1, wherein, at the step of permitting the ultrasonic transmitters to generate ultrasonic signals, the ultrasonic transmitters respectively generate ultrasonic signals as reference signals at the same time when the ultrasonic transmitters of the first unit region generate ultrasonic signals, and then the ultrasonic transmitters generate ultrasonic signals for transmitting the data, thereby allowing the moving object to recognize the point of time of transmitting the data.
[3] The moving object position recognition method using ultrasonic waves as claimed in claim 1 or 2, wherein the data transmitted using the ultrasonic signals sequentially transmitted by the ultrasonic transmitters of the first unit region through the last unit region, having predetermined time delays, is segmented into a predetermined number of bits.
[4] The moving object position recognition method using ultrasonic waves as claimed in claim 3, wherein the data transmitted using the ultrasonic signals sequentially transmitted by the ultrasonic transmitters of the first unit region through the last unit region, having predetermined time delays, includes specific numbers of the respective ultrasonic transmitters, the data including at least one of user-defined data including unit region numbers, nearby distance iden-
tification numbers, operation regulations and coordinates.
[5] The moving object position recognition method as claimed in claim 1 or 2, wherein the position recognition area, constructed by arranging the first unit region through the last unit region, includes one-dimensional regions in a row direction, two-dimensional regions in a column direction and three-dimensional regions in a height direction, starting from the first unit region, and the unit regions respectively have sequential numbers based on the one-dimensional regions, two-dimensional regions and three-dimensional regions, starting from the first unit region.
[6] A moving object position recognition method using ultrasonic waves, comprising the steps of: preparing ultrasonic transmitters respectively having specific numbers; sequentially arranging the ultrasonic transmitters from the first ultrasonic transmitter to the last ultrasonic transmitter to construct a unit region, arranging a plurality of unit regions from the first unit region to the last unit region such that the unit regions respectively have sequential numbers to construct a position recognition area for recognizing the position of a moving object, each of the ultrasonic transmitters being given a corresponding unit region number and user- defined data selected among nearby distance identification numbers, operation regulations and coordinates; generating a synchronization signal in the position recognition area; and permitting the first ultrasonic transmitter through the last ultrasonic transmitter to sequentially generate ultrasonic signals in synchronization with the synchronization signal in the respective unit regions, wherein the ultrasonic transmitters of the first unit region through the last unit region respectively generate ultrasonic signals having time delays respectively determined for the respective unit regions such that the specific numbers of the ultrasonic transmitters, unit region numbers and user-defined data are transmitted.
[7] The moving object position recognition method using ultrasonic waves as claimed in claim 6, wherein the position recognition area, constructed by sequentially arranging the first unit region to the last unit region in order, includes one-dimensional regions in a row direction, two-dimensional regions in a column direction and three-dimensional regions in a height direction, starting from the first unit region, the unit regions respectively have sequential numbers based on the one-dimensional regions, two-dimensional regions and three-dimensional regions, starting from the first unit region, and the ultrasonic signals used for transmitting the specific numbers of the ultrasonic transmitters, unit region
numbers and user-defined data are generated after the ultrasonic transmitters generate ultrasonic signals as reference signals at the same time when the ultrasonic transmitters of the first unit region generate ultrasonic signals such that the moving object recognizes the point of time of transmitting the data
[8] The moving object position recognition method using ultrasonic waves as claimed in claim 6 or 7, wherein the specific numbers of the ultrasonic transmitters, unit region numbers and user-defined data, transmitted using the ultrasonic signals sequentially transmitted by the ultrasonic transmitters of the first unit region through the last unit region, having predetermined time delays, are segmented into a predetermined number of bits.
[9] The moving object position recognition method using ultrasonic waves as claimed in claim 8, wherein the specific numbers of the ultrasonic transmitters and user-defined data, which are segmented into a predetermined number of bits, include data transmitted every time such as the unit region numbers, and sequential data transmitted several times such as the specific numbers of the ultrasonic transmitters or the user-defined data, and the sequential data is transmitted having a single node or multiple nodes.
[10] A moving object position recognition system using ultrasonic waves comprising: a synchronization signal generator for generating a synchronization signal; ultrasonic transmitters respectively given specific numbers and user-defined data, the ultrasonic transmitters generating ultrasonic signals in synchronization with the synchronization signal generated by the synchronization signal generator, the user-defined data being given to the ultrasonic transmitters when the ultrasonic transmitters are installed; a moving object receiving the synchronization signal and the ultrasonic signals such that its position is recognized; and a controller for controlling the synchronization signal generator, the ultrasonic transmitters and the moving object, wherein the ultrasonic transmitters transmit the ultrasonic signals having predetermined time delays to transmit the specific numbers and the user-defined data, and the moving object receives the ultrasonic signals generated by the ultrasonic transmitters having the predetermined time delays and converts the ultrasonic signals into data to recognize information of the ultrasonic transmitters.
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| KR20040043261 | 2004-06-12 | ||
| KR10-2004-0043261 | 2004-06-12 | ||
| KR10-2004-0101566 | 2004-12-04 | ||
| KR1020040101566A KR20060062652A (en) | 2004-12-04 | 2004-12-04 | Multi-dimension extention of coverage in the ultrasonic positioning system |
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| WO2005121830A1 true WO2005121830A1 (en) | 2005-12-22 |
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| PCT/KR2005/001742 WO2005121830A1 (en) | 2004-06-12 | 2005-06-09 | Moving object position recognition method and system using ultrasonic waves |
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| KR (1) | KR100742285B1 (en) |
| WO (1) | WO2005121830A1 (en) |
Cited By (2)
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|---|---|---|---|---|
| WO2008152170A2 (en) * | 2007-06-11 | 2008-12-18 | Fundacio Privada Universitat I Tecnologia | Positioning system |
| WO2014028229A1 (en) * | 2012-08-13 | 2014-02-20 | Symbol Technologies, Inc. | Ultrasonic locationing system using regional addressing with ultrasonic tones |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101705227B1 (en) * | 2015-11-06 | 2017-02-09 | 주식회사 우리엘테크 | Indoor Positioning Method |
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| WO1999028763A1 (en) * | 1997-12-04 | 1999-06-10 | Olivetti Research Limited | Detection system for determining positional information about objects |
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| JP3337586B2 (en) * | 1995-02-22 | 2002-10-21 | 株式会社間組 | Moving object position detection system |
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| EP0063517A1 (en) * | 1981-04-15 | 1982-10-27 | Thomson-Csf | Passive range-finding system |
| WO1999028763A1 (en) * | 1997-12-04 | 1999-06-10 | Olivetti Research Limited | Detection system for determining positional information about objects |
| WO2001069281A1 (en) * | 2000-03-17 | 2001-09-20 | Pdp Personal Digital Pen | Methods and devices for determining with ultrasounds the position of a mobile object |
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| WO2008152170A2 (en) * | 2007-06-11 | 2008-12-18 | Fundacio Privada Universitat I Tecnologia | Positioning system |
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| WO2014028229A1 (en) * | 2012-08-13 | 2014-02-20 | Symbol Technologies, Inc. | Ultrasonic locationing system using regional addressing with ultrasonic tones |
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| KR100742285B1 (en) | 2007-07-24 |
| KR20060049562A (en) | 2006-05-19 |
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