Indoor positioning system for position measuring

Abstract

This indoor positioning system comprises at least one slave device configured to generate reflected signals for a transmit signal transmitted from a master device. The slave device comprises: a signal generator configured to generate a signal having a specific pattern differing according to attributes of the slave device; a reflector for reflecting the transmit signal so as to generate a reflected signal that is delayed relative to the transmit signal; and a transmitter disposed between the signal generator and the reflector and configured to transmit the reflected signal, selectively containing the signal having the specific pattern, to the master device through the reflector.

Description

Indoor positioning system that measures location

[0001] The present disclosure relates to an indoor positioning system for measuring a location. More particularly, the present disclosure relates to an indoor positioning system for measuring the location of at least one slave device in an indoor area.

[0002] Indoor positioning is becoming increasingly important in mobile wireless device environments. Regarding indoor positioning, the Wi-Fi radio frequency (RF) environment can change unpredictably over time, and even under ideal conditions, positioning can only provide a resolution of a few meters.

[0003] Other proposed systems employ wireless beacons using the Bluetooth wireless protocol to pinpoint the location of wireless devices. Such systems rely on detecting proximity to one such beacon, requiring additional beacons to be placed near each point of interest in an indoor environment. Even a few feet from a beacon, location estimation is no more accurate than using Wi-Fi signals. These systems rely on detecting beacons or specific routers with specific pre-registered codes associated with known and published physical locations to establish an approximate location, and then use the Received Signal Strength Indicator (RSSI) to further pinpoint the location. Such methods are limited by the ultimate resolution they can achieve in large indoor areas.

[0004] Other proposed systems for indoor positioning may be based on ultra-wideband (UWB) methods, such as "Ultra-Wideband Positioning Systems." However, such systems rely on powered active radio-frequency identification (RFID) tags for proper operation and may include bulky batteries. With the continuous tracking of numerous users within a given area, battery life can become impractically short.

[0005] Meanwhile, indoor positioning methods using millimeter-wave RF signals can improve the accuracy of indoor positioning due to their wavelengths of less than 1 cm. However, there is a problem in that stationary objects are treated as clutter noise in indoor positioning methods using millimeter-wave RF signals, making it impossible to measure their positions. Furthermore, indoor positioning methods using millimeter-wave RF signals are only provided based on mobile terminals. Therefore, there is a problem in that there is no specific method for distinguishing between multiple electronic devices and determining the distance and position between them in an indoor area where multiple electronic devices are deployed.

[0006] The purpose of this specification is to solve the problem that in indoor positioning methods, stationary objects are treated as clutter noise, making it impossible to measure the positions of stationary objects.

[0007] The purpose of this specification is to provide a specific method for distinguishing between multiple electronic devices and determining distance and location between them in an indoor area where multiple electronic devices are placed.

[0008] The purpose of this specification is to provide a detailed configuration of a sensing module for measuring the positions of multiple electronic devices in an indoor positioning system and a method for distinguishing between the multiple electronic devices.

[0009] An indoor positioning system according to the present disclosure for achieving the above or other purposes includes at least one slave device configured to generate reflection signals for a transmission signal transmitted from a master device. The slave device includes a signal generator configured to generate a signal of a specific pattern that is different depending on a property of the slave device; a reflector configured to reflect the transmission signal to generate a delayed reflection signal for the transmission signal; and a transmitter arranged between the signal generator and the reflector and configured to transmit the reflection signal, which selectively includes a signal of the specific pattern, to the master device through the reflector. The reflector can transmit the reflection signal including the signal of the specific pattern to the master device for a predetermined time interval.

[0010] According to an embodiment, the signal generator may be configured to generate a square wave signal having a frequency set differently depending on the properties of the slave device. The reflector may be configured to transmit a first reflected signal including the square wave signal having the frequency set differently to the master device during a first time interval.

[0011] In an embodiment, the reflector may be configured to transmit a second reflection signal that does not include the square wave signal to the master device during a second time interval subsequent to the first time interval. The first time interval and the second time interval may be configured to repeat.

[0012] In an embodiment, the signal generator may include a voltage controlled oscillator (VCO) configured to generate a square wave signal of 1 KHz to 100 KHz. The slave device may be configured to transmit and receive a signal in a millimeter wave band. The transmitter may include a band rejection filter disposed between a first point and a second point on a signal line and configured to block a signal in the millimeter wave band from entering the signal generator.

[0013] According to an embodiment, the transmitter may further include a switch unit disposed between a third point on the signal line and the ground, and controlling the square wave signal passing through the band-stop filter to pass or block. The reflector may be an antenna unit including a plurality of antenna elements to radiate the signal of the millimeter wave band in a specific direction. The plurality of antenna elements may be disposed at a predetermined interval in one or the other axis direction.

[0014] According to an embodiment, the distance and speed range between the master device and the slave device can be calculated based on the delay time of the reflected signal for the transmitted signal and the differently set frequency during the first time interval.

[0015] In an embodiment, the band-stop filter may transmit the square wave signal to the reflector during the first time interval, such that the reflector transmits the first reflected signal to the master device during the first time interval. The band-stop filter may block the square wave signal from being transmitted to the reflector during the second time interval, such that the reflector transmits the second reflected signal to the master device during the second time interval. The switch unit may be configured to connect the second point and the third point during the first time interval. The switch unit may be configured to connect the third point and the ground during the second time interval.

[0016] According to an embodiment, the antenna unit may be an MXN array antenna composed of M antenna elements spaced apart by a first interval in the one-axis direction and N antenna elements spaced apart by a second interval in the other-axis direction. The antennas of the first row of the antenna unit may be connected through the switch and the signal line, the first signal distribution line, and the second signal distribution line. Lower ends of the antennas of the second row of the antenna unit and upper ends of the antennas of the first row may be connected through connection lines. The second interval may be set to be greater than the first interval, and the width of the signal line may be formed to be wider than the width of the connection lines.

[0017] According to an embodiment, the antenna unit may be a 1XM array antenna composed of M antenna elements spaced apart by a predetermined interval in the other axis direction. Adjacent antenna elements of the antenna unit may be connected via second connection lines. The width of the signal line may be formed wider than the width of the connection lines.

[0018] According to an embodiment, the master device may be configured to store identifiers and three-dimensional coordinates of a plurality of slave devices on which the reflectors are arranged.

[0019] According to an embodiment, a first distance between the master device and the slave device may be determined while the slave device moves along a first path in a straight line. A second distance to a second master device in a direction different from the direction of the master device may be determined while the slave device rotates and moves along a second path.

[0020] In an embodiment, a first distance from the master device may be determined by receiving a first square wave signal of a first frequency while the slave device moves along the first path. A second distance from the second master device may be determined by receiving a second square wave signal of a second frequency while the slave device rotates and moves along the second path.

[0021] In an embodiment, the master device can determine whether the distance between the master device and the slave device has changed based on the delay time between the transmitted signal and the reflected signal. If it is determined that the distance between the master device and the slave device has not changed, the master device can determine whether an on / off operation is performed for a chirp signal whose frequency is modulated over time.

[0022] According to an embodiment, the master device can identify a second identifier of a second slave device among a plurality of slave devices whose distance from the master device has changed based on a second reflection signal for the chirp signal. The master device can control an operation of the second slave device by determining a second position and a second distance of the second slave device. If it is determined that the distance to the slave device has changed, the master device can determine the changed position and changed distance of the slave device based on a delay time between the transmission signal and the reflection signal.

[0023] According to an embodiment, if the master device determines that the distance from the slave device has not changed, the master device can identify a third identifier of a third slave device having a change in speed, and determine a third position and a third distance of the third slave device. The master device can control the speed of the third slave device having a change in speed to a speed within a certain range to prevent collision with other electronic devices and objects.

[0024] According to an embodiment, the master device can determine a first position of the movable slave device and a second position of the fixed second slave device or the master device. The master device can determine an operating state of the second slave device or the master device and a separation distance between the slave device and the second slave device or the master device. If the separation distance is greater than a threshold distance and air purification is determined to be necessary based on the operating state, the master device can control the slave device so that the first position of the slave device moves to within a predetermined radius range from the second position.

[0025] According to at least one of the embodiments of the present invention, a stationary object can be distinguished from clutter noise using velocity in a range doppler map.

[0026] According to at least one of the embodiments of the present invention, it is possible to distinguish between multiple electronic devices in an indoor area and determine the distance and location between them through a pulse modulation method having different switching frequencies depending on the properties of the slave devices, such as product groups, detailed models, and operation modes.

[0027] According to at least one of the embodiments of the present invention, a detailed configuration of a sensing module for measuring the positions of a plurality of electronic devices in an indoor positioning system and a method for distinguishing between the plurality of electronic devices can be provided.

[0028] According to at least one of the embodiments of the present invention, a sensing module capable of reflecting millimeter wave band signals in a specific pattern from a plurality of slave devices interlocked with a master device in an indoor positioning system can be provided.

[0029] Figure 1 shows a block diagram of a master device and a slave device of an indoor positioning system according to the present specification.

[0030] Figure 2 shows a detailed structure of a communication module of a master device and a slave device of an indoor positioning system according to the present specification.

[0031] Figure 3 shows a block diagram of a communication module of a slave device of an indoor positioning system according to the present specification.

[0032] FIG. 4 illustrates an example of an electronic device having different on / off driving frequencies depending on the product and detailed model according to an embodiment.

[0033] FIG. 5 is a graph showing the relationship between a transmission signal and a reflection signal in an indoor positioning system according to the present specification.

[0034] Fig. 6 shows a detailed structure of a communication module of a slave device including a two-dimensional array antenna.

[0035] Fig. 7 shows a detailed structure of a communication module of a slave device including a one-dimensional array antenna.

[0036] Fig. 8 shows a flowchart of an indoor position measurement method performed in an indoor positioning system including a movable electronic device.

[0037] Figure 9 illustrates the ranges of distances and speeds to movable electronic devices within an indoor area.

[0038] Figure 10 shows paths along which a cleaning robot moves in specific directions within a specific range of an indoor area.

[0039] Figure 11 shows a flowchart of a positioning method performed by a master device in an indoor positioning system according to the present specification.

[0040] It should be noted that the technical terms used herein are used merely to describe specific embodiments and are not intended to limit the present invention. Furthermore, singular expressions used herein include plural expressions unless the context clearly dictates otherwise. The suffixes "module" and "part" used in the following description for components are assigned or used interchangeably solely for the convenience of writing the specification, and do not in themselves have distinct meanings or roles.

[0041] In this specification, the terms “comprises” or “includes” should not be construed to necessarily include all of the components or steps described in the specification, and some of the components or steps may not be included, or additional components or steps may be included.

[0042] In addition, when describing the technology disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the technology disclosed in this specification, the detailed description is omitted.

[0043] In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, or substitutes included in the spirit and technical scope of the present invention. In addition, not only each embodiment described below, but also a combination of embodiments may correspond to the spirit and technical scope of the present invention as modifications, equivalents, or substitutes included in the spirit and technical scope of the present invention.

[0044] Hereinafter, an indoor positioning system including a master device and slave devices according to the present specification will be described. In relation to the indoor positioning system according to the present specification, a master device and a plurality of slave devices may be deployed in an indoor area. In this regard, FIG. 1 illustrates a block diagram of a master device and slave devices of the indoor positioning system according to the present specification. Referring to FIG. 1, the master device (100) may be a stationary electronic device deployed in an indoor area. The slave device (1000) may be a stationary or mobile electronic device deployed in an indoor area.

[0045] The master device (100) may include a memory (130), a processor (150), a sensor module (170), a communication module (100a), and a plurality of antennas (ANT1, ANT2, ANT3). The processor (150) of the master device (100) may be operably coupled to the memory (130), the sensor module (170), and the communication module (100a), and configured to control the operations of the memory (130), the sensor module (170), and the communication module (100a). The processor (150) may be configured to measure the position of the slave device (1000) and control the operations of the slave device (1000).

[0046] If the master device (100) is a display device, it may further include a display module (160). The master device (100) may be a fixed display device or a fixed air conditioner placed on the ceiling or wall of an indoor area, but is not limited thereto and may be changed depending on the application.

[0047] The slave device (1000) may include a communication module (1000a) and a battery (1400a). The communication module (1000a) may include a processor (1500a) that performs pulse modulation at a preset frequency according to the properties of the electronic device. The properties of the electronic device may include, but are not limited to, a product family, a detailed model, an operation mode, etc. of the electronic device and may be changed according to the application. The processor (1500a) of the communication module (1000a) may be implemented as an MCU (Micro Control Unit). The second slave device (1000b) may include a communication module (1000b) and a battery (1400b). The communication module (1000b) may include a processor (1500b) that performs pulse modulation at a preset frequency according to the properties of the electronic device. The processor (1500b) of the communication module (1000a) may be implemented as an MCU.

[0048] According to one embodiment, the communication module (100a) may provide a communication function of the millimeter wave band. For example, the communication module (100a) may provide a millimeter wave radar and / or millimeter wave ranging function. The processor (150) of the master device (100) may perform the millimeter wave radar and / or millimeter wave ranging function through the communication module (100a) to obtain various data such as millimeter wave measurement values. For example, the millimeter wave measurement values ​​may include a millimeter wave ranging measurement value or an angle of arrival (AOA) measurement value according to the millimeter wave ranging function, and / or a UWB CIR (channel impulse response) measurement value according to the millimeter wave radar function.

[0049] According to one embodiment, the processor (150) of the master device (100) transmits a millimeter wave band signal transmitted from the communication module (100a) through, for example, three antennas (ANT1, ANT2, ANT3). The processor (150) may perform a millimeter wave ranging function based on a signal received by the slave device (1000) and transmitted from the slave device (1000) in response thereto.

[0050] According to one embodiment, the processor (150) of the master device (100) may transmit a signal in the millimeter wave band transmitted from the communication module (100a) through, for example, three antennas (ANT1, ANT2, ANT3) and perform a millimeter wave radar function based on a signal reflected and received by the slave device (1000). The master device (100) may be configured to transmit a transmission signal to the slave device (1000) and receive a reflected signal reflected from the slave device (1000). The master device (100) may be configured to identify a distance and a position with respect to the slave device (1000) based on the reflected signal reflected from the slave device (1000). In order to identify a position, such as a three-dimensional coordinate of the slave device (1000), the master device (100) may be equipped with a plurality of antennas that perform multiple input multiple output (MIMO).

[0051] According to one embodiment, the slave device (1000) may include various objects including a communication chip having a millimeter wave band communication function, such as a smart phone, a tablet PC (personal computer), a cleaning robot, a serving robot, a movable air purifier, or a smart tag, which are electronic devices in a fixed or mobile state in an indoor area.

[0052] Meanwhile, the detailed structure of the communication modules of the master device and slave devices of the indoor positioning system according to the present specification will be described in detail with reference to the drawings. In this regard, FIG. 2 illustrates the detailed structure of the communication modules of the master device and slave devices of the indoor positioning system according to the present specification.

[0053] Referring to FIG. 2, the communication module (100a) of the master device (100) may be configured to include a transmitting module (110) and a receiving module (120). The communication module (100a) may further be configured to include a transmitting antenna (TX_ANT) and a receiving antenna (RX_ANT). The transmitting antenna (TX_ANT) and the receiving antenna (RX_ANT) may be configured as a single antenna or as separate antennas.

[0054] The transmission module (110) may be configured to include a signal generator (111), an RF signal generator (112), and a power amplifier (113). The signal generator (111) may be configured to generate a ramp signal whose frequency changes linearly over time. The signal generator (111) is not limited to generating a ramp signal. The signal generator (111) may generate various signals, for example, one of a sine wave, a square wave, a pulse, a ramp, and a sweep signal, depending on the application. The RF signal generator (112) may be configured to generate a transmission signal such that the signal generated by the signal generator (111) is included in an RF signal of a specific frequency. The power amplifier (113) may be configured to amplify the transmission signal of a specific frequency. The transmission antenna (TX_ANT) transmits the amplified transmission signal to a reflector (1200) corresponding to an antenna of the slave device (1000).

[0055] The receiving module (120) may be configured to include a low noise amplifier (LNA) (121), a mixer (122), a low pass filter (LPF) (123), and an analog-to-digital converter (ADC) (124). The low noise amplifier (121) may be configured to amplify a reflected signal reflected from a reflector (1200) of a slave device (1000) with low noise. The mixer (122) may be configured to convert a frequency band of the reflected signal by mixing a reflected signal of an RF frequency band with a signal of an intermediate frequency (IF) band. The low pass filter (123) may be configured to pass only signal components lower than a cutoff frequency among the reflected signals converted to the IF band. The analog-to-digital converter (124) is configured to convert an analog reflected signal that has passed through the low pass filter (123) into a digital signal. The digital signal output from the analog-to-digital converter (124) can be transmitted to the processor (150) of FIG. 1.

[0056] The slave device (1000) may be configured to include a communication module (1000a) and a battery (1400). The communication module (1000a) may be configured to include a signal generator (1100), a reflector (1200), and a transmitter (1300). The signal generator (1100) may be configured to generate a pulse width modulation (PWM) signal. The transmitter (1300) may be configured to include a band stop filter (BSF) (1310) and a switch unit (1320). The band stop filter (1310) may be configured to block a transmission signal and a reflection signal of an RF band. The switch unit (1320) may be controlled to periodically turn on / off a pulse modulation signal that has passed through the band stop filter (1310) by passing or blocking it.

[0057] Hereinafter, an indoor positioning system according to the present specification will be described. FIG. 3 shows a block diagram of a communication module of a slave device of the indoor positioning system according to the present specification. The indoor positioning system according to the present specification will be described with reference to FIGS. 1 to 3. A slave device (1000) may be configured to generate reflection signals for a transmission signal transmitted from a master device (100). A slave device (1000) that is linked with a master device (100) may be configured with at least one slave device.

[0058] The slave device (1000) may be configured to include a signal generator (1100), a reflector (1200), and a transmitter (1300). The communication module (1000a) of the slave device (1000) may be configured to include the signal generator (1100), the reflector (1200), and the transmitter (1300). The signal generator (1100) may be configured to generate a signal of a different specific pattern depending on the properties of the slave device (1000). The properties of the slave device (1000) may be, but are not limited to, a product group, a detailed model, an operation mode, etc., and may be changed depending on the application. In this regard, FIG. 4 shows an example of an electronic device having different on / off driving frequencies depending on the product and detailed model according to an embodiment.

[0059] Referring to FIG. 4, if the slave device is an air purifier, it may be configured to turn on / off a square wave having a frequency of 1-2 kHz. In addition, it may be configured to turn on / off square waves having different frequencies (e.g., 1.1 kHz, 1.2 kHz) within 1-2 kHz depending on the detailed model (and / or operating state) of the air purifier. If the slave device is a robot vacuum cleaner, it may be configured to turn on / off a square wave having a frequency of 4-5 kHz. In addition, it may be configured to turn on / off square waves having different frequencies (e.g., 4.1 kHz, 4.2 kHz) within 4-5 kHz depending on the detailed model (and / or operating state) of the robot vacuum cleaner.

[0060] If the slave device is a display device, it can be configured to turn on / off a square wave having a frequency of 7-8 kHz. In addition, it can be configured to turn on / off square waves having different frequencies (e.g., 7.1 kHz, 7.2 kHz) within 7-8 kHz depending on the detailed model (and / or operating state) of the display device. If the slave device is other electronic devices, it can be configured to turn on / off a square wave having a frequency of 10-11 kHz. In addition, it can be configured to turn on / off square waves having different frequencies (e.g., 10.1 kHz, 10.2 kHz) within 10-11 kHz depending on the detailed model (and / or operating state) of the other electronic devices.

[0061] Meanwhile, when a digital signal of 0 or 1 is output from the signal generator of the slave device of the indoor positioning system according to the present specification, the reflection signal of the slave device may be formed differently. In this regard, FIG. 5 is a graph showing the relationship between a transmission signal and a reflection signal in the indoor positioning system according to the present specification. Referring to FIG. a4, the transmission signal (TxS) may be formed so that its frequency changes over time. For example, the transmission signal (TxS) may be formed so that its frequency increases linearly over a specific time period. The transmission signal (TxS) may be formed as a Tx chirp signal so that the linear increase in frequency is repeated over a specific time period.

[0062] Meanwhile, a communication module including a signal generator, a reflector, and a transmitter may be placed in the slave device. In this regard, the communication module placed in the slave device may be referred to as an mmID tag. The communication module placed in the slave device can identify the type and location of the slave device using a signal in the millimeter wave band. The distance between the master device and the slave device can be identified using the delay time (dT) of the transmission signal (TxS) transmitted from the master device and the reflection signal (ReS) reflected from the slave device.

[0063] The location, such as the three-dimensional coordinates, of the slave device can be identified by using multiple array antennas configured to operate in multiple input multiple output (MIMO) mode on the master device. Meanwhile, the reflected signal reflected by objects such as walls and pillars in an indoor area, rather than the reflected signal (ReS) reflected from the slave device, corresponds to clutter noise (CN). The clutter noise (CN) reflected by objects such as walls and pillars in an indoor area and the stationary object can be distinguished using the velocity in the range Doppler map (RDM).

[0064] Referring to FIGS. 1 to 5, the detailed operation of each component of the indoor positioning method and the slave device (1000) will be described. With respect to the indoor positioning method, the distance and speed range between the master device (100) and the slave device (1000) can be calculated based on the delay time (dT) of the reflection signal (ReS) for the transmission signal (TxS) during the first time interval (T1). The distance and speed range between the master device (100) and the slave device (1000) can be calculated based on a frequency set differently from the delay time (dT) of the reflection signal (ReS) for the transmission signal (TxS) during the first time interval (T1).

[0065] The distance between the master device (100) and the slave device (1000) can be calculated based on the delay time (dT) of the reflected signal (ReS) and the frequency (f=1 / T) that is set differently depending on the product group, detailed model, and operating status of the slave device (1000). Meanwhile, the position, such as the three-dimensional coordinates, of the slave device (1000) can be identified using a plurality of MIMO antennas configured to operate multiple input / output (MIMO) in the master device (100). In this regard, even if the master device (100) is not equipped with a plurality of MIMO antennas, the position, such as the three-dimensional coordinates, of the slave device (1000) can be identified using a plurality of master devices.

[0066] Meanwhile, the signal generator (1110) may be configured to generate a square wave signal having a frequency set differently depending on the properties of the slave device (1000). The properties of the slave device (1000) may include, but are not limited to, a product family, a detailed model, an operation mode, etc., and may be changed depending on the application. For example, the signal generator (1110) may be configured to generate a square wave signal having a frequency set differently from 1 to 1000 kHz depending on the product family and detailed model (and the operation mode associated with the operation state) of the slave device.

[0067] The reflector (1200) may be configured to transmit a first reflection signal including a square wave signal of a differently set frequency to the master device (100) during a first time interval (T1). The reflector (1200) may be configured to transmit a second reflection signal not including the square wave signal to the master device (100) during a second time interval (T2) following the first time interval (T1). Meanwhile, the first time interval during which the first reflection signal including the square wave signal is transmitted and the second time interval during which the second reflection signal not including the square wave signal is transmitted may be configured to be repeated. To this end, the signal generator (100) of the slave device (1000) may repeatedly generate digital signals of 0 and 1 at a specific cycle.

[0068] Meanwhile, the signal generator (1100) may be configured to include a voltage regulator and a voltage controlled oscillator (VCO). The voltage controlled oscillator (VCO) of the signal generator (1100) may include a voltage controlled oscillator (VCO) configured to generate a square wave signal of 1 KHz to 100 KHz. The square wave signal of 1 KHz to 100 KHz may be a pulse width modulation (PWM) signal whose pulse width is changed depending on the product group, detailed model, and operating mode.

[0069] The slave device (1000) may be configured to transmit and receive signals in the millimeter wave band. In this regard, the reflector (1200) may be configured to transmit and receive signals in the millimeter wave band. Meanwhile, the transmitter (1300) may be configured to include a band stop filter (BSF) (1310) to separate signals in the millimeter wave band from square wave signals. The band stop filter (1310) may be arranged between a first point (P1) and a second point (P2) on a signal line. The band stop filter (1310) may be configured to block signals in the millimeter wave band from being introduced into a signal generator (1100) that generates square wave signals.

[0070] Meanwhile, the transmitter (1300) may be configured to further include a switch unit (1320) and a DC block capacitor (1330). The switch unit (1320) may be disposed between a second point (P2) and a third point (P3) on the signal line and the ground. The switch unit (1320) may control a square wave signal that has passed through the band-stop filter (1310) to pass or block. The switch unit (1320) may adjust an applied voltage to connect or open the second point (P2) and the third point (P3) on the signal line and the ground. The DC block capacitor (1330) may be disposed between the third point (P3) and the fourth point (P4) on the signal line. The DC block capacitor (1330) may be formed to have a capacitance value within a predetermined range so as to block a DC signal and pass a square wave signal and a signal of a millimeter wave band.

[0071] Meanwhile, the reflector (1200) may be configured as an antenna section including a plurality of antenna elements to radiate a signal in the millimeter wave band in a specific direction. However, the reflector (1200) is not limited to an array antenna including a plurality of antenna elements, and may be implemented as any radiator that radiates a signal in the millimeter wave band depending on the application. For example, the reflector (1200) may be implemented as a corner reflector including a first metal plate having a first inclination angle and a second metal plate having a second inclination angle. A transmission signal may be incident on the first metal plate having the first inclination angle, and a reflected signal may be formed through the second metal plate having the second inclination angle.

[0072] Meanwhile, since the reflector (1200) is composed of an antenna section including a plurality of antenna elements, the plurality of antenna elements may be arranged at a predetermined interval in one axial direction or the other axial direction. In this regard, FIGS. 6 and 7 illustrate detailed structures of a communication module including antenna sections according to embodiments. FIG. 6 illustrates a detailed structure of a communication module of a slave device including a two-dimensional array antenna. FIG. 7 illustrates a detailed structure of a communication module of a slave device including a one-dimensional array antenna.

[0073] Referring to FIGS. 3 and 6, the communication module (1000a) of the slave device may be configured to include a reflector (1200) formed as an antenna unit (1200a), a signal line (SL), a band stop filter (BSF) (1310), and a switch unit (1320). The antenna unit (1200a) constituting the reflector (1200) may be configured as an MXN array antenna. The MXN array antenna may be configured with M antenna elements spaced apart by a first interval (d1) in one axis direction and N antenna elements spaced apart by a second interval (d2) in the other axis direction. Adjacent antenna elements among the M antenna elements may be arranged to be spaced apart by a first interval (d1) in the X-axis direction. Adjacent antenna elements among the N antenna elements may be arranged to be spaced apart by a first interval (d1) in the Y-axis direction. The MXN array antenna can be implemented as a 4X2 array antenna, but is not limited thereto, and can be changed depending on the detection distance, horizontal distance (or detection resolution in the horizontal direction) and vertical distance (or detection resolution in the vertical direction) of the indoor area where the master device and slave devices are placed.

[0074] The antennas of the first row of the antenna unit (1200a) can be connected to the switch unit (1320) via a signal line (SL), a first signal distribution line (SDL2), and a second signal distribution line (SDL2). The lower ends of the antennas of the second row of the antenna unit (1200a) and the upper ends of the antennas of the first row can be connected via connection lines (CL1 to CL4). The second interval (d2) in the Y-axis direction can be set to be larger than the first interval (d1) in the X-axis direction. Even while using a smaller number of antennas in the Y-axis direction than in the X-axis direction, the second interval (d2) in the Y-axis direction can be set to be larger than the first interval (d1) in the X-axis direction, thereby maintaining the beam width in the Y-axis direction in a range of 1 to 2 times the beam width in the X-axis direction.

[0075] Meanwhile, the width of the signal line (SL) can be formed wider than the width of the connection lines (CL1 to CL4). Accordingly, the upper portion, which is the boundary area of ​​the antennas in the first row, and the lower portion, which is the boundary area of ​​the antennas in the second row, can be connected with single connection lines without a separate impedance transformer. On the other hand, the lower portions of the antennas in the first row can be connected to the signal line (SL) through the first signal distribution line (SDL1), the second signal distribution line (SDL2), and a plurality of impedance transformers (TR1, TR2, TR3).

[0076] Referring to FIGS. 3 and 7, a communication module (1000a) of a slave device may be configured to include a reflector (1200) formed by an antenna unit (1200b), a signal line (SL), a band stop filter (BSF) (1310), and a switch unit (1320). The antenna unit (1200b) constituting the reflector (1200) may be implemented as a 1XM array antenna composed of M antenna elements spaced apart by a predetermined interval in the other axis direction (Y-axis direction). Adjacent antenna elements of the antenna unit (1200b) may be connected via second connection lines (CLb1 to CLb3). The width of the signal line (SL) may be formed wider than the width of the connection lines (CLb1 to CLb3).

[0077] A reflector (1200) implemented with the antenna unit (1200a, 1200b) of FIG. 6 or FIG. 7 can be applied to the communication module (1000a) of the slave device of FIG. 3 under the constraints of FIG. a3 and FIG. a4. In this regard, the band-stop filter (1310) can transmit a square wave signal to the reflector (1200) during a first time interval (T1). Accordingly, the reflector (1200) can transmit a first reflection signal including the square wave signal to the master device (100) during the first time interval (T1). The reflector (1200) can be configured as a Van-atta array in which an even number of patch antennas are arranged at equal intervals. The interval at which the patch antennas are spaced can be determined in consideration of the wavelength and beam orientation angle corresponding to a frequency of 60 GHz.

[0078] The band-stop filter (1310) can block the square wave signal from being transmitted to the reflector (1200) during the second time period (T2). Accordingly, the reflector (1200) can transmit the second reflected signal, which does not include the reflector (1200), to the master device (100) during the second time period (T2). The switch unit (1320) can be configured to connect the second point (P2) and the third point (P3) of the signal line during the first time period (T1). The switch unit (1320) can be configured to connect the third point (P3) of the signal line and the ground during the second time period (T2). In this regard, the switch unit (1320) can be implemented as a single pole single throw (SPST) switch, such as a diode to which voltage is applied to connect or open the third point (P3) of the signal line and the ground, but is not limited thereto. The switch unit (1320) may be implemented as a single pole double throw (SPDT) switch that connects the second point (P2) and the third point (P3) of the signal line or connects the third point (P3) of the signal line and ground.

[0079] Meanwhile, the master device of the indoor positioning system according to the present specification may be a fixed electronic device, such as an air purifier or a display device. On the other hand, the slave device of the indoor positioning system may be a movable electronic device, such as a cleaning robot or a serving robot. However, the master device and the slave device are not determined by their mobility, and depending on the application, if the movable electronic device is equipped with the communication module of the master device, it can operate as the master device. If the electronic device is equipped with the communication module of the master device and the communication module of the slave device, it can operate as the master device and the slave device.

[0080] In this regard, Fig. 8 illustrates a flowchart of an indoor positioning method performed in an indoor positioning system including a movable electronic device. Referring to Fig. 8, the indoor positioning method may include an operation execution process (S110), an identifier / coordinate storage process (S120), an information collection / storage process during operation (S130), a movement / rotation process (S140), a direction determination process (S150), and a straight line movement process (S160).

[0081] Referring to FIGS. 1 to 8, an indoor position measurement method performed in an indoor positioning system is described. In an operation execution process (S110), a slave device (1000) can perform a specific operation. If the slave device (1000) is a cleaning robot, it can perform a cleaning operation in the operation execution process (S110). If the slave device (1000) is a serving robot, it can perform a service providing operation to provide a specific service in the operation execution process (S110). For example, if it is a delivery robot, it can perform a specific operation related to delivering a specific item in the operation execution process (S110).

[0082] In the identifier / coordinate storage process (S120), the master device (100) and / or the slave device (1000) can identify and store the identifier and three-dimensional coordinates of the movable electronic device. The master device (100) can be configured to store the identifiers and three-dimensional coordinates of a plurality of slave devices on which reflectors (1200) are arranged. The identifiers of the plurality of slave devices can be identified based on square wave signals of different frequencies depending on the product group, detailed model, and operating state. Since the identifiers of the plurality of slave devices are transmitted between the plurality of electronic devices via signals in the millimeter wave band, they can be referred to as mmIDs, which are identifiers in the millimeter wave band. The plurality of slave devices may be movable electronic devices such as cleaning robots or serving robots.

[0083] In the information collection / storage process (S130) during operation, the master device (100) and / or the slave device (1000) can store the distance (or maximum distance) from itself or a specific electronic device to other electronic devices. In this regard, other electronic devices can be identified based on different mmIDs having different switching frequencies, and locations (ranges) where other electronic devices can be placed in an indoor area can be stored.

[0084] In this regard, FIG. 9 illustrates ranges of distances and speeds to movable electronic devices within an indoor area. Referring to FIG. 9, distances and speeds from a master device (100) to multiple slave devices (1000a, 1000b, 1000c) can be determined.

[0085] For example, a first speed from a master device (100) to a first slave device (1000-1) having a first identifier (mmID #1) may be determined to be 5 m / s. A distance range of the first slave device (1000-1) may be determined to be a range of ±3.75 m with respect to -10 m. A second speed from a master device (100) to a second slave device (1000-2) having a second identifier (mmID #2) may be determined to be 5 m / s. A distance range of the second slave device (1000-3) may be determined to be a range of ±6.25 m with respect to 7.5 m. A third speed from a master device (100) to a third slave device (1000c) having a third identifier (mmID #3) may be determined to be 8 m / s. The distance range of the third slave device (1000c) can be determined to be ±3.75 m based on -5 m.

[0086] As another example, a first distance from a master device (100) to a first slave device (1000-1) having a first identifier (mmID #1) may be determined to be 5 m. A speed range of the first slave device (1000-1) may be determined to be ±3.75 m / s based on -10 m / s. A second distance from a master device (100) to a second slave device (1000-2) having a second identifier (mmID #2) may be determined to be 5 m. A speed range of the second slave device (1000-2) may be determined to be ±6.25 m / s based on 7.5 m / s. A third distance from a master device (100) to a third slave device (1000c) having a third identifier (mmID #3) may be determined to be 8 m. The speed range of the third slave device (1000c) can be determined to be ±3.75 m / s based on -5 m / s.

[0087] Meanwhile, in the movement / rotation process (S140) of the indoor positioning system according to the present specification, slave devices, which are movable electronic devices, can move or rotate in a specific direction. In this regard, FIG. 10 illustrates paths along which a cleaning robot moves in specific directions within a specific range of an indoor area. Referring to FIGS. 1 to 10(a), a slave device (1000) corresponding to a cleaning robot can set a specific range within which cleaning is possible in an indoor area.

[0088] Referring to FIGS. 1 to 10(b), a slave device (1000) corresponding to a cleaning robot can move along a first path in a first direction (D1) within a specific cleanable range. The slave device (1000) can move along a second path of unit distance in a second direction (D2) perpendicular to the first direction (D1) from a point adjacent to the boundary of the specific range. The second path of unit distance can be determined according to a minimum cleaning unit in a specific axial direction.

[0089] In the movement / rotation process (S140), the slave device (1000) can move along a path in a first direction (D1), rotate 90 degrees, and move along a path of unit distance in a second direction (D2). The slave device (1000) can move along a third path in a third direction (D3) opposite to the first direction (D1). The slave device (1000) can rotate 90 degrees at a point adjacent to the boundary of a specific range, and move along a path of unit distance in the second direction (D2). The slave device (1000) can move again along the path in the first direction (D1), rotate 90 degrees, and move again along the path of unit distance in the second direction (D2). In the movement / rotation process (S140), the slave device (1000) can repeat the movement and rotation processes within a specific cleanable range.

[0090] The slave device (1000) can move along a path in a third direction (D3) opposite to the first direction (D1). In this regard, a first distance from the master device (100) can be determined while the slave device (1000) moves along a first path in the first direction (D1) on a straight line. If the master device (100) does not have multiple MIMO antennas, the master device (100) may not detect the slave device (1000) while the slave device (1000) rotates and moves along a second path in the second direction (D2).

[0091] In this regard, while the slave device (1000) rotates and moves along a second path, a second distance between the master device (100) and a second master device (100b) in a different direction can be determined. Meanwhile, if the master device (100) has a plurality of MIMO antennas, while the slave device (1000) rotates and moves along a second path in a second direction (D2), the master device (100) can determine the second distance from the slave device (100). The master device (100) can determine the second distance from the slave device (100) through a second MIMO antenna that is different from the first MIMO antenna. As the slave device (1000) rotates again and moves along a third path in a third direction (D3) opposite to the first direction (D1), a third distance from the master device (100) can be determined. The master device (100) can determine the third distance from the master device (100) through the first MIMO antenna.

[0092] Meanwhile, while moving along paths in different directions, optimal detection characteristics can be implemented for each direction through square wave signals of different frequencies. In this regard, while the slave device (1000) moves along the first path in the first direction (D1), the first distance from the master device (100) can be determined by receiving the first square wave signal of the first frequency. In this regard, the master device (100) can receive the first square wave signal of the first frequency from the slave device (1000) to determine the first distance from the master device (100).

[0093] While the slave device (1000) rotates and moves along a second path in a second direction (D2), a second distance to the second master device (100b) can be determined by receiving a second square wave signal of a second frequency. In this regard, the second master device (100b) can receive a second square wave signal of a second frequency from the slave device (1000) to determine a second distance to the second master device (100b). The second master device (100b) can transmit information about the second distance to the master device (100).

[0094] Meanwhile, if the master device (100) is equipped with a plurality of MIMO antennas, the master device (100) can determine a second distance from the slave device (100) while the slave device (1000) rotates and moves along a second path in a second direction (D2). The master device (100) can determine the second distance from the slave device (100) by receiving a second square wave signal of a second frequency through a second MIMO antenna that is different from the first MIMO antenna. As the slave device (1000) rotates again and moves along a third path in a third direction (D3) opposite to the first direction (D1), a third distance from the master device (100) can be determined. The master device (100) can determine the third distance from the master device (100) by receiving a first square wave signal of a first frequency through the first MIMO antenna.

[0095] Referring to FIGS. 1 to 10, during the movement / rotation process (S140), the master device (100) and slave device (1000) can store the maximum distance and the mmID and location of other electronic devices. Furthermore, the locations of other electronic devices in an operating state can be stored. For example, if a cleaning robot and a serving robot move beyond a specific range within an indoor area, the current location of the robot can be determined as an error state and stored.

[0096] As a specific operation is completed through the movement / rotation process (S140) within a specific range, a direction determination process (S150) may be performed. In the direction determination process (S150), it may be determined whether the slave device (1000) is facing a specific direction, for example, facing forward. Whether the specific direction, for example, facing forward, may be determined based on an area where the charging base of the cleaning robot is placed and an area corresponding to the destination of the serving robot. If it is determined in the direction determination process (S150) that the slave device (1000) is facing a specific direction, for example, facing forward, the slave device (1000) may perform a process of moving in a straight line toward the specific direction, for example, facing forward, in a straight-line movement process (S160). If it is determined in the direction determination process (S150) that the slave device (1000) is not facing a specific direction, for example, facing forward, the information collection / storage process (S130) during operation may be repeated.

[0097] Meanwhile, in the indoor positioning system according to the present specification, the master device (100) can perform different operations by determining whether the distance from the slave device (100) has changed. In this regard, FIG. 11 illustrates a flowchart of a positioning method performed by the master device in the indoor positioning system according to the present specification.

[0098] Referring to Fig. 11, a positioning method performed by a master device in an indoor positioning system may include a sensor application process (S210), an FMCW signal transmission process (S220), a distance change determination process (S230), an mmID-based position data acquisition process (S240), and an operation control process (S250). The mmID-based position data acquisition process (S240) may include a chirp signal on / off application determination process (S241), an identifier identification process (S242), and a position data acquisition process (S243).

[0099] Referring to FIGS. 1 to 11, a positioning method of an indoor positioning system according to the present specification will be described. In the sensor application process (S210), a millimeter wave band communication module (sensor module) for indoor positioning may be applied to the master device (100) and slave devices (1000). In this regard, the master device (100) can identify electronic devices to which the millimeter wave band communication module (sensor module) is applied among a plurality of electronic devices in an indoor area.

[0100] In the FMCW signal transmission process (S220), the master device (100) can transmit an FMCW (Frequency Modulated Continuous Wave) signal to multiple objects placed in an indoor area. In this regard, multiple electronic devices placed in an indoor area can be identified or it can be determined whether a user is in an indoor area. The FMCW signal can be a signal whose frequency linearly increases (or decreases) over time, as shown in FIG. A transmission signal such as an FMCW signal can be transmitted, and a differential frequency can be obtained by mixing with a reflected signal reflected from a target, and distance information can be analyzed using this.

[0101] In the distance change determination process (S230), it can be determined whether the distance to the slave device (1000) has changed based on the delay time between the transmitted signal and the reflected signal. Based on the delay time between the transmitted signal and the reflected signal, it can be determined whether an object such as the slave device (1000) is a stationary object in a stationary state or a moving object in a moving state.

[0102] If it is determined that the distance to the slave device has not changed, the mmID-based location data acquisition process (S240) can be performed. If it is determined that the distance to the slave device has not changed, the mmID-based location data acquisition process (S240) can be used to determine the mmID information of other electronic devices that have changed in distance or speed. The mmID information of an electronic device with a constant speed can be determined using Doppler range data.

[0103] The detailed process of the mmID-based location data acquisition process (S240) is described as follows. In the chirp signal on / off application determination process (S241), it can be determined whether an on / off operation is performed for a chirp signal whose frequency changes over time. Specifically, it can be determined whether an on / off operation is performed at a frequency interval of a different cycle for each product for the chirp signal.

[0104] In the identifier identification process (S242), the master device (100) can identify (detect) the second identifier of a second slave device among a plurality of slave devices whose distance from the master device (100) has changed based on the second reflection signal for the chirp signal. In the location data acquisition process (S243), the second location and second distance of the second slave device can be determined. In the operation control process (S250), the master device (100) can control the operation of the second slave device. In the operation control process (S250), the master device (100) can control the operation of the second slave device so that the second slave device can provide a specific service.

[0105] Meanwhile, if it is determined that the distance between the master device (100) and the slave device (1000) has changed in the distance change determination process (S230), the motion control process (S250) may be performed. In this regard, the changed position and changed distance of the slave device (1000) may be determined based on the delay time between the delay time of the transmitted signal and the reflected signal. In the motion control process (S250), the motion of the slave device (1000) may be controlled so that the slave device (1000) may provide a specific service. In the motion control process (S250), if the plurality of slave devices are cleaning robots and serving robots, the cleaning operation and the serving operation of transporting the package to the destination may be performed. If it is determined that the user is in an indoor area, lighting control, temperature control, and / or sound control may be performed through the plurality of master devices and slave devices in the motion control process (S250).

[0106] Meanwhile, if it is determined that the distance from the slave device has not changed, the master device (100) can perform an mmID-based location data acquisition process (S240) considering the speed change. In the identifier identification process (S242), the master device (100) can identify the third identifier of the third slave device having a speed change. In the operation control process (S250), the master device (100) can determine the third position and third distance of the third slave device having a speed change. In the operation control process (S250), the master device (100) can control the operation of the third slave device having a speed change. In this regard, the speed of the third slave device having a speed change can be controlled to a speed within a certain range to prevent collision with other electronic devices and objects.

[0107] Meanwhile, the master device (100) can control the slave devices in various ways depending on the positions and operating states of the multiple slave devices. In this regard, the master device (100) can determine the first position of a movable slave device (1000) and the second position of a fixed second slave device or the master device (100). The slave device (1000) may be a movable air purifier.

[0108] The master device (100) can determine the operating status of the second slave device or the master device (100) and the separation distance between the slave device (1000) and the second slave device or the master device (100). If the separation distance is greater than or equal to a threshold distance and air purification is determined to be necessary based on the operating status, the master device (1000) can control the operation of the slave device (1000). The slave device (1000) can be controlled so that the first position of the slave device (1000) moves within a predetermined radius range relative to the second position of the second slave device or the master device (100).

[0109] Meanwhile, collision avoidance control is possible by transmitting the locations of other electronic devices and objects to movable slave devices. The master device (100) can determine the first location of a slave device (1000) at a fixed location and the second locations of a plurality of fixed second slave devices and the master device (100). The master device (100) can transmit the second locations of the plurality of fixed second slave devices and the master device (100) to the slave device (1000). Accordingly, the slave device (1000) can generate movement paths to avoid collision with the plurality of second slave devices or the master device (100) based on the second locations.

[0110] The above describes an indoor positioning system for measuring the location of an electronic device according to the present specification. The technical effects of the indoor positioning system for measuring the location of an electronic device according to the present specification can be summarized as follows, but are not limited thereto and may vary depending on the application.

[0111] According to at least one of the embodiments of the present invention, a stationary object can be distinguished from clutter noise using velocity in a range doppler map.

[0112] According to at least one of the embodiments of the present invention, it is possible to distinguish between multiple electronic devices in an indoor area and determine the distance and position between them through a pulse modulation method having different switching frequencies depending on the properties of the slave devices, such as product groups, detailed models, and operation modes.

[0113] According to at least one of the embodiments of the present invention, a detailed configuration of a sensing module for measuring the positions of a plurality of electronic devices in an indoor positioning system and a method for distinguishing between the plurality of electronic devices can be provided.

[0114] According to at least one of the embodiments of the present invention, a sensing module capable of reflecting millimeter wave band signals in a specific pattern from a plurality of slave devices interlocked with a master device in an indoor positioning system can be provided.

[0115] The present invention described above can be implemented as a computer-readable code on a medium in which a program is recorded. The computer-readable medium includes all types of recording devices that store data that can be read by a computer system. Examples of the computer-readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc., and also includes media implemented in the form of a carrier wave (e.g., transmission via the Internet). In addition, the computer may include a control unit (180) of a robot (10) according to an embodiment of the present invention.

[0116] Accordingly, the above detailed description should not be construed as limiting in any respect, but rather as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are intended to be included within the scope of the present invention.

Claims

1. In an indoor positioning system, At least one slave device configured to generate reflection signals for a transmission signal transmitted from a master device, The above slave device is, A signal generator configured to generate signals of different specific patterns depending on the properties of the slave device; A reflector that reflects the transmission signal to generate a delayed reflection signal for the transmission signal; and A transmitter is disposed between the signal generator and the reflector and configured to transmit the reflected signal, which selectively includes a signal of the specific pattern, to the master device through the reflector. An indoor positioning system in which the reflector transmits the reflected signal containing the signal of the specific pattern to the master device for a certain period of time.

2. In paragraph 1, The signal generator is configured to generate a square wave signal of a frequency set differently depending on the properties of the slave device, An indoor positioning system, wherein the reflector is configured to transmit a first reflection signal including a square wave signal of a differently set frequency to the master device during a first time interval.

3. In paragraph 2, The reflector is configured to transmit a second reflection signal not including the square wave signal to the master device during a second time interval subsequent to the first time interval, An indoor positioning system, wherein the first time interval and the second time interval are configured to be repeated.

4. In paragraph 3, The signal generator comprises a voltage controlled oscillator (VCO) configured to generate a square wave signal of 1 KHz to 100 KHz, The above slave device is configured to transmit and receive signals in the millimeter wave band, The above transmitter, An indoor positioning system comprising a band rejection filter disposed between a first point and a second point on a signal line and configured to block a signal of the millimeter wave band from entering the signal generator.

5. In paragraph 4, The above transmitter, Further comprising a switch section disposed between the third point on the signal line and the ground, and controlling the square wave signal passing through the band-stop filter to pass or block, The above reflector is an antenna unit including a plurality of antenna elements to radiate a signal of the millimeter wave band in a specific direction, An indoor positioning system, characterized in that the plurality of antenna elements are arranged at a predetermined interval in one or the other axis direction.

6. In paragraph 3, An indoor positioning system in which the distance and speed range between the master device and the slave device are calculated based on the delay time of the reflected signal for the transmitted signal and the differently set frequency during the first time interval.

7. In paragraph 5, The band-stop filter transmits the square wave signal to the reflector during the first time interval, so that the reflector transmits the first reflected signal to the master device during the first time interval, The band-stop filter blocks the square wave signal from being transmitted to the reflector during the second time interval, so that the reflector transmits the second reflected signal to the master device during the second time interval, The above switch portion is configured to connect the second point and the third point during the first time period, An indoor positioning system, wherein the switch portion is configured to connect the third point and the ground during the second time period.

8. In paragraph 5, The above antenna section is an MXN array antenna composed of M antenna elements spaced apart by a first interval in the direction of one axis and N antenna elements spaced apart by a second interval in the direction of the other axis, The antennas of the first row of the above antenna unit are connected through the switch and the signal line, the first signal distribution line and the second signal distribution line, The lower ends of the antennas of the second row of the above antenna section and the upper ends of the antennas of the first row are connected through connecting lines, An indoor positioning system, wherein the second interval is set to be larger than the first interval, and the width of the signal line is formed to be wider than the width of the connecting lines.

9. In paragraph 5, The above antenna section is a 1XM array antenna composed of M antenna elements spaced apart at a predetermined interval in the direction of the other axis, Adjacent antenna elements of the above antenna section are connected via second connecting lines, An indoor positioning system in which the width of the signal line is formed wider than the width of the connecting lines.

10. In paragraph 3, An indoor positioning system, wherein the master device is configured to store identifiers and three-dimensional coordinates of a plurality of slave devices on which the reflectors are arranged.

11. In paragraph 10, A first distance between the master device and the slave device is determined while the slave device moves along a first path on a straight line, An indoor positioning system, wherein a second distance to a second master device in a direction different from the direction of the master device is determined while the slave device rotates and moves along a second path.

12. In paragraph 11, While moving along the first path, a first square wave signal of a first frequency is received to determine a first distance from the master device, An indoor positioning system in which a second distance to the second master device is determined by receiving a second square wave signal of a second frequency while the slave device rotates and moves along the second path.

13. In paragraph 3, The above master device, Determine whether the distance between the master device and the slave device has changed based on the delay time between the transmitted signal and the reflected signal, An indoor positioning system that determines whether an on / off operation is performed for a chirp signal whose frequency is modulated over time when it is determined that the distance between the master device and the slave device has not changed.

14. In paragraph 13, The above master device, Identifying a second identifier of a second slave device among a plurality of slave devices whose distance from the master device has changed based on a second reflection signal for the above chirp signal, By determining the second position and the second distance of the second slave device, the operation of the second slave device is controlled, An indoor positioning system that determines the changed location and changed distance of the slave device based on the delay time between the transmitted signal and the reflected signal when it is determined that the distance to the slave device has changed.

15. In paragraph 13, The above master device, If it is determined that the distance from the above slave device has not changed, the third identifier of the third slave device with a change in speed is identified, and the third position and third distance of the third slave device are determined. An electronic device that controls the speed of a third slave device having the above-mentioned speed change to a speed within a certain range to prevent collision with other electronic devices and objects.

16. In paragraph 13, The above master device, Determine a first position of the movable slave device and a second position of the fixed slave device or the master device, Determine the operating status of the second slave device or the master device and the distance between the slave device and the second slave device or the master device, An indoor positioning system that controls the slave device so that the first position of the slave device moves within a predetermined radius range from the second position when the above separation distance is greater than or equal to a threshold distance and air purification is determined to be necessary based on the above operating state.

17. In paragraph 13, The above master device, Determine a first position of the movable slave device and second positions of a plurality of fixed second slave devices or the master device, Transmit information about the above second locations to the slave device, An indoor positioning system in which the slave device generates movement paths to avoid collision with the plurality of second slave devices or the master device based on the second locations.

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