Description:Complete Specification:
The following specification describes and ascertains the nature of this invention and the manner in which it is to be performed.
Field of the invention:
[0001] The present invention relates to a positioning system, a device and method for an object relocatable/movable inside an indoor environment.

Background of the invention:
[0002] A Global Positioning System (GPS) is one of the major data points for any field specially if the system and artifacts are remotely located. However, Standard GPS and Assisted-GPS technologies are guided by satellites which suffers accuracy up to 1 meter to 5 meters. Specially indoor position localization systems are very few and have several measurement limitations. However, despite the fact that proper coverage for the required four satellites to locate a receiver is not achieved with all current designs for indoor operations, a GPS emulation has been deployed successfully. The GPS coverage extension solutions have been able to provide zone-based positioning indoors, accessible with standard GPS chipsets like the ones used in smartphones.

[0003] According to a prior art CN107271962 an indoor positioning system based on ultrasonic and positioning method thereof is disclosed. The invention discloses an indoor positioning system based on ultrasonic and a positioning method thereof. The system comprises a beacon node located on a ceiling and a mobile node located on a mobile device. At least one beacon node is arranged. Each beacon node consists of an ultrasonic transmitting probe S1 and an ultrasonic transmitting probe S2. Each mobile node comprises at least three ultrasonic receiving probes. The ultrasonic receiving probes are connected with a receiving control system. The indoor positioning system based on ultrasonic and the positioning method thereof have the advantage of system structure, can accurately position a moving object in a room, and can avoid electromagnetic interference.

Brief description of the accompanying drawings:
[0004] An embodiment of the disclosure is described with reference to the following accompanying drawings,
[0005] Fig. 1 illustrates a block diagram of a system to determine position of an object inside an indoor location, according to an embodiment of the present invention, and
[0006] Fig. 2 illustrates a flow diagram of a method for determining position of the movable object inside the indoor environment, according to the present invention.

Detailed description of the embodiments:
[0007] Fig. 1 illustrates a block diagram of a system to determine position of an object inside an indoor environment, according to an embodiment of the present invention. The system 100 comprises at least one sensor 104 mounted on the object 102 to capture/receive at least one signal 140 corresponding to a parameter to be monitored. The at least one sensor 104 works on a principle of transmission and reception of at least one signal 140 selected from group comprising a sound signal, a light signal, a radio signal and imaging characterized in that, the system 100 comprises a surface 110 of the indoor environment 130 designed to have plurality of segments 120, each of which is identified by the parameter. The at least one sensor 104 to be used in association with the plurality of segments 120 of the surface 110. The system 100 also comprises and a controller 106 connected to the at least one sensor 104 and configured to identify position of the object 102 based on the at least one signal 140 received from the at least one sensor 104 corresponding to the surface 110.

[0008] According to an embodiment of the present invention, the at least one sensor 104 is selectable from a group comprising an ultrasonic sensor, a Light Detection and Ranging (LIDAR) based sensor, a Radio Detection and Ranging (RADAR) based sensor, a chromatic sensor and a camera. In another embodiment, any two sensors are usable, such as ultrasonic sensor and the LIDAR based sensor, or LIDAR based sensor and RADAR based sensor, or ultrasonic sensor and RADAR based sensor, chromatic sensor and ultrasonic sensor or other sensor combinations.

[0009] According to an embodiment of the present invention, the controller 106 configured to receive the signal 140 from the at least one sensor 104. The signal 140 comprises details of the parameter of the plurality of segments 120 of the surface 110. The controller 106 determines the parameter value (or characteristic feature) of the segment 120 from the signal 140, and then identifies a position of the object 102 with reference to the determined parameter. In an embodiment, the signal 140 is received by a receiver after transmission of the signal 140 through a transmitter of the at least one sensor 104 in case of the ultrasonic sensor, LIDAR based sensor, RADAR based sensor and chromatic sensor. The controller 106 then determines the parameter value from the received signal 140 and identifies the position by comparison of the parameter value with the table stored in the memory element. The table comprises correlation between the parameter value and the position of the object 102. The table is prepared before and then stored in the memory element.

[0010] In another embodiment, the signal 140 is directly captured such as when the camera is used as the sensor 104. The camera captures an image followed by further processing by the controller 106 as described above. The controller 106 recognizes the parameter value and identifies the position based on the determined parameter value using the table. The parameter value is co-related to the position as per pre-stored table/database.

[0011] According to an embodiment of the present invention, the controller 106 configured to activate the transmitter of the at least one sensor 104 and transmit the signal 140 towards the surface 110. The controller 106 further receives the signal 140, after being reflected from the surface 110, through a receiver of the at least one sensor 104. The controller 106 determines a parameter value from the signal 140, and then identifies the position of the object 102 with reference to the determined parameter value.

[0012] According to an embodiment of the present invention, the object 102 and the indoor environment 130 is selectable from a group comprising a vehicle in a parking infrastructure, and a cart/trolley in a shopping complex/ airport, respectively. The example is just for understanding and other suitable usage in other relevant areas are equally applicable. Another example comprises, tracking the mine workers who are working in deep tunnels.

[0013] According to the present invention, the controller 106 is an Electronic Control Unit (ECU) of the vehicle, or a control unit of the cart/trolley connected with the at least one sensor 104. The controller 106 is provided with necessary signal detection, acquisition, and processing circuits. The controller 106 comprises memory element such as Random Access Memory (RAM) and/or Read Only Memory (ROM), Analog-to-Digital Converter (ADC) and a Digital-to-Analog Convertor (DAC), clocks, timers, counters and at least one processor (capable of implementing machine learning) connected with each other and to other components through communication bus channels. The memory element is pre-stored with logics or instructions or programs or applications or modules/models and/or threshold values, table, which is/are accessed by the at least one processor as per the defined routines. The internal components of the controller 106 are not explained for being state of the art, and the same must not be understood in a limiting manner. The controller 106 may also comprise communication units to communicate with an external computing device such as the cloud 108, a remote server, etc., through wireless or wired means such as Global System for Mobile Communications (GSM), 3G, 4G, 5G, Wi-Fi, Bluetooth, Ethernet, serial networks, and the like. The controller 106 is implementable in the form of System-in-Package (SiP) or System-on-Chip (SOC) or any other known types.

[0014] According to an embodiment of the present invention, the surface 110 is at least one selected from a group comprising a ceiling, a wall and a floor of the indoor environment 130. The parameter is at least one selected from a group comprising height and color of the plurality of segment 120. Further, when height is considered as the parameter, the plurality of segments 120 comprises protrusions projecting from the surface 110 which are connected to each other in at least one of a gradual manner and stepped manner. When the color is considered as parameter, the plurality of segments 120 are formed by at least one of paint colors and color stickers. The surface 110 is any one of an actual surface 110 of the indoor environment 130 and a false surface 110 designed on the actual surface 110. For example, the false ceiling and wallpapers with colors and textures. In another example, the floor is colored either through paint or stickers, which are detected by the sensor 104 facing towards the floor.

[0015] According to an embodiment of the present invention, the parameter value is at least one of distance from the segment 120, a height of the segment 120, a variation of distance/height when moving over segments 120, a color of the segment 120 and a color pattern of the segment 120. The height and color of the segments 120 are pre-stored in the memory element of the controller 106, i.e. height and color are saved for respective segment 120 and stored in a table. The table is referred by the controller 106 and the position is identified.

[0016] In Fig. 1, the surface 110 with plurality of segments 120 is shown as a look-up view. The object 102 moves (arrow direction) under the surface 110 comprising segments 112, 114, 116, 118, 122, 124, 126, 128, 132, 134, 136, 138, 142, 144, 146 and 148. Each of the segments 120 is provided with unique height or a combination of adjacent segments 120 is designed in pair to have a unique variation distance/height, in which case the height is possible to be same for two segments 120. In an alternative, the surface 110 is floor and the at least one sensor 104 mounted on the object 102 is positioned downwards to detect the color on the floor.

[0017] According to an embodiment of the present invention, a device 150 to determine position of the object 102 movable inside the indoor environment 130 is provided. The device 150 comprises the at least one sensor 104 mounted on the object 102 to capture at least one signal 140 corresponding to the parameter to be monitored. The at least one sensor 104 works on the principle of transmission and reception of at least one signal 140 selectable from the group comprising the sound signal, the light signal, and the radio signal. The sensor 104 is selectable from a group comprising the ultrasonic sensor, the LIDAR based sensor, the RADAR based sensor, the chromatic sensor and camera. When camera is used as the sensor 104, the image is captured and sent to the controller as the signal 140 works. In other words, the light rays reflected from the surface 110 are captured. The device 150, characterized in that, the controller 106 connected to the at least one sensor 104 and configured to receive the signal 140 through the at least one sensor 104, determine the parameter value from the signal 140, and identify the position of the object 102 with reference to the determined parameter value.

[0018] In another embodiment, the device 150 comprises the controller 106 to activate the transmitter of the at least one sensor 104 and transmit the signal 140. The controller 106 further receives the signal 140, after reflection from the surface 110, through the receiver of the at least one sensor 104. The device 150 further determines, through the controller 106, the parameter value after the signal 140 is received, and identifies the position of the object 102 with reference to the determined parameter value.

[0019] According to an embodiment of the present invention, the object 102 and the indoor environment 130 are selectable from a group comprising the vehicle in the parking infrastructure, and the cart/trolley in the shopping complex/airport respectively. In addition, the parameter value is selectable from a group comprising a distance from the segment 120, a height of the segment 120, the variation of distance/height when moving under the segments 120, a color of the segment 120 and a color pattern of the segment 120. In case of the height, the plurality of segments 120 comprises protrusions projecting from the surface 110 and are connected to each other in at least one of the gradual manner and stepped manner. The height and color of the segments 120 are pre-stored in the controller 106 to identify the position of the object 102. Specifically, the table is stored in the memory element of the controller 106 which stores the correlation between the parameter value and the position of the object 102. Further, the surface 110 is any one of the actual surface 110 of the indoor environment 130 and the false surface 110 designed on the actual surface 110.

[0020] According to an embodiment of the present invention, the at least one sensor 104 is controlled by the controller 106 in such manner that the transmission and reception of the signal 140 is continuously done until the parameter value is determined. In other embodiment, the signal 140 is transmitted and received in pulses. For the camera or chromatic sensor, the controller 106 continuously processes the image and identifies the color or change in color until the parameter value is determined.

[0021] According to the present invention, a working of the system 100 and the device 150 is explained. Consider covered parking area or multi-level car parking building or underground parking infrastructure where positioning a car is difficult using GPS or other satellite based positioning systems. The car is fit with the ultrasonic sensor on it’s roof. The car also comprises an infotainment unit where a display screen is provided. Assuming the user/driver of the car is registered with the parking infrastructure and an application is installed in the infotainment unit or in the mobile device of the user which is connected to the infotainment unit. The user is able to access the parking infrastructure through the application or web application (which does not require installation). As the user drives the car into the parking infrastructure, the controller 106 activates the ultrasonic sensor. The transceiver of the ultrasonic sensor transmits and receives sound signal/wave which is reflected from the surface 110. Based on the reflected signal 140 detected by the controller 106, the controller 106 determines the distance and accordingly co-relates to the position of the car in a map accessible from the application. As the car moves under the surface 110, the varying signals 140 are detected by the controller 106 and accordingly indicated in the map. The user is thus able to determine the position of the car in the indoor environment 130.

[0022] Also, since the application is connected with the parking infrastructure, the same information is transferred to a server or cloud 108. Thus the personnel of the parking infrastructure are able to manage the parking services efficiently. In yet another example, the user may be guided to a specific parking slot through the application.

[0023] In another working example, consider the indoor environment 130 to be the shopping complex, and the LIDAR sensor is installed in the cart. The cart is fit with a display screen having a map of the shopping complex. As a customer moves inside the indoor environment 130 along with the cart, the LIDAR sensor is activated by the controller 106 to transmit the signal 140 and then receives the reflected signal 140. The controller 106 connected to the LIDAR sensor processes the reflected signal 140 and determines the parameter value as the variation in the distance (or jumps in distance of the segments 120). The variation in the distance is correlated to the position of the cart, using the table, in the map and the same is indicated in the display screen. The customer is able to navigate within the shopping complex with the position displayed on the display screen. In addition, a manager of the shopping complex is able to provide customer specific advertisement or offers on the display screen based on the position in the shopping complex.

[0024] In yet another example, the object 102 is fit with two sensors 104, 152. A first sensor 104 placed on the object and a second sensor 152 positioned on side of the object 102. If the object 102 is the vehicle, then the first sensor 104 is positioned on the roof or at a place which faces the ceiling and second sensor 104 is positioned on the side. When the vehicle moves inside the indoor environment 130, the ceiling, the side walls and pillars of the indoor environment are the surfaces 110 provided with the protrusions or colors or both. The controller 106 detects the same and identifies the position and displays on the map. Optionally, the identified location is updated in the server for managing the parking locations.

[0025] In yet another example, the object 102 is fit with two sensors where one is pointing the ceiling and other is pointing the floor. The plurality of segments in the ceiling is provided with protrusions and the plurality of segments in the floor is provided with colors. The controller 106 processes signals from both the signals and determines the position in the map. The positioned is identified by correlation of the signal 140 received from the sensors in the table stored in the memory element.

[0026] In yet another working example, in cases where the object 102 is movable horizontally/vertically across a straight line, then the sensors 104 mounted to side of the object 102 helps in determining the height differences along the side wall. Thus, positioning the sensors 104 in the sides of the object 102 uniquely identifying the position of the object 102.

[0027] Fig. 2 illustrates a flow diagram of a method for determining position of the movable object inside the indoor environment, according to the present invention. The method comprises plurality of steps, of which a step 202 comprises receiving, by the controller 106, the signal 140, for the parameter to be monitored, from the at least one sensor 104 mounted on the object 102. The signal 140 is received corresponding to surface 110 of the indoor environment 130. The method is characterized by, a step 204 which comprises determining, by the controller 106, the parameter value through the received signal 140. A step 206 comprises identifying, by the controller 106, the position of the object 102 using the parameter value. The step 202 of receiving the signal 140 is performed through camera which directly captures the image. Alternatively, the step 202 of receiving, by the controller 106, the signal 140 is performed by at least one sensor 104 selected from a group comprising the ultrasonic sensor, the LIDAR based sensor, the RADAR based sensor and the chromatic sensor.

[0028] According to the method where the transmitter and receiver based at least one sensor 104 is used, the method comprises following steps. A step 208 comprises transmitting, by the controller 106, the signal 140 through the transmitter of at least one sensor 104, mounted on the object 102. A step 210 comprises receiving, by the controller 106, the signal 140, after reflecting from the surface 110, through the receiver of the at least one sensor 104. The method is characterized by, a step 212 which comprises determining, by the controller 106, the parameter value of the signal 140 after the transmission and reception of the signal 140. A step 214 comprises identifying, by the controller 106, position of the object 102 using the parameter value.

[0029] According to the present invention, the method is applicable to, the surface 110 comprising plurality of segments 120, where the surface 110 is selectable from a group comprising the ceiling, the wall and the floor. Again, the ceiling is either the false ceiling or actual ceiling. The parameter value is at least one of the distance of the segment 120, a height of the segment, a variation in distance/height when moving under the segments 120, a color of the segment 120 and a color pattern of the segment 120. The height and color of the segments 120 are pre-stored in the memory element of the controller 106 which co-relates to the position in the location map.

[0030] According to the present invention, an indoor positioning system 100 is provided. The system 100 and device 150 uses the concept of localization of the object 102 in the indoor environment 130. The present invention caters to environments where cellular or GPS connectivity is not available or weak. A high resolution navigation and indoor position localization method using simple ultrasonic sensor system is provided.

[0031] It should be understood that the embodiments explained in the description above are only illustrative and do not limit the scope of this invention. Many such embodiments and other modifications and changes in the embodiment explained in the description are envisaged. The scope of the invention is only limited by the scope of the claims.
, Claims:We claim:
1. A system (100) to determine position of an object (102) movable inside an indoor environment (130), said system (100) comprises:
at least one sensor (104) mounted on said object (102) to receive at least one signal (140) corresponding to a parameter to be monitored, characterized in that,
a surface (110) of said indoor environment (130) designed to have plurality of segments (120) each of which defined by said parameter, said at least one sensor (104) to be used in association with said plurality of segments of said surface (110), and
a controller (106) connected to said at least one sensor (104) and configured to identify position of said object (102) based on said at least one signal (140) received from said at least one sensor (104) corresponding to said surface (110).

2. The system (100) as claimed in claim 1, wherein said controller (106) configured to
receive said signal (140) from said at least one sensor (104), said signal (140) comprises details of said parameter of said segment (120) of said surface (110);
determine a parameter value of said segment from said signal (140), and
identify a position of said object (102) with reference to said determined parameter value.

3. The system (100) as claimed in claim 1, wherein said object (102) and said indoor environment (130) is selectable from a group comprising a vehicle in a parking infrastructure, and a cart/trolley in a shopping complex, respectively.

4. The system (100) as claimed in claim 1, wherein said surface (110) is at least one selected from a group comprising a ceiling, a wall and a floor of said indoor environment (130), and said parameter is at least one selected from a group comprising height and color, and wherein when height is considered as parameter, said plurality of segments (120) comprises protrusion projecting from said surface (110) which are connected to each other in at least one of a gradual manner and stepped manner, and wherein when color is considered as parameter, said plurality of segments (120) are formed by at least one of paint colors and color stickers, and wherein said surface (110) is any one of an actual surface (110) of said indoor environment (130) and a false surface (110) designed on said actual surface (110).

5. The system (100) as claimed in claim 2, wherein said parameter value is at least one selected from a group comprising a distance from said segment (120), a height of said segment (120), a variation of said distance/height when moving under segments (120), a color of said segment (120) and a color pattern of said segment (120), and wherein a table correlating said height and said color of said plurality of segments (120) with position are pre-stored in a memory element of said controller (106).

6. A device (150) to determine position of an object (102) movable inside an indoor environment (130), said device (150) comprises:
at least one sensor (104) mounted on said object (102) to capture at least one signal (140) corresponding to a parameter to be monitored, characterized in that,
a controller (106) connected to said at least one sensor (104) and configured to
receive said signal (140) through said at least one sensor (104), said signal (140) comprises details of a parameter of a segment (120) of a surface (110);
determine a parameter value from said signal (140), and
identify a position of said object (102) with reference to said determined parameter value.

7. The device (150) as claimed in claim 6, wherein said object (102) and said indoor environment (130) is selectable from a group comprising a vehicle in a parking infrastructure, and a cart/trolley in a shopping complex, respectively.

8. The device (150) as claimed in claim 6, wherein said surface (110) comprises plurality of segments (120) and is selectable from a group comprising a ceiling, a wall and a floor, wherein said parameter value is at least one selected from a group comprising a distance from said segment (120), a height of said segment (120), a variation of said distance/height when moving under said segments (120), a color of said segment (120), and a color pattern of said segment (120) and wherein height and color of said segments (120) are pre-stored in a memory element of said controller (106).

9. A method for determining position of an object (102) inside an indoor environment (130), said method comprising the steps of:
receiving a signal (140), for a parameter to be monitored, from at least one sensor (104) mounted on said object (102), characterized by, said signal (140) is received corresponding to a surface (110);
determining said parameter value through said received signal (140), and
identifying position of said object (102) using said parameter value.

10. The method as claimed in claim 9, wherein said surface (110) comprises plurality of segments (120) and is selectable from a group comprising a ceiling, a wall and a floor, and wherein said parameter is at least one selected from a group comprising a distance from said segment (120), a height of said segment (120), a variation of said distance/height when moving under said segments (120), a color of said segment (120) and a color pattern of said segment (120) and wherein said height and color of said segments (120) are pre-stored in a memory element of said controller (106).