Mobile device, indoor positioning system and method

Abstract

A mobile device (20) for an indoor positioning system (100) is provided. The mobile device (20) is configured to move within an indoor area and communicatively connect with a server computer (30) external to the mobile device (20). The mobile device (20) includes: a wireless signal transceiver configured to receive tag information from the tag when the mobile device moves into a proximity range relative to the tag, the tag information at least including a unique identifier for identifying an item (11-16) to which it is fixed, the item (11-16) being located in the indoor area; and a controller configured to determine the position of the mobile device in response to receiving the tag information, wherein the position of the item (11-16) is determined at the mobile device (20) or at the server computer (30) based on the position of the mobile device (20), and the item (11-16) is identified by the unique identifier of the tag.

Description

Technical Field

[0001] The present disclosure generally relates to the technical field of indoor positioning. Specifically, the present disclosure relates to a mobile device for an indoor positioning system and an indoor positioning system and method. Background Art

[0002] Currently popular positioning technologies include GPS and assisted GPS. A traditional system for GPS and assisted GPS, for example, includes a satellite positioning system (SPS), such as the Global Positioning System (GPS) or other similar Global Navigation Satellite Systems (GNSS), which includes multiple Earth-orbiting satellites or spacecraft (SVs) capable of transmitting wireless signals to and receiving wireless signals from one or more suitable wireless transceivers (ground or other transceiver devices).

[0003] GPS signals are usually very weak for indoor reception. If a GPS signal is not received, the positioning location cannot be determined. For example, in some places, signals from SVs or other wireless transmitters may be attenuated or affected in some way (e.g., insufficiently, weakened, incomplete, etc.), which may prevent their use in position estimation techniques.

[0004] In response, a system for indoor positioning has been proposed, which includes anchors and tags. The anchors are distributed in the area where positioning should work, and the anchors are installed at fixed positions, such as on walls or ceilings. According to this system, tags are attached to each item that needs to be positioned. This positioning system has the problem of being too costly. For example, if a large number of items need to be positioned, a large number of tags need to be attached. If a large area needs to be monitored, anchors need to be installed at multiple fixed positions so that a large number of anchors cover the entire area. In this way, the cost of the entire system will be very high. This high cost includes not only the cost required for a large number of anchors and tags, but also the installation cost for installing a large number of anchors and / or tags. Summary of the Invention

[0005] In view of this, the purpose of the present disclosure is to provide a technical solution for indoor positioning, which can reduce the cost of indoor positioning and improve the accuracy of indoor positioning results.

[0006] According to one aspect of the present disclosure, there is provided a mobile device for an indoor positioning system, the mobile device being configured to move within an indoor area and communicatively connected to a server computer external to the mobile device. The mobile device includes: a wireless signal transceiver configured to receive tag information from a tag when the mobile device moves within a proximity range relative to the tag, the tag information at least including a unique identifier for identifying the item to which it is fixed, the item being located in the indoor area; and a controller configured to determine the position of the mobile device in response to receiving the tag information, wherein the position of the item is determined at the mobile device or at the server computer based on the position of the mobile device, and the item is identified by the unique identifier of the tag.

[0007] According to another aspect of the present disclosure, there is provided an indoor positioning system, which includes: a plurality of tags for identifying items in an indoor area, each tag having a unique identifier for identifying the item to which it is fixed; one or more mobile devices as described above; and a server computer communicatively connected to the one or more mobile devices, wherein the position of the item is determined at the mobile device or at the server computer based on the position of the mobile device, and the item is identified by the unique identifier of the tag.

[0008] According to yet another aspect of the present disclosure, there is provided an indoor positioning method, optionally performed by the mobile device and / or the indoor positioning system as described above. The method includes the following steps: receiving tag information from a tag when the mobile device moves within a proximity range relative to the tag, the tag information at least including a unique identifier for identifying the item to which it is attached; determining the position of the mobile device in response to the received tag information; and determining the position of the item based on the position of the mobile device, and the item is identified by the unique identifier of the tag.

[0009] According to still another aspect of the present disclosure, there is provided a computer-readable medium storing instructions that, when executed by at least one processor, can implement the method as described above.

[0010] According to the present disclosure, a large number of high-cost anchors are replaced by one or a small number of mobile devices (e.g., mobile anchors), thereby greatly reducing the system cost. In addition, in the case of using passive RFID tags, the cost of the tags can also be negligible because the cost of passive RFID tags is very low and there is no need to replace the battery.

[0011] Moreover, according to the present disclosure, by performing data processing at the server computer, the computing power requirement for the detection device (i.e., the mobile device) can be reduced.

[0012] Moreover, according to the present disclosure, the position of an item in an indoor area and the associated timestamp can be updated in a digital map, thereby enabling the tracking of the movement path of a mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic block diagram of an indoor positioning system according to a feasible embodiment of the present disclosure.

[0014] Figure 2 is a schematic block diagram of another indoor positioning system according to a feasible embodiment of the present disclosure.

[0015] Figure 3 is a schematic block diagram of a mobile device for an indoor positioning system according to a feasible embodiment of the present disclosure.

[0016] Figure 4 illustrates an indoor positioning process performed by an indoor positioning system according to a feasible embodiment of the present disclosure.

[0017] Figure 5 illustrates an indoor positioning process performed by an indoor positioning system according to another feasible embodiment of the present disclosure.

[0018] Figure 6 is a flowchart of an indoor positioning method according to a feasible embodiment of the present disclosure. DETAILED DESCRIPTION

[0019] In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the claimed subject matter. However, the claimed subject matter may be practiced without these specific details. In some instances, well-known methods, devices, or systems have not been described in detail for clarity.

[0020] The present disclosure relates to a technical solution for determining the position of an item in an indoor area. Herein, an "indoor area" may refer to various partially enclosed or substantially enclosed areas associated with an indoor venue, such as a building, an area within a building, and the like. By way of example and not limitation, an indoor area may include, for example, an office building, a parking lot, a convention center, an auditorium, a warehouse, a teaching building, a theater, a supermarket, a shopping mall, a sports field, a stadium, a transfer station, a terminal station, a library, and the like.

[0021] The technical solution according to the present disclosure can be applied in a manufacturing environment, where the transparency of the manufacturing process can optimize the process, for example, contribute to material flow, routines of workers and operators, and contribute to finding tools and materials more quickly, and so on.

[0022] Next, some feasible embodiments of the indoor positioning system of the present disclosure will be introduced.

[0023] According to a feasible embodiment of the present disclosure, as Figure 1 shown, the indoor positioning system 100 mainly includes: a plurality of tags (for example, TAG 1 to TAG 6), a mobile device 20, a server computer 30, and a digital map 40.

[0024] Each of the plurality of tags is fixed to an object in the indoor system A. Refer to Figure 1 , TAG1 to TAG6 are respectively fixed on the articles 11 - 16. The tags can be attached to the surface of the articles or inserted into the articles. Each tag stores tag information, which at least includes a unique identifier for identifying the article to which it is fixed. The tag information of a tag can also include additional information, for example, a description of the article fixed together with the tag.

[0025] The unique identifier can be implemented in various forms, such as letters, numbers, or geometric symbols, or other suitable forms. The tags can be implemented in various forms, such as Bluetooth beacons, RFID tags, or NFC tags.

[0026] The mobile device 20 can be implemented as a mobile robot, a delivery vehicle, a forklift, and so on. The mobile device 20 can be driven by a mobile unit (not shown) to move within the indoor area A. When the mobile device 20 is close enough to the tag, the mobile device 20 can receive the tag information (for example, the unique identifier) from the tag. The mobile device 20 determines its position in response to the received tag information. Then, according to the position of the mobile device, the position of the article identified by the unique identifier of the tag is determined at the mobile device or at the server computer. Since the mobile device 20 is very close to the tag, the position of the article is almost the same as the position of the mobile device 20.

[0027] In the present disclosure, "close enough" can be understood as the mobile device moving into the proximity range relative to the tag so that the mobile device can communicate with the tag, that is, the mobile device is within the communication range capable of communicating with the tag. The communication range can be limited to a smaller range, such as 2 square meters, by the type of wireless communication between the mobile device and the tag, and / or by adjusting the parameters of the wireless communication.

[0028] In the present disclosure, "position" (for example, the position of the article, the position of the mobile device) can be in different forms. For example, the position in the present disclosure can be in a local coordinate system using local positions, in a global coordinate system using global positions, in a Cartesian coordinate system using x, y, and z positions, in a polar coordinate system, in a spherical coordinate system, and so on.

[0029] The server computer 30 (i.e., a server-based computer) is disposed outside the mobile device 20, and data can be transmitted between the mobile device 2 and the server computer 30. The server computer 30 may include: a communication interface (not shown) for interacting with the mobile device 20, and one or more processors for processing the data received from the mobile device. The server computer 30 may further include: a database (not shown) for storing additional information of the item, such as the size, material, and color of the item.

[0030] It should be understood that the physical location of the server computer 30 may be located inside the indoor area A or outside the indoor area A.

[0031] The digital map 40 may be stored in the server computer 30. The digital map 40 may also be stored in the storage device 41, which is located outside the server computer 30 and communicatively connected to the server computer 30. The digital map 40 is used for map data of the indoor area A, for example, map data including the positions of items in the indoor area A. When the position of an item is determined, the position of the item and the associated timestamp are updated in the digital map 40.

[0032] The digital map 40 may be a high-definition map (HD Map), a dense map, a super map, a data-rich map, a high-resolution map, etc., and the map data may be high-definition map data, dense map data, super map data, data-rich map data, high-resolution map data, etc.

[0033] Figure 2 An indoor positioning system 200 according to another feasible embodiment of the present disclosure is shown. Different from the Figure 1 embodiment of the indoor positioning system 100, the indoor positioning system 200 includes two or more mobile devices, for example, mobile devices 20-22. The multiple mobile devices 20-22 may be of the same type of device, for example, the multiple mobile devices 20-22 are all mobile robots. The multiple mobile devices 20-22 may also be of different types of devices, for example, the mobile device 20 is a mobile robot, the mobile device 21 is a delivery vehicle, and the mobile device 22 is a forklift. Whether the types of the mobile devices are the same or different, in terms of implementing the indoor positioning function, each mobile device can adopt the same method to implement.

[0034] Each mobile device 20 - 22 is assigned a sub - area of the indoor area A, and all the sub - areas constitute the entire indoor area A. For example, sub - area A1 is assigned to mobile device 20 so that mobile device 20 can move within sub - area A1, and mobile device 20 is responsible for locating the items (e.g., items 11 - 13 identified by TAG 1 - TAG 3) in sub - area A1. Sub - area A2 is assigned to mobile device 21 so that mobile device 21 can move within sub - area A2, and mobile device 21 is responsible for locating the items (e.g., items 14 - 16 identified by TAG4 - TAG6) in sub - area A2. Sub - area A3 is assigned to mobile device 22 so that mobile device 22 can move within sub - area A3, and mobile device 22 is responsible for locating the items (e.g., items 17 - 19 identified by TAG7 - TAG9) in sub - area A3.

[0035] The indoor positioning system 200 can be applied to indoor environments with a large area and / or a large number of items. The indoor positioning system 200 can be applied to such indoor environments where multiple mobile devices move in different sub - areas and perform different tasks.

[0036] In one embodiment, in the indoor positioning system 200, different wireless communication methods can be adopted for different sub - areas because the types of tags can be different in different sub - areas. For example, the tags on the items in sub - area A1 are RFID tags, the tags on the items in sub - area A2 are Bluetooth beacons, and the tags on the items in sub - area A3 are NFC tags.

[0037] Figure 3 An exemplary mobile device 20 for an indoor positioning system according to a feasible embodiment of the present disclosure is shown. As Figure 3 shown, the mobile device 20 mainly includes: a wireless signal transceiver 21, a controller 23, a sensor unit 25, and a communication interface 27. Figure 4 An indoor positioning process 400 according to a feasible embodiment of the present disclosure is shown, which can be implemented using the above - mentioned indoor positioning system. In this process 400, the position of an item is determined at the mobile device.

[0038] Hereinafter, reference will be made to Figure 3 and Figure 4 to describe an exemplary process 400 for indoor positioning using the indoor positioning system 100 or 200.

[0039] In block 402, the mobile device 20 moves within the indoor area A and when it moves into the proximity range relative to TAG 1, that is, when the mobile device 20 moves into the communication range of wireless communication with TAG 1, the wireless signal transceiver 21 receives tag information including a unique identifier from TAG 1.

[0040] In one embodiment, TAG 1 is implemented as an RFID tag, and the wireless signal transceiver 21 is implemented as an RFID reader / writer.

[0041] In this embodiment, TAG 1 can be an active RFID tag. In the case where TAG 1 is an active RFID tag, the active RFID tag includes an internal power source, such as a battery. Since the active RFID tag uses an internal power source, the active RFID tag can be continuously powered and can send the information stored in the tag (e.g., the unique identifier for identifying an item) at a predetermined time interval or when requested by the RFID reader / writer.

[0042] In this embodiment, TAG 1 can also be a passive RFID tag. In the case where TAG 1 is a passive RFID tag, the RFID reader / writer can be referred to as an interrogator, and the passive RFID tag can be referred to as a transponder. The passive RFID tag is powered by the radio frequency power emitted by the RFID reader / writer. When receiving radio frequency power from the RFID reader / writer, the passive RFID tag sends the information stored therein (e.g., the unique identifier for identifying an item) back to the RFID reader / writer. This transmission is called backscattering, that is, by detecting the backscattered signal, the tag information stored in the passive RFID reader / writer can be completely identified by the RFID reader / writer.

[0043] It should be noted that the RFID reader / writer can be powered by an external device or can also be powered by an internal power source (such as a battery).

[0044] In block 404, in response to receiving the tag information (e.g., tag ID), the controller 23 determines the exact location of the mobile device 20.

[0045] In one embodiment, the controller 23 includes a positioning unit for obtaining location information (e.g., obtaining location information from a real-time positioning system) and determines the location of the mobile device 20 based on the obtained location information.

[0046] In this embodiment, the positioning unit can determine the location of the mobile device 20 in various ways, such as through one or more of SLAM self-positioning, map-based and location-based services, and sensor systems.

[0047] In block 406, the sensor unit 25 obtains environmental information, which includes information indicating the environmental state around the mobile device 20.

[0048] In one embodiment, the sensor unit 25 includes one or more environmental sensors for detecting environmental information and providing the environmental information to the controller 23.

[0049] In this embodiment, the sensor unit 25 may include one or more of a video sensor, a radar sensor, an ultrasonic sensor, and a lidar sensor. The sensors may be mounted on or around the mobile device for sensor-based detection of the environment around the mobile device. For example, the environment around the mobile device may include a plurality of different objects, and the item identified by TAG 1 is one of these objects. The environmental information detected by the sensors may include a set of images, and at least one of the images includes the item identified by TAG 1. The environmental information detected by the sensors may also include a plurality of distances, and each distance indicates the distance between the mobile device and one of the plurality of objects. These images and / or distances may be used for subsequent calculations.

[0050] In one embodiment, the sensor unit 25 includes one or more of the following: a camera (preferably, a 3D camera), an environmental camera system for detecting the 360° environment around the mobile device, a time-of-flight sensor, and a photon mixing device (PMD) sensor.

[0051] In block 408, the controller 23 calculates the relative position between the mobile device 20 and TAG 1 based on the environmental information (e.g., sensor data). The relative position may include a relative distance and / or a relative direction. The relative position may be expressed in various forms. For example, the relative position provides three-dimensional coordinates (X, Y, and Z) or longitude, latitude, and altitude.

[0052] In block 410, the controller 23 generates a timestamp representing the time when the tag information is received. The timestamp may be used to indicate the time when an item is located at a certain position. The timestamp may also be used to indicate the time when the mobile device appears at a certain position.

[0053] It should be understood that blocks 404, 406, and 410 described above can be executed in other orders and are not limited thereto.

[0054] In block 412, the controller 23 determines the position of the item identified by the unique identifier.

[0055] In one embodiment, the controller 23 calculates the position of the item based on the absolute position of the mobile device 20 and the relative position between the tag (e.g., TAG 1) and the mobile device 20.

[0056] In block 414, the map data of the digital map 40 is updated with the location and timestamp of the item. In this way, the latest location and discovery time of the item discovered by the mobile device can be reflected in the digital map 40.

[0057] Optionally, the controller 23 may store information, such as location data and associated timestamps. For example, in the case where there is no permanent connection between the mobile device and the server computer, the information may be cached at the mobile device and then sent to the server computer 30 when the mobile device can successfully establish a connection with the server computer. In this way, the server computer 30 can receive the location information of the item and the associated time information at a delayed time.

[0058] In block 416, the server computer 30 determines whether there is a place that has not been passed by the mobile device for a duration exceeding a time threshold. The time threshold may be a predetermined time interval, such as 5 hours, one day, or one week. That is, the server computer 30 determines whether there is a place that the mobile device has not passed for 5 consecutive hours, 1 consecutive day, or 1 consecutive week.

[0059] It should be understood that the area of the above-mentioned "place" should be much smaller than the area of the indoor area A. That is, the above-mentioned "place" may be an area having a predetermined area (e.g., 2 square meters) that is much smaller than the area of the indoor area A. "A place that has not been passed by the mobile device within a period of time" can be understood as a place that the mobile device has not passed within that period of time and has a predetermined area.

[0060] In one embodiment, the server computer 30 may track the movement path (e.g., route) of the mobile device based on the updated map data including the location of the item and the associated timestamp. Then, a determination is made according to the movement path.

[0061] In the case of having two or more mobile devices, the server computer 30 may track the movement paths of each mobile device within its sub-region and make the above determination based on the movement paths of each mobile device. In this case, the same time threshold or different time thresholds may be set for multiple sub-regions. For example, the time threshold for each sub-region may be associated with the indoor environment of the sub-region and / or the type of work being carried out therein.

[0062] If the judgment result in block 416 is affirmative, that is, there is a place where the mobile device has not passed for a duration exceeding the time threshold, then proceed to block 418. In block 418, the server computer 30 generates a reminder message and sends the reminder message to the mobile device. The reminder message includes the determined place, that is, the place where the mobile device has not passed for a duration exceeding the time threshold. After receiving the reminder message through the communication interface 27, the mobile device can adjust its movement path and go to the place included in the reminder message.

[0063] In the case of having two or more mobile devices, the server computer 30 can determine which mobile device or devices should be reminded, that is, the server computer 30 can determine one or more sub-regions to which the above-mentioned place belongs. Then, the server computer 30 sends the reminder message to the determined one or more mobile devices.

[0064] If the judgment result in block 416 is negative, that is, there is no place where the mobile device has not passed for a duration exceeding the time threshold, then no reminder message is generated or sent.

[0065] In this way, it can be ensured that all places (items) in the indoor area will be passed regularly, that is, all places and items in the indoor area will be regularly inspected.

[0066] In block 420, the server computer 30 generates a history record of the items in the indoor area A.

[0067] In one embodiment, the server computer 30 stores the updated position of the item, the relevant timestamp, and the additional information of the item in a database in a way that associates these information. The server computer 30 generates a history record of the items in the indoor area based on the historical data. The history record can be presented in the form of a table and / or a graph.

[0068] In the case of having two or more mobile devices, the two or more mobile devices contribute to the same digital map (that is, the digital map 40). And the history record is generated based on the historical data from the two or more mobile devices.

[0069] Figure 5 An indoor positioning process 500 according to another feasible embodiment of the present disclosure is shown, which can be implemented by using the above indoor positioning system 100 or 200. In this process 500, the position of the item is determined at the mobile device.

[0070] Blocks 502, 506, and 510 can be implemented in a similar manner to blocks 402, 406, and 410 respectively.

[0071] In block 511, the controller 23 provides (reports) the received tag information, environmental information, and timestamp to the server computer 30 via the communication interface 27.

[0072] In block 512, the server computer 30 determines the absolute position of the mobile device 20, calculates the relative position between the mobile device 20 and the tag (e.g., TAG 1) based on the environmental information, and then determines the position of the item based on the absolute position of the mobile device 20 and the calculated relative position.

[0073] Blocks 514, 516, 518, and 520 can be implemented in a manner similar to blocks 414, 416, 418, and 420, respectively.

[0074] The present disclosure also provides an indoor positioning method that can be executed by the above indoor positioning system and / or mobile device. Therefore, the above descriptions related to the indoor positioning system and the mobile device also apply here. Figure 6 An indoor positioning method 600 according to a feasible embodiment of the present disclosure is shown. The method 600 includes the following steps.

[0075] In step S602, when the mobile device moves into the proximity range relative to the tag, tag information is received from the tag, and the tag information at least includes a unique identifier for identifying the item to which it is attached.

[0076] In step S604, in response to the received tag information, the position of the mobile device is determined.

[0077] In step S606, the position of the item is determined based on the position of the mobile device, and the item is identified by the unique identifier of the tag.

[0078] The present disclosure also provides a machine-readable storage medium that stores executable instructions that, when executed, cause one or more processors to execute the method 600 as described above.

[0079] It can be understood that all the operations in the methods described above are merely exemplary. The present invention is not limited to any operation in the method or the order of these operations, but should cover all other equivalent transformations under the same or similar concepts.

[0080] It can be understood that the above modules can be implemented in various ways. These modules can be implemented as hardware, software, or a combination thereof. In addition, any one of these modules can be further functionally divided into sub-modules, or some of these modules can be combined together.

[0081] It will be appreciated that the processor can be implemented using electronic hardware, computer software, or any combination thereof. Whether the processor is implemented as hardware or software will depend upon the particular application and the overall design constraints imposed on the system. As an example, the processor, any part of the processor, or any combination of the processors given in the present invention can be implemented as a microprocessor, a microcontroller, a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic device (PLD), a state machine, gate logic, discrete hardware circuits, and other suitable processing components configured to perform the various functions described in the present invention. The functions of the processor, any part of the processor, or any combination of the processors given in the present invention can be implemented as software executed by a microprocessor, a microcontroller, a DSP, or other suitable platform.

[0082] Software can be broadly regarded as representing instructions, instruction sets, code, code segments, program code, programs, subroutines, software modules, applications, software applications, software packages, routines, subroutines, objects, running threads, processes, functions, etc. Software can reside in a computer-readable medium. The computer-readable medium can include, for example, a memory, and the memory can be, for example, a magnetic storage device (such as a hard disk, a floppy disk, a magnetic stripe), an optical disk, a smart card, a flash memory device, a random access memory (RAM), a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), a register, or a removable disk. Although the memory is shown as being separate from the processor in many aspects given in the present invention, the memory can also be located inside the processor (such as a cache or a register).

[0083] The foregoing description has been provided to enable any person skilled in the art to make and use the various aspects described herein. The claims are not intended to be limited to the aspects shown herein. All structural and functional equivalents to the elements of the various aspects described in the present invention that are known or will become known to those skilled in the art are intended to be covered by the claims of the present invention and are within the scope of the present invention.

Claims

1. A mobile device for an indoor positioning system, the mobile device being configured to move within an indoor area and communicatively connected to a server computer external to the mobile device, the mobile device comprising: a wireless signal transceiver configured to receive tag information from a tag when the mobile device moves into a proximity range relative to the tag, the tag information at least including a unique identifier for identifying the item to which it is attached, the item being located within the indoor area; and a controller configured to determine the location of the mobile device in response to receiving the tag information; wherein the location of the item is determined at the mobile device or at the server computer based on the location of the mobile device, and the item is identified by the unique identifier of the tag, wherein the indoor area includes a plurality of sub-areas, each sub-area being provided with a time threshold related to its indoor environment and / or the type of work being carried out therein, and when the mobile device moves within one of the plurality of sub-areas, if there is a place within the sub-area that the mobile device has not passed through for a duration exceeding the time threshold of the sub-area, the mobile device receives a reminder message.

2. The mobile device according to claim 1, wherein, the controller is configured to determine the location of the item based on the location of the mobile device and send the location of the item and the tag information to the server computer; or the mobile device is configured to send the location of the mobile device and the tag information to the server computer so that the location of the item is determined at the server computer based on the location of the mobile device.

3. The mobile device according to claim 1, wherein, when the mobile device is within the proximity range, the relative position between the tag and the mobile device is determined; and the location of the item is determined based on the relative position and the location of the mobile device.

4. The mobile device according to claim 3, wherein, the mobile device further includes a sensor unit for detecting environmental information; and the relative position is determined at the mobile device or at the server computer based on the environmental information.

5. The mobile device according to claim 4, wherein, the sensor unit includes one or more environmental sensors mounted on or around the mobile device.

6. The mobile device according to claim 1, wherein, the controller is further configured to generate a timestamp indicating the time when the tag information is received; and update the location of the item and the timestamp in the digital map of the indoor positioning system.

7. The mobile device according to claim 1, wherein, the mobile device is configured to: receive a reminder message from the server computer through the communication interface of the mobile device in the case where the mobile device has not passed through a place within the indoor area for a duration exceeding the time threshold.

8. An indoor positioning system, comprising: a plurality of tags for identifying items in an indoor area, each tag having a unique identifier for identifying the item to which it is attached; One or more mobile devices as claimed in any one of claims 1 - 7; And A server computer communicatively connected to the one or more mobile devices; Wherein the location of the item is determined at the mobile device or at the server computer based on the location of the mobile device, and the item is identified by a unique identifier of the tag.

9. The indoor positioning system as claimed in claim 8, Wherein, The indoor positioning system includes two or more mobile devices, each of the two or more mobile devices being configured to move within one of a plurality of sub - regions in the indoor area, and all the sub - regions constitute the entire indoor area.

10. The indoor positioning system as claimed in claim 8, Wherein, The indoor positioning system further includes a digital map, and updates the map data of the digital map with the determined item location and the associated timestamp.

11. The indoor positioning system as claimed in claim 10, Wherein, The server computer determines whether there is a place in the indoor area or sub - region that has not been passed through for a duration exceeding a time threshold based on the updated map data, If the determination result is affirmative, the server computer sends a reminder message to the mobile device moving within the indoor area or sub - region containing the place, Wherein the server computer is configured to: track the movement path of the mobile device based on the updated map data, and determine whether there is a place in the indoor area or sub - region that has not been passed through for a duration exceeding a time threshold based on the movement path.

12. The indoor positioning system as claimed in claim 8, Wherein, The determined item location and the associated timestamp are combined with additional information about the item and stored as historical data in the database of the server computer; and The server computer is configured to generate a historical record based on the historical data, Wherein the historical record is presented in the form of a table and / or a graph.

13. The indoor positioning system as claimed in claim 8, Wherein, The tag includes at least one of an RFID tag, a Bluetooth beacon, and an NFC tag.

14. The indoor positioning system as claimed in claim 8, wherein the tag is a passive RFID tag or an active RFID tag; and The tag fixed to the item includes a tag attached to the surface of the item and / or a tag inserted into the item.

15. An indoor positioning method, executed by the mobile device as claimed in any one of claims 1 - 7 and / or the indoor positioning system as claimed in any one of claims 8 - 14, the method Comprises the following steps: When the mobile device moves into the proximity range relative to the tag, receive tag information from the tag, the tag information at least containing a unique identifier for identifying the item to which it is attached; In response to the received tag information, determine the location of the mobile device; And Based on the location of the mobile device, determine the location of the item, and the item is identified by the unique identifier of the tag, Wherein, the indoor area includes a plurality of sub-areas, and each sub-area is provided with a time threshold related to its indoor environment and / or the type of work being carried out therein. When the mobile device moves within one of the plurality of sub-areas, if there is a place within the sub-area that the mobile device has not passed through for a duration exceeding the time threshold of the sub-area, a reminder message is received through the mobile device.

16. A computer-readable medium storing instructions that, when executed by at least one processor, are capable of implementing the method according to claim 15.

Images