KR20160059094A - Indoor location sensing system - Google Patents

Abstract

Disclosed in the present invention is an indoor location detecting system. According to the present invention, the indoor location detecting system comprises: a wearable device to measure direction information and distance information in accordance with a movement of a user indoors; and an administrator device to receive the measured direction information and distance information, and to calculate location information of the user indoors at a current point of time based on the received direction information, distance information, and the saved modeling data on the building where the user is located. The present invention provides an indoor location detecting system to perform modeling of external wall information of a building based on the ground plan of an actual building; and to calculate the current location information of the user based on the external wall information, whose modeling is conducted, and the sensing value measured from the user in the pertinent building.

Description

[0001] INDOOR LOCATION SENSING SYSTEM [0002]

Field of the Invention The present invention relates to a position recognition technique, and more particularly, to a system for recognizing a position in a room.

In recent years, with the rapid development of wireless communication technology, attention has been paid to a location based service (LBS), which is one of core technologies of ubiquitous computing. Positioning technology, a core technology of location - based services, is widely used for GPS positioning in outdoor environments.

However, since it is difficult to apply GPS in an indoor environment, a new positioning technique is required.

Particularly, in order to recognize the position in the room, a method using a short distance wireless communication such as WIFI or a position recognition method using an inertial sensor and an image processing of a ceiling area are widely used.

However, such position recognition methods have limitations in accuracy, cumulative error, and constraints on the movement of the trainee for use in specific training in the room.

Accordingly, an object of the present invention is to model outer wall information of a building based on a floor plan of an actual building, And the location information of the current user is calculated by the user.

However, the objects of the present invention are not limited to those mentioned above, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided an indoor location recognition system including: a wearable device for measuring direction information and distance information according to movement of a user in a room; And a controller for calculating the location information of the user in the room based on the direction information and the distance information and the pre-stored modeling data for the building in which the user is located, . ≪ / RTI >

Preferably, the wearable device is equipment worn on the user's head, and measures direction information and distance information of the user's gaze according to the movement of the user.

Preferably, the manager device sets an initial position and an initial direction of the user if the direction information and the distance information provided are the first measured information, and determines whether or not the extension line of the user's gaze, And calculating an intersection point with an outer wall segment of the building.

Preferably, if the direction information and the distance information provided are not the first measured information, the manager apparatus calculates the current position information of the user based on the provided distance information and at least two intersections calculated in the previous period .

Preferably, when the manager calculates the local location information of the user, the manager calculates an intersection between the extension line of the user's gaze and the exterior wall segment of the building based on the calculated current location information of the user and the provided direction information .

According to another aspect of the present invention, there is provided an indoor location recognition system including: a communication unit for receiving direction information and distance information measured in accordance with a movement of a user in a room; And a controller for calculating the location information of the user in the room based on the received direction information and the distance information and the direction information and the distance information provided and the modeling data preliminarily stored in the building where the user is located, . ≪ / RTI >

Preferably, the communication unit receives direction information and distance information of the user's gaze measured according to the movement of the user from wearable equipment worn on the user's head.

Preferably, the control unit sets the initial position and the initial direction of the user if the direction information and the distance information provided are the first measured information, and based on the set initial position and the initial direction, And an intersection between the outer wall segment and the outer wall segment.

Preferably, if the direction information and the distance information provided are not the first measured information, the controller calculates the current position information of the user based on the provided at least two intersection points calculated in the previous period and the provided distance information .

Preferably, the controller calculates the intersection point between the extension line of the user's gaze and the exterior wall segment of the building based on the calculated current location information of the user and the provided direction information, when the local location information of the user is calculated .

Accordingly, the present invention models exterior wall information of a building based on a floor plan of an actual building, and calculates position information of a current user based on the modeled outer wall information and a sensing value measured by a user in the building, It is possible to accurately recognize the position in the room.

In addition, since it is possible to accurately recognize the position in the room by using the outer wall information of the building, the present invention can be applied to various training in the room.

1 is a view illustrating an indoor location recognition system according to an embodiment of the present invention.
2A and 2B are views for explaining the principle of generating modeling data according to an embodiment of the present invention.
3 is a view showing a detailed configuration of a wearable apparatus according to an embodiment of the present invention.
4 is a block diagram showing a detailed configuration of a manager apparatus according to an embodiment of the present invention.
5 is a first diagram illustrating a process of calculating a location of a user according to an embodiment of the present invention.
FIG. 6 is a second diagram illustrating a process of calculating a location of a user according to an embodiment of the present invention.
FIG. 7 is a third diagram illustrating a process of calculating a location of a user according to an embodiment of the present invention.
FIG. 8 is a fourth diagram illustrating a process of calculating a location of a user according to an embodiment of the present invention. Referring to FIG.

Hereinafter, an indoor location recognition system according to an embodiment of the present invention will be described with reference to the accompanying drawings. The present invention will be described in detail with reference to the portions necessary for understanding the operation and operation according to the present invention.

In describing the constituent elements of the present invention, the same reference numerals may be given to constituent elements having the same name, and the same reference numerals may be given thereto even though they are different from each other. However, even in such a case, it does not mean that the corresponding component has different functions according to the embodiment, or does not mean that the different components have the same function. It should be judged based on the description of each component in the example.

In particular, in the present invention, a new method for modeling outer wall information for a building based on a floor plan of an actual building, and calculating location information of the current user based on the modeled outer wall information and a sensing value measured from a user in the building .

1 is a view illustrating an indoor location recognition system according to an embodiment of the present invention.

As shown in FIG. 1, the system for recognizing the indoor position according to the present invention may include a wearable device 100 and a manager device 200 interlocked with the wired / wireless device.

The wearable device 100 is equipment worn by a user and can provide direction information and distance information measured by measuring direction information and distance information according to the movement of the user in the room.

At this time, the wearable apparatus 100 is worn on the head of the user, and measures direction information and distance information of the user's gaze according to the movement of the user in the room.

The manager device 200 can generate and manage the modeling data as a result of modeling the exterior wall information about the building in which the user is located before recognizing the location.

2A and 2B are views for explaining the principle of generating modeling data according to an embodiment of the present invention.

Referring to FIGS. 2A and 2B, when training is performed in an indoor environment, outer wall information of a building is mathematically modeled using a linear equation based on actual design drawings such as a floor plan of the building, Modeling data can be generated.

For example, A, B, C, D, E, and F can be obtained as six straight line equations expressing the outer wall segment as a result of modeling the outer wall segment of a building as a linear equation.

The manager device 200 receives direction information and distance information from the wearable device 100, and based on the received direction information, distance information, and pre-stored modeling data about the building in which the user is located, Can be calculated.

3 is a view showing a detailed configuration of a wearable apparatus according to an embodiment of the present invention.

3, the wearable apparatus 100 according to the present invention includes a sensor unit 110, a control unit 120, and a communication unit 130, which are worn on a user's head.

The sensor unit 110 may include a distance measurement sensor for measuring distance information and a direction recognition sensor for measuring direction information, such as a gyro sensor and a geomagnetic sensor.

The control unit 120 drives the sensor unit 110 when a specific training is started in the room, collects distance information and direction information periodically measured from the driven sensor unit 110, Through the communication unit 130.

At this time, the user's initial position and initial azimuth angle can be set at the start of the training.

The communication unit 130 is capable of transmitting and receiving various kinds of information in cooperation with wired / wireless communication with the manager device. For example, the communication unit 130 can transmit the distance information and the direction information to the manager apparatus.

4 is a block diagram showing a detailed configuration of a manager apparatus according to an embodiment of the present invention.

4, the manager device 200 according to the present invention may include a communication unit 210, an input unit 220, a control unit 230, a display unit 240, and a storage unit 250.

The communication unit 210 can transmit / receive various information in cooperation with a wearable device in a wired / wireless connection. For example, the communication unit 210 can receive distance information and direction information from the wearable device.

The input unit 220 can receive information according to a user's key or menu operation. For example, the input unit 220 may receive information for indicating the start or end of a specific training in the room or information for driving the indoor location recognition application.

The control unit 230 may calculate the location information of the user at the current time based on the received direction information, the distance information, and the modeling data pre-stored in the building where the user is located.

At this time, if the received direction information and the distance information are the first measured information, the controller 230 sets the initial position and the initial direction of the user, and based on the set initial position and the initial direction, And the intersection of the two points.

Also, if the information is not the first measured information, the controller 230 calculates the current position information of the user as at least two intersections calculated in the previous period and the provided distance information, Based on the information, the point of intersection of the line of sight of the user and the outer wall segment is calculated and used in the next cycle.

The display unit 240 may display the current location of the user on the floor plan of the building.

The storage unit 250 may store modeling data modeling the exterior wall information for the building. For example, the storage unit 250 may store a plurality of straight line equations calculated according to mathematical modeling.

The process of calculating the position of the user will be described in detail with reference to FIGS. 5 to 7. FIG.

FIG. 5 is a first diagram for explaining a process of calculating a location of a user according to an embodiment of the present invention. FIG. 6 is a second diagram illustrating a process of calculating a location of a user according to an embodiment of the present invention, FIG. 7 is a third diagram for explaining a process of calculating a location of a user according to an embodiment of the present invention. FIG. 8 is a fourth diagram illustrating a process of calculating a location of a user according to an embodiment of the present invention.

5, the controller 230 may set the user's initial position (x ₀ , y ₀ ) and the initial azimuth angle (0 °, 90 °) based on the direction information and distance information that are initially received.

Referring to FIG. 6, the controller 230 may obtain an intersection between an extension line of the user's gaze and an outer wall segment based on periodic direction information, distance information, and pre-stored modeling data.

At this time, assuming that the intersection (x, y) is the position of the user (x _t , y _t ), the equation of the straight line representing the direction of the user's gaze can be expressed by the following equation (1).

[Equation 1]

y = tan (90? -?) (xx _t ) + y _t

For example, if Θ = 0˚ and x _t = 1 and y _t = 1, the intersection of the extension line of the user's line of sight and the outer wall line segment E is (1.0, 7.5) is obtained.

In the same manner, (10, 1) is obtained at the intersection with the line segment B when? = 90 占.

Referring to FIG. 7, the next position (x _{t +1} , y _{t +1} ) of the user can be calculated based on the obtained two or more intersection points and the received distance information. Assuming here that the intersection 1 (a ₁ , b ₁ ) and the intersection 2 (a ₂ , b ₂ ), the next position of the user can be expressed by the following equation (2).

&Quot; (2) "

(x _{t +1} - a ₁ ) ² + (y _{t +1} - b ₁ ) ² = d ₁ ²

(x _{t +1} - a ₂ ) ² + (y _{t +1} - b ₂ ) ² = d ₂ ²

For example, if the user moves along the x-axis to measure d ₁ = 6.5 and d ₂ = 8.5, x _{t +1} = 1.500 and y _{t +1} = 1.019 are obtained using the above equation (2) .

That is, in the present invention, the position of the user is estimated at the current time based on the intersection calculated at the previous time t and the distance information measured at the current time t + 1.

In this way, the present invention estimates the position of the user. As the measurement period of the sensor increases, the user position (x _t , y _t ) at time t and the user position (x _{t + 1} , y _{t +1} ) can be minimized to minimize the error, and since each distance measurement value does not have an accumulated error, an error due to the cumulative error can be detected and processed.

In this case, if the user's head twist occurs, it is difficult to accurately measure the distance from the actual outer wall. Therefore, the distance from the outer wall must be corrected in consideration of the error.

Referring to FIG. 8, when a user's head twist occurs, a shed angle φ with respect to a parallel axis is measured based on a gyro sensor, and a distance D from the actual outer wall can be calculated based on the measured rotation angle. (3) " (3) "

&Quot; (3) "

D = D 'x cos?

Also, in the present invention, intersection points between the outer wall information and extension lines to a plurality of azimuth directions can be obtained, and the same position as the distance measurement value measured by the sensor can be estimated as the current position.

It is to be understood that the present invention is not limited to these embodiments, and all of the elements constituting the embodiments of the present invention described above are described as being combined or operated together. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer-readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer, thereby implementing embodiments of the present invention. As the storage medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, or the like may be included.

While the invention has been shown and described with reference to certain embodiments thereof, it will be apparent to those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: Wearable device
200: manager device

Claims (10)

A wearable device for measuring direction information and distance information according to user's movements in the room; And
A controller for calculating the location information of the user in the room based on the direction information and the distance information received from the measured direction information and the distance information and the modeling data preliminarily stored in the building where the user is located;
The indoor location recognition system comprising: The method according to claim 1,
The wearable device comprises:
And the direction information and the distance information of the user's gaze are measured according to the movement of the user as equipment worn on the head of the user. The method according to claim 1,
Wherein the manager device comprises:
If the direction information and the distance information provided are the first measured information, the initial position and the initial direction of the user are set,
And calculates an intersection between an extension line of the user's gaze and an outer wall segment of the building based on the set initial position and the initial direction. The method according to claim 1,
Wherein the manager device comprises:
And calculates the current location information of the user based on the provided distance information and at least two intersection points calculated in the previous period and the distance information if the direction information and the distance information provided are not the first measured information. Recognition system. 5. The method of claim 4,
Wherein the manager device comprises:
And calculating an intersection point between an extension line of the user's gaze and an outer wall segment of the building based on the calculated current position information of the user and the provided direction information when the user's local position information is calculated, system. A communication unit for receiving direction information and distance information measured in accordance with movement of a user in a room; And
A controller for calculating the location information of the user in the room based on the received direction information and the received direction information and the distance information and the pre-stored modeling data for the building in which the user is located;
The indoor location recognition system comprising: The method according to claim 6,
Wherein,
And direction information and distance information of the user's gaze measured according to a user's movement are received from wearable equipment worn on the user's head. The method according to claim 6,
Wherein,
If the direction information and the distance information provided are the first measured information, the initial position and the initial direction of the user are set,
And calculates an intersection between an extension line of the user's gaze and an outer wall segment of the building based on the set initial position and the initial direction. The method according to claim 6,
Wherein,
And calculates the current location information of the user based on the provided distance information and at least two intersection points calculated in the previous period and the distance information if the direction information and the distance information provided are not the first measured information. Recognition system. 10. The method of claim 9,
Wherein,
And calculating an intersection point between an extension line of the user's gaze and an outer wall segment of the building based on the calculated current position information of the user and the provided direction information when the user's local position information is calculated, system.

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