Indoor and outdoor fusion positioning device based on material labels

Abstract

The utility model provides an indoor and outdoor fusion positioning device based on material labels, and belongs to the field of navigation positioning equipment. The indoor part and the outdoor part of the device comprise an indoor area, an indoor boundary area, an outdoor boundary area and an outdoor area. The device comprises a UWB base station of an indoor area, a first electronic fence of the indoor area and an indoor boundary interval, a first UWB-AOA base station of the indoor boundary area, a second UWB-AOA base station of an outdoor boundary area, a second electronic fence of the indoor boundary area and the outdoor boundary interval, a third electronic fence of the outdoor boundary area and an outdoor interval, and an RTK differential base station of the outdoor area. The fourth electronic fence, the material RTK-UWB fusion tag, the positioning control server and the positioning result display are arranged on the outer side boundary of the outdoor area. According to the utility model, the use and use sequence of the modules are finely adjusted according to different areas, so that the power consumption is reduced, and the indoor and outdoor positioning effect and the edge positioning precision are optimized.

Description

Technical Field

[0001] The utility model belongs to the field of navigation and positioning devices, and particularly relates to an indoor and outdoor integrated positioning device based on a material label. Background Art

[0002] When transporting and storing materials, the positioning of materials is generally completed by identifying labels. For example, in scenarios such as railway transportation, logistics distribution, equipment maintenance, and digital production lines, there are often large-sized goods and materials for position perception and status perception, so as to visualize the production progress and provide data support for accurate command. At this time, the position of the materials may be indoors or outdoors, and generally, indoor and outdoor are two different positioning systems. Outdoor position management generally uses navigation and positioning technology based on Beidou satellites, and indoor position management generally uses high-precision Ultra WideBand (UWB) positioning technology.

[0003] In the prior art, the Beidou positioning technology relies on satellite data, the power consumption of the module itself is relatively high, and it takes a long time to switch from indoors to outdoors, resulting in a relatively high overall power consumption of the device; there are many occlusion problems in the indoor-outdoor switching area, and boundary positioning is relatively difficult and the positioning accuracy is relatively low. Summary of the Invention

[0004] In view of the above defects or deficiencies in the prior art, the utility model aims to provide an indoor and outdoor integrated positioning device based on a material label. By configuring base stations in different areas indoors and outdoors, different positioning modules can be called in different areas, thereby reducing the overall power consumption of the positioning system, while completing fine positioning tasks and improving the positioning accuracy.

[0005] To achieve the above object, the embodiments of the utility model adopt the following technical solutions:

[0006] The embodiments of the utility model provide an indoor and outdoor integrated positioning device based on a material label. The indoor and outdoor areas include an indoor area, an indoor boundary area, an outdoor boundary area, and an outdoor area;

[0007] The indoor and outdoor integrated positioning device includes: at least one UWB base station arranged in the indoor area, a first electronic fence arranged between the indoor area and the indoor boundary area, a first UWB-AOA base station arranged in the indoor boundary area and a second UWB-AOA base station arranged in the outdoor boundary area, a second electronic fence arranged between the indoor boundary area and the outdoor boundary area, a third electronic fence arranged between the outdoor boundary area and the outdoor area, at least one dynamic real-time RTK differential reference station arranged in the outdoor area, a fourth electronic fence arranged on the outer boundary of the outdoor area, an electronic fence indicator light and a circuit, an RTK-UWB fusion label arranged on the material, a positioning control server, and a positioning result display;

[0008] Among them, columns are set on the boundary of each area of the indoor area, indoor boundary area, outdoor boundary area and outdoor area. The electronic fence is set on the columns. An RTK-UWB fusion tag sensor is installed at the lower edge of the electronic fence. The sensor is connected to the electronic fence indicator light and the circuit. The sensor can activate the electronic fence indicator light and the circuit by sensing the RTK-UWB fusion tag within the area surrounded by the electronic fence. The first electronic fence, the second electronic fence, the third electronic fence and the fourth electronic fence are communicatively connected to the RTK-UWB fusion tag by induction in order of priority. The highest priority is the fourth electronic fence, followed by the third electronic fence, the second electronic fence and the first electronic fence in turn.

[0009] The RTK-UWB fusion tag includes a housing 5, an RTK antenna 7, an antenna fixing screw 71, a circuit board 8, a circuit board fixing screw 81, and a battery 9. Among them, the RTK antenna 7, the circuit board 8 and the battery 9 are arranged inside the housing 5. The circuit board 8 is fixed to the housing 5 by the circuit board fixing screw 81. The circuit board 8 includes a 4G module, a power management module, an IMU module, a UWB module, an LED indicator light and a main control chip. Among them, the RTK antenna, the 4G module, the IMU module, the UWB module, the LED indicator light and the main control chip are simultaneously connected to the power management module, and the power management module is connected to the battery. The 4G module is connected to the RTK antenna. The RTK antenna, the 4G module, the IMU module, the UWB module and the LED indicator light are simultaneously connected to the main control chip.

[0010] The positioning control server is also connected to a positioning result display.

[0011] The positioning control server includes a UWB solution server, an RTK data forwarding server and a data fusion interface. Among them, the UWB solution server includes a first solution positioning module, a second solution positioning module, a third solution positioning module and a fourth solution positioning module. And the fourth solution positioning module is connected to the data fusion interface and then to the RTK data forwarding server.

[0012] Among them, the first solution positioning module is connected to the indicator light circuit of the first electronic fence, the second solution positioning module is connected to the indicator light circuit of the second electronic fence, the third solution positioning module is connected to the indicator light circuit of the third electronic fence, and the fourth solution positioning module is connected to the indicator light circuit of the fourth electronic fence.

[0013] Preferably, the first solution positioning module, the second solution positioning module and the third solution positioning module adopt UWB TDOA+IMU positioning modules. The fourth solution positioning module adopts a UWBAOA+IMU+RTK positioning module.

[0014] Preferably, the RTK-UWB fusion tag further includes: a hook loading and unloading hole 1, a sheet metal hook 2, a sheet metal tightening screw 21, a thimble screw hole 3, a switch button 4, a status indicator light 6, and a light guide column 61; the hook loading and unloading hole 1, the sheet metal hook 2, the thimble screw hole 3, the switch button 4, and the status indicator light 6 are all arranged on the housing 5.

[0015] Preferably, the housing 5 includes an upper housing 51, a waterproof rubber ring 53, a lower housing 52, and an outer housing fixing screw 54. The upper housing 51 is a rectangular flat plate, the waterproof rubber ring 53 fits the edge of the upper housing 51, the lower housing 52 is a rectangular groove body, and the outer housing fixing screw 54 penetrates through the edge of the upper housing, the edge of the waterproof rubber ring, and the upper side edge of the lower housing to fix the upper housing 51 and the lower housing 52 into a sealed cuboid space.

[0016] Preferably, the tag further includes: a tag fixing screw 55, a tag fixing sheet metal 56, a battery fixing bracket 91, a battery fixing bracket screw 92, and an external charging port 93.

[0017] Preferably, the device further includes a low-power conversion module, and the low-power conversion module is connected to the positioning result display module.

[0018] The technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0019] The indoor and outdoor fusion positioning device based on the material tag provided by the embodiment of the present invention adjusts the use and use sequence of the refinement module according to different regions to achieve the method of reducing power consumption. By deploying UWB base stations indoors and UWB-AOA base stations outdoors to detect the position of the tag, combined with the Beidou RTK message information, the indoor and outdoor positioning effect is optimized, effectively solving the power consumption problem and edge positioning accuracy problem of indoor and outdoor positioning of materials, especially large materials, meeting the long-term circulation of goods in the field, with little or no personnel maintenance during the circulation period, reducing costs; optimizing and improving the edge positioning accuracy, providing stable data support for business circulation.

[0020] Of course, it is not necessary for any product or method implementing the present invention to achieve all the above advantages at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 It is a schematic diagram of the indoor and outdoor environment and the electronic fence setting targeted by the embodiment of the present invention;

[0023] Figure 2 is a schematic structural diagram of the indoor and outdoor integrated positioning device based on the material label according to the embodiment of the present utility model;

[0024] Figure 3 is a schematic appearance diagram of the fusion label in the indoor and outdoor integrated positioning device based on the material label according to the embodiment of the present utility model;

[0025] Figure 4 is an embodiment of the present utility model Figure 3 exploded view of the shown fusion label;

[0026] Figure 5 is an embodiment of the present utility model Figure 3 schematic internal structure diagram of the shown fusion label.

[0027] Explanation of reference numerals:

[0028] 1 - Hook loading and unloading hole; 2 - Sheet metal hook; 21 - Sheet metal tightening screw; 3 - Thimble screw hole; 4 - Switch button; 5 - Housing; 51 - Upper shell; 52 - Lower shell; 53 - Waterproof rubber ring; 54 - Outer shell fixing screw; 55 - Label fixing screw; 56 - Label fixing sheet metal; 6 - Status indicator light; 61 - Light guide column; 7 - RTK antenna; 71 - Antenna fixing screw; 8 - Circuit board; 81 - Circuit board fixing screw; 9 - Battery; 91 - Battery fixing bracket; 92 - Battery fixing bracket screw; 93 - External charging port. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. The components of the embodiments of the present utility model described and shown in the drawings here can be arranged and designed in various different configurations. It should be noted that, without conflict, the embodiments and the features in the embodiments of the present utility model can also be combined with each other.

[0030] It should be noted that: Similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In the description of the present utility model, the terms "first", "second", "third", "fourth", etc. are only used for distinguishing descriptions, and cannot be understood as indicating or implying relative importance.

[0031] To solve the problems of high power consumption and signal switching in indoor and outdoor positioning of materials, the embodiment of the present utility model proposes an indoor-outdoor integrated positioning device based on material tags. By arranging different base stations in a coordinated manner in indoor and outdoor areas, the distributed base stations are directly connected and paired with the corresponding modules in the locator through wireless communication, so that in different areas, the locator is directly paired with the corresponding base station to complete the positioning of the materials. The positioning process is completed according to the area sequence and the paired base stations and locator modules, thereby realizing the refinement of positioning, achieving the purpose of reducing power consumption, reducing the power consumption during the switching between different areas, and optimizing the indoor-outdoor positioning effect.

[0032] As Figures 1-5 shown, this embodiment provides an indoor-outdoor integrated positioning device based on material tags. The indoor and outdoor areas include an indoor area, an indoor boundary area, an outdoor boundary area, and an outdoor area. The indoor-outdoor integrated positioning device includes: at least one UWB base station arranged in the indoor area, a first electronic fence arranged between the indoor area and the indoor boundary area, a first UWB-AOA base station arranged in the indoor boundary area and a second UWB-AOA base station arranged in the outdoor boundary area, a second electronic fence arranged between the indoor boundary area and the outdoor boundary area, a third electronic fence arranged between the outdoor boundary area and the outdoor area, at least one dynamic real-time kinematic (RTK) differential reference station arranged in the outdoor area, a fourth electronic fence arranged on the outer boundary of the outdoor area, an electronic fence indicator light and circuit, an RTK-UWB fusion tag arranged on the material, a positioning control server, and a positioning result display.

[0033] Among them, columns are arranged on the boundary of each of the indoor area, the indoor boundary area, the outdoor boundary area, and the outdoor area. The electronic fence is arranged on the column, and an RTK-UWB fusion tag sensor is installed at the lower edge of the electronic fence. The sensor is connected to the electronic fence indicator light and circuit, and the sensor can activate the electronic fence indicator light and circuit by sensing the RTK-UWB fusion tag within the area surrounded by the electronic fence. The first electronic fence, the second electronic fence, the third electronic fence, and the fourth electronic fence are used to sense the signals emitted by the RTK-UWB fusion tag according to the priority. The fourth electronic fence has the highest priority, followed by the third electronic fence, the second electronic fence, and the first electronic fence in turn. That is, when the fourth electronic fence senses the RTK-UWB fusion tag, the indicator light of the fourth electronic fence lights up, and the indicator lights of the other three electronic fences go out, and so on. When the circuit of the electronic fence indicator light is in a conductive state, the corresponding electronic fence has the activation function of the corresponding module in the positioning control server.

[0034] The RTK-UWB fusion tag includes: a housing 5, an RTK antenna 7, an antenna fixing screw 71, a circuit board 8, a circuit board fixing screw 81, and a battery 9. Among them, the RTK antenna 7, the circuit board 8, and the battery 9 are arranged inside the housing 5.

[0035] The housing 5 includes an upper shell 51, a waterproof rubber ring 53, a lower shell 52, and a housing fixing screw 54. The upper shell 51 is a rectangular flat plate, and the waterproof rubber ring 53 fits the edge of the upper shell 51. The lower shell 52 is a rectangular groove body. The housing fixing screw 54 penetrates the edge of the upper shell, the edge of the waterproof rubber ring, and the upper side edge of the lower shell to fix the upper shell 51 and the lower shell 52 into a sealed cuboid space for protecting the device and preventing water and dust. The housing 5 is also provided with a switch button 4, a status indicator light 6, and a light guide column 61. The switch button 4 is used to control the power on and off of the device. The status indicator light 6 exports the light of the LED indicator light through the light guide column 61 to indicate the device status.

[0036] The circuit board 8 is fixed to the housing 5 through the circuit board fixing screw 81. The circuit board 8 includes a 4G module, a power management module, an IMU module, a UWB module, an LED indicator light, and a main control chip. Among them, the RTK antenna, the 4G module, the IMU module, the UWB module, the LED indicator light, and the main control chip are simultaneously connected to the power management module, and the power management module is connected to the battery. The 4G module is connected to the RTK antenna. The RTK antenna, the 4G module, the IMU module, the UWB module, and the LED indicator light are simultaneously connected to the main control chip. The RTK antenna adopts a high-gain, low-phase-error, single-frequency Beidou antenna for receiving satellite data. The 4G module is used to transmit position information and differential messages. The power management module is used to provide electric energy for each module and realize battery charging. The IMU module is used to collect air pressure, geomagnetism, acceleration, and angular velocity information for accurate position estimation by combining UWB position, RTK position, and speed information, and is also used to wake up the MCU by vibration. The UWB module is used to send UWB messages and receive server information. The LED indicator light includes a UWB indicator light, an RTK indicator light, and a 4G indicator light, which respectively indicate the operating status of the corresponding modules, and a Set light for indicating abnormal status. The main control chip comprehensively processes the information collected by each module, judges the positioning mode, and schedules the modules to execute sequentially.

[0037] To facilitate the installation of the fusion tag, the tag further includes: a hook loading and unloading hole 1, a sheet metal hook 2, a sheet metal tightening screw 21, and a thimble screw hole 3. The hook loading and unloading hole 1 is used to install the product on the top of an object through a rod-shaped device such as a thimble. The sheet metal hook 2 has a self-contained U-shaped structure that can be stuck on the top, and the sheet metal tightening screw 21 is used to tighten the sheet metal hook 2. The thimble screw hole 3 is used to adjust the length of the screw to adapt to different cross-sectional sizes.

[0038] The label further includes: a label fixing screw 55, a label fixing sheet metal 56, a battery fixing bracket 91, a battery fixing bracket screw 92, and an external charging port 93. The label fixing screw 55 and the label fixing sheet metal 56 are used for fixing the label itself; the battery fixing bracket 91 and the battery fixing bracket screw 92 are used for fixing the battery 9, and the external charging port 93 is used for charging the battery 9.

[0039] The positioning control server includes a UWB solution server, an RTK data forwarding server, and a data fusion interface; wherein, the UWB solution server includes a first solution positioning module, a second solution positioning module, a third solution positioning module, and a fourth solution positioning module; and the fourth solution positioning module is connected to the data fusion interface and then to the RTK data forwarding server. Among them, the first solution positioning module is connected to the indicator light circuit of the first electronic fence. When the indicator light circuit is a closed circuit, the first solution positioning module is started and activated; the second solution positioning module is connected to the indicator light circuit of the second electronic fence. When the indicator light circuit is a closed circuit, the second solution positioning module is started and activated; the third solution positioning module is connected to the indicator light circuit of the third electronic fence. When the indicator light circuit is a closed circuit, the third solution positioning module is started and activated; the fourth solution positioning module is connected to the indicator light circuit of the fourth electronic fence. When the indicator light circuit is a closed circuit, the fourth solution positioning module is started and activated. Thus, the first solution positioning module is activated by the first electronic fence to perform positioning and solution for the materials in the indoor area; the second solution positioning module is activated by the second electronic fence to perform positioning and solution for the materials in the indoor boundary area; the third solution positioning module is activated by the third electronic fence to perform positioning and solution for the materials in the outdoor boundary area; the first three solution modules all adopt a UWB TDOA+IMU positioning module group, and perform fusion positioning through extended Kalman filtering, and the result is verified by residual error. The fourth solution positioning module adopts a UWBAOA+IMU+RTK positioning module group, is activated by the fourth electronic fence, and after activation, communicates with the RTK data forwarding server through the data fusion interface. The RTK data forwarding server communicates with the RTK in the label, requests to download ephemeris data and attempts to perform fixed-time RTK satellite search. When the number of satellites >= 9, wait for the RTK data status to reach the fix solution and wait for the timeout period. If the fix solution is reached within the timeout period, save the data and turn on the 4G module to upload the coordinates to the RTK data forwarding server; if it times out and there is only a float solution, perform RTK+IMU through extended Kalman filtering fusion positioning, and turn on the 4G module to upload the coordinates to the RTK data forwarding server and output the positioning result. The positioning control server is also connected to a positioning result display. The positioning result display is used to display the positioning results of each solution positioning module.

[0040] The device further includes a low-power conversion module, which is connected to the positioning result display module. The positioning result display module is configured to receive and display the positioning results sent by the first, second, third, or fourth positioning solution module within the RTK-UWB fusion tag transmission signal period, and then activate the low-power conversion module to transfer the device to the low-power mode.

[0041] The RTK reference station is used to provide the differential message required by the RTK module, and submit data to the RTK data forwarding server through the RTK antenna; the UWB-AOA base station is used to receive the UWB-AOA angle measurement information, submit the angle measurement and timestamp information to the UWB solution server, make up for the one-dimensional deployment at the edge of the house, output the two-dimensional coordinates, and the forwarding server sends the message to the tag; the UWB base station is used to receive the UWB tag message, sample the timestamp information and submit it to the UWB solution server, and the forwarding server sends the message to the tag; the RTK-UWB fusion tag (hereinafter referred to as the tag) is used to send the UWB data message and receive the data from the UWB base station and the UWB-AOA base station. Obtain the RTCM differential message from the RTK forwarding server through 4G, receive the satellite signal, calculate and output the coordinates, and then send them back to the server.

[0042] As can be seen from the above solution, the indoor and outdoor fusion positioning device based on the material tag provided by the embodiment of the present invention uses and arranges the refined adjustment modules according to different regions to reduce power consumption. By deploying UWB base stations indoors and UWB-AOA base stations outdoors to detect the tag position, combined with the Beidou RTK message information, the indoor and outdoor positioning effect is optimized, effectively solving the problems of power consumption and edge positioning accuracy of indoor and outdoor positioning of materials, especially large materials, meeting the long-term circulation of goods in the field, with little or no personnel maintenance during the circulation period, reducing costs; optimizing and improving the edge positioning accuracy, providing stable data support for business circulation.

[0043] The above description is only the preferred embodiment of the present invention and the explanation of the applied technical principles, and is not intended to limit the scope of the present invention to be protected, but only represents the preferred embodiment of the present invention. Those skilled in the art should understand that the scope of the present invention involved in the present invention is not limited to the technical solution formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

Claims

1. An indoor and outdoor integrated positioning device based on material tags, characterized in that, The indoor and outdoor areas include an indoor area, an indoor boundary area, an outdoor boundary area, and an outdoor area; The indoor-outdoor fusion positioning device includes: at least one UWB base station arranged in the indoor area, a first electronic fence arranged between the indoor area and the indoor boundary area, a first UWB-AOA base station arranged in the indoor boundary area and a second UWB-AOA base station arranged in the outdoor boundary area, a second electronic fence arranged between the indoor boundary area and the outdoor boundary area, a third electronic fence arranged between the outdoor boundary area and the outdoor area, at least one dynamic real-time RTK differential reference station arranged in the outdoor area, a fourth electronic fence arranged on the outer boundary of the outdoor area, an electronic fence indicator light and circuit, an RTK-UWB fusion tag arranged on the goods, a positioning control server, and a positioning result display; Among them, columns are arranged on the boundary of each of the indoor area, the indoor boundary area, the outdoor boundary area, and the outdoor area. The electronic fence is arranged on the columns, and an RTK-UWB fusion tag sensor is installed at the lower edge of the electronic fence. The sensor is connected to the electronic fence indicator light and circuit, and the sensor can activate the electronic fence indicator light and circuit by sensing the RTK-UWB fusion tag within the area surrounded by the electronic fence. The first electronic fence, the second electronic fence, the third electronic fence, and the fourth electronic fence are communicatively connected to the RTK-UWB fusion tag by induction in order of priority. The highest priority is the fourth electronic fence, followed by the third electronic fence, the second electronic fence, and the first electronic fence in sequence; The RTK-UWB fusion tag includes a housing (5), an RTK antenna (7), an antenna fixing screw (71), a circuit board (8), a circuit board fixing screw (81), and a battery (9); among them, the RTK antenna (7), the circuit board (8), and the battery (9) are arranged inside the housing (5). The circuit board (8) is fixed to the housing (5) by the circuit board fixing screw (81). The circuit board (8) includes a 4G module, a power management module, an IMU module, a UWB module, an LED indicator light, and a main control chip; among them, the RTK antenna, the 4G module, the IMU module, the UWB module, the LED indicator light, and the main control chip are simultaneously connected to the power management module, and the power management module is connected to the battery. The 4G module is connected to the RTK antenna. The RTK antenna, the 4G module, the IMU module, the UWB module, and the LED indicator light are simultaneously connected to the main control chip; The positioning control server is also connected to the positioning result display; The positioning control server includes a UWB solution server, an RTK data forwarding server, and a data fusion interface; among them, the UWB solution server includes a first solution positioning module, a second solution positioning module, a third solution positioning module, and a fourth solution positioning module; and the fourth solution positioning module is connected to the data fusion interface and then to the RTK data forwarding server; Among them, the first solution positioning module is connected to the indicator light circuit of the first electronic fence, the second solution positioning module is connected to the indicator light circuit of the second electronic fence, the third solution positioning module is connected to the indicator light circuit of the third electronic fence, and the fourth solution positioning module is connected to the indicator light circuit of the fourth electronic fence.

2. The indoor and outdoor integrated positioning device based on material tags according to claim 1, characterized in that The first solution positioning module, the second solution positioning module, and the third solution positioning module adopt UWB TDOA + IMU positioning modules; the fourth solution positioning module adopts UWB AOA + IMU + RTK positioning modules.

3. The indoor and outdoor integrated positioning device based on a material label according to claim 1, characterized in that, The RTK-UWB fusion tag further includes: a hook loading and unloading hole (1), a sheet metal hook (2), a sheet metal tightening screw (21), a thimble screw hole (3), a switch button (4), a status indicator light (6), and a light guide column (61); the hook loading and unloading hole (1), the sheet metal hook (2), the thimble screw hole (3), the switch button (4), and the status indicator light (6) are all arranged on the housing (5).

4. The indoor and outdoor integrated positioning device based on a material label according to claim 3, wherein The housing (5) includes an upper shell (51), a waterproof rubber ring (53), a lower shell (52), and a housing fixing screw (54). The upper shell (51) is a rectangular flat plate, the waterproof rubber ring (53) fits with the edge of the upper shell (51), the lower shell (52) is in the shape of a rectangular groove body, and the housing fixing screw (54) passes through the edge of the upper shell, the edge of the waterproof rubber ring, and the upper side edge of the lower shell to fix the upper shell (51) and the lower shell (52) into a sealed cuboid space.

5. The indoor and outdoor integrated positioning device based on material tags according to claim 4, characterized in that, The tag further includes: a tag fixing screw (55), a tag fixing sheet metal (56), a battery fixing bracket (91), a battery fixing bracket screw (92), and an external charging port (93).

6. The indoor and outdoor integrated positioning device based on a material label according to any one of claims 1-5, characterized in that, The device further includes a low-power conversion module, and the low-power conversion module is connected to the positioning result display module.

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