KR102009747B1 - Space recognizing method of object through beacon arrangement pattern - Google Patents

Abstract

The present invention relates to a space recognition method of an object through an arrangement pattern of beacons, and more particularly, to a space recognition method of an object passing into a building from a plurality of beacon signals installed in various arrangement patterns in a building. Separate into multiple zones and place multiple beacons in different placement patterns in each zone, receiving beacon signals from the beacons while the object passes through the zone, grouping them to similar beacon values based on changes in the received signal By checking the beacon layout pattern of the area, even if there is no prior information on the building, the beacon layout pattern is diversified to separate the space so that the user can easily recognize the space, and not only a user with a smartphone For space recognition of autonomous vehicles such as drones and robots equipped with BLE communication module It relates to the spatial perception of objects through the arrangement pattern of the beacon that can take advantage of a variety of ways.

Description

Space recognizing method of object through beacon arrangement pattern

The present invention relates to a space recognition method of an object through an arrangement pattern of beacons, and more particularly, to a space recognition method of an object passing into a building from a plurality of beacon signals installed in various arrangement patterns in a building. Separate into multiple zones and place multiple beacons in different placement patterns in each zone, receiving beacon signals from the beacons while the object passes through the zone, grouping them to similar beacon values based on changes in the received signal By checking the beacon layout pattern of the area, even if there is no prior information on the building, the beacon layout pattern is diversified to separate the space so that the user can easily recognize the space, and not only a user with a smartphone For space recognition of autonomous vehicles such as drones and robots equipped with BLE communication module It relates to the spatial perception of objects through the arrangement pattern of the beacon that can take advantage of a variety of ways.

Recently, smartphones are equipped with various communication modules, such as a location recognition module including a global positioning system (GPS), a long term evolution (LTE) Wi-Fi, and a Bluetooth (including Bluetooth, Bluetooth Lower Energy (BLE)).

Since GPS cannot be used indoors, an indoor positioning system utilizing Received Signal Strength Indication (RSSI) of a communication module is used. In addition, as IoT (the Internet of Thing) devices are utilized, various types of location-based services are provided indoors. Especially in large buildings such as hospitals, shopping malls, and complex sports centers where a large number of APs (Access Points) are installed and complex building structures and many people are moving, the indoor positioning system is highly utilized.

In order to solve problems such as inaccuracy, limited number of APs, and excessive energy consumption in the existing Wi-Fi-based indoor positioning system, studies are being actively conducted to reduce installation cost and energy consumption by designing a BLE-based system. .

In fact, some studies have improved the accuracy of 97.22% by tracking the patient's location by installing BLE beacons in hospitals. As such, accuracy is important in indoor positioning systems, so placement of beacons is important.

This is because the deviation of the received signal intensity occurs according to the beacon arrangement and obstacles, and this causes an error in the measured position value. Therefore, researches to find the optimal installation location considering obstacles to secure stable signal strength have been conducted. There are also techniques for correcting the measured position value by generating a radio map.

However, in the conventional techniques as described above, there is a problem that it is difficult to adapt to a situation in which the cost of constructing the initial radio map is high and the installation environment is dynamically changed.

Republic of Korea Patent Registration No. 10-1739007 (registered May 17, 2017)

Accordingly, the present invention has been made in view of the above problems, and an object of the present invention is to provide a space recognition method of an object passing into a building from a plurality of beacon signals installed in various layout patterns in a building. By dividing the space into multiple zones and placing multiple beacons in different layout patterns for each zone, the beacon signals are received from the beacons while the object passes through the zone, but with similar beacon values based on the received signal change values. By grouping and checking the beacon placement pattern of the area, even if there is no prior information on the building, the beacon layout pattern is diversified to diversify the beacon layout pattern so that users can easily recognize the space. It relates to a method of space recognition of an object.

It is another object of the present invention to provide a method for recognizing a space of an object through an arrangement pattern of beacons that can be used in various ways for space recognition of autonomous vehicles such as drones and robots equipped with BLE communication modules as well as users with smartphones. will be.

According to an aspect of the present invention, there is provided a method for recognizing an object through an arrangement pattern of beacons, which is a space recognition method for an object passing into a building from a plurality of beacon signals installed in various arrangement patterns in a building. Separating into a plurality of zones and placing a plurality of beacons in different placement patterns for each zone; Receiving beacon signals from corresponding beacons while the object passes through the area; Measuring change values of a received signal upon passing of the object from the received beacon signals of the corresponding area; And grouping to similar beacon values based on the received signal change values and confirming a beacon arrangement pattern of the corresponding area.

Here, the arrangement pattern of the beacon is preferably in the form of a square, rhombus, double type or a combination thereof.

In addition, the arrangement pattern of the beacons is preferably formed different for each floor of the building.

In addition, the beacon signal is preferably received signal strength (RSSI).

Further, in the step of measuring the change values of the received signal when passing the object, it is preferable to measure the received conversion values when passing through the entry point, 1/3 point, 2/3 point, exit point of the area. Do.

Also, in the step of grouping with a similar beacon value based on the received signal change value, the entry point of the area. It is preferable that a plurality of beacons installed in various patterns measured at 1/3 points, 2/3 points, and exit points are grouped differently at each point.

In addition, the object is preferably a user with a smartphone, a drone equipped with a communication module, or an autonomous mobile body.

As described above, according to the method of space recognition of an object through an arrangement pattern of beacons according to the present invention, in the space recognition method of an object passing through a plurality of beacon signals installed in various layout patterns in a building into a building, the space in the building Is divided into a number of zones and a plurality of beacons are placed in different zones in each zone to receive beacon signals from the beacons while the object passes through the zone, grouping to similar beacon values based on the received signal change values. And by checking the beacon arrangement pattern of the area, there is an effect that the user can easily recognize the space by separating the space by diversifying the beacon arrangement pattern even in the absence of prior information on the building.

In addition, there is an advantage that can be utilized in a variety of space recognition of autonomous vehicles such as drones and robots equipped with BLE communication module as well as users with smartphones.

1 is a schematic configuration diagram of a space recognition system of an object through an arrangement pattern of beacons according to an embodiment of the present invention.
2 is a flowchart of a method for recognizing a space of an object through an arrangement pattern of beacons according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating an example of recognizing a grouping and beacon arrangement pattern of a beacon according to a rectangular arrangement pattern in a space recognition system of an object through an arrangement pattern of beacons according to an embodiment of the present invention.
4A to 4D are diagrams illustrating examples of beacon recognition of grouping and beacon arrangement patterns according to a W arrangement pattern in a space recognition system of an object through an arrangement pattern of beacons according to an embodiment of the present invention.
5A to 5D are diagrams illustrating examples of beacon recognition of grouping and beacon arrangement patterns according to a rhombus arrangement pattern in a spatial recognition system of an object through an arrangement pattern of beacons according to an embodiment of the present invention.

The present invention can be embodied in many other forms without departing from the spirit or main features thereof. Therefore, the embodiments of the present invention are merely examples in all respects and should not be interpreted limitedly.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms.

The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be.

On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, the terms "comprise", "comprise", "have", and the like are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification. Or other features or numbers, steps, operations, components, parts or combinations thereof in any way should not be excluded in advance.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art.

Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and are not construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, the most preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. .

1 is a schematic configuration diagram of a space recognition system of an object through an arrangement pattern of beacons according to an embodiment of the present invention.

First, as shown in FIG. 1, the space recognition system 100 of an object through an arrangement pattern of beacons according to an embodiment of the present invention includes: a plurality of beacons 10 installed in various arrangement patterns in a building; And receiving the beacon signal from the beacons while the object passes through the corresponding area in the building, grouping the similar beacon value based on the received signal change values, and checking the beacon arrangement pattern of the corresponding area. It is made to include.

Here, the object can be applied to moving objects in various spaces, such as a drone equipped with a BLE communication module, an autonomous vehicle such as a robot, as well as a user having a smartphone that can freely move in the space, and the movement in the present invention. It does not limit the kind of object.

The beacons 10 are arranged in a plurality of different arrangement patterns for each zone in a zone divided into a plurality of zones.

The beacon 10 transmits a beacon signal including unique identification information to the signal transmission area, and changes in received signal strength in a specific pattern while passing through a corresponding area in a building of an object receiving the beacon signal. .

The arrangement pattern of the beacon 10 may be a quadrangle, a rhombus, a double type, or a combination thereof, or may be formed differently for each floor of a building.

The space recognition unit 20 of the object receives a beacon signal (received signal strength: RSSI) from the beacons while the object passes through the area, and when the object passes from the beacon signals of the corresponding area received. It measures the change of the received signal.

In addition, the spatial recognition unit 20 of the object performs a grouping of similar beacon values based on the change value of the received signal and checks the beacon arrangement pattern of the corresponding area.

Here, when different arrangement patterns are formed for each floor of a building, it is possible to recognize which floor the building moves through according to recognition of a beacon arrangement pattern according to grouping.

FIG. 2 is a flowchart illustrating a method of recognizing a space of an object through an arrangement pattern of beacons according to an embodiment of the present invention, and the method of recognizing a space of the object will be described with reference to FIG. 1.

As shown in Figure 2, the spatial recognition method of the object through the beacon arrangement pattern according to an embodiment of the present invention, the space recognition method of the object passing through the building from a plurality of beacon signals installed in a variety of arrangement patterns in the building. (Method for positioning), placing a plurality of beacons 10 in the building (S10), receiving a beacon signal while the object passes through the area (S20), upon passing of the object Measuring the change values of the received signal at (S30), and grouping with a similar beacon value and checking the beacon placement pattern (S40).

In the step S10 of arranging a plurality of beacons in the building, the space in the building is divided into a plurality of zones and a plurality of beacons 10 are arranged in different arrangement patterns for each zone.

That is, in the present invention, the beacons are collectively installed in the passage of the building structure, but the present invention divides the specific space into several zones so as not to interfere with each other and arranges the beacons 10 in different patterns in each zone.

The arrangement pattern of the beacon 10 may be a quadrangle, a rhombus, a double type or the like, or a combination thereof, may be formed differently for each floor of a building, and various embodiments will be described below.

Receiving a beacon signal while the object passes through the zone (S20), the received signal strength (Received Signal Strength Indication, RSSI) is a beacon signal from the beacons while the object (drone) passes through the zone; It is received through the space recognition unit 20 of the object.

In step S30 of measuring change values of the received signal when the object passes, the spatial recognition unit 20 receives change values of the received signal when the object passes from the beacon signals of the corresponding area. Measure through

That is, if a beacon is arranged in a different pattern from a different area in a building, a change in received signal intensity occurs in a specific pattern while a moving object receiving the beacon signal passes through the area, and the space recognition unit of the object 20 measures change values of the received signal.

Grouping with the similar beacon value and confirming the beacon arrangement pattern (S40), the space recognition unit 20 of the object grouped to a similar beacon value based on the change value of the received signal and check the beacon arrangement pattern of the area It will be able to recognize the arrangement pattern of the beacons.

Hereinafter, an example of recognizing grouping and beacon arrangement patterns according to various beacon arrangement patterns using a spatial recognition system of an object through the arrangement pattern of beacons according to an embodiment of the present invention will be described.

FIG. 3 is a diagram illustrating an example of recognizing a grouping and beacon arrangement pattern of a beacon according to a rectangular arrangement pattern in a space recognition system of an object through an arrangement pattern of beacons according to an embodiment of the present invention.

That is, as shown in Figure 3, when the beacons are arranged in the form of a square and the user (moving user) moving from left to right in the initial position of the three left and two right beacons of the received signal strength The values are similar, so each of the two groups

After the movement, it can be seen that after moving, two left and three right beacons are grouped, respectively.

In addition, as shown in Table 1 below, when the beacons are arranged in a square, the reception conversion value when passing through the entry point (Entry), 1/3 point, 2/3 point, exit point (Exit) of the area Were measured.

Table 1

As shown in Table 1, when the beacons are arranged in a square, it can be seen that a group (grouping) of a predetermined pattern is generated according to the change in the position of the moving object, and through this, it is confirmed that different spaces can be recognized. .

4A to 4D are diagrams illustrating examples of beacon recognition of grouping and beacon arrangement patterns according to a W arrangement pattern in a space recognition system of an object through an arrangement pattern of beacons according to an embodiment of the present invention.

That is, as shown in Figures 4a to 4d, when the beacon is placed in the W-type, the moving objects (A, B, C, D, respectively) is the entry point (Entry) of the area, 1/3 point, 2 Receive conversion values were measured when passing through the / 3 point and the exit point (Exit).

In this embodiment, the measurement is performed in a free space (for example, an athletic field) free of obstacles, and it is assumed that only one pattern is present in the fault, and the average value is measured 10 times at each A, B, C, and D position. Grouping was used.

First, as shown in FIG. 4A, when the moving object is located at the point A, it is confirmed that the beacon group is grouped into five groups with beacons 1 to 5, wherein the difference between the minimum groups is approximately 0.7 dBm. It was.

Here, the beacon 4 is shown as a result measured to be farther than the beacon 5.

Subsequently, as shown in FIG. 4B, when the moving object is located at the point B, the beacon group is divided into four groups (Group (A) = Beacon 2, Group (B) = Beacon 1,3, Group (C)). = Beacon 4, Group (D) = it was confirmed that the grouping to beacon 5, wherein the difference between the minimum group value is approximately 3.5dBm and the maximum within the same group was 3.5dBm.

Subsequently, as shown in FIG. 4C, when the moving object is located at the point C, the beacon group is divided into four groups (Group (A) = Beacon 4, Group (B) = Beacon 3, 5, Group (C). ) = Beacon 2, Group (D) = beacon group 1) was confirmed, the difference between the minimum group value is approximately 3.5dBm and the maximum within the same group was 3.8dBm.

Finally, as shown in FIG. 4D, when the moving object is located at the point D, it was confirmed that the beacon group is grouped into 5 groups with beacons 1 to 5, wherein the difference between the minimum groups is approximately 4.3. dBm.

As shown in 4a to 4d, when the beacons are arranged in a W-shape, it can be seen that a group (grouping) of a predetermined pattern is generated according to a change in the position of the moving object, and thus different spaces can be recognized. It was confirmed.

5A to 5D are diagrams illustrating examples of beacon recognition of grouping and beacon arrangement patterns according to a rhombus arrangement pattern in a spatial recognition system of an object through an arrangement pattern of beacons according to an embodiment of the present invention.

That is, when the beacons are arranged in a rhombus shape as shown in FIGS. 5A to 5D, moving objects (A, B, C, and D, respectively) are entry points (Entry), 1/3 points, and 2 of the corresponding area. Receive conversion values were measured when passing through the / 3 point and the exit point (Exit).

First, as shown in FIG. 5A, when the moving object is located at the point A, the beacon group has four groups (Group (A) = beacon 1, Group (B) = Beacon 2,4, Group (C)). = Grouping beacon 5, Group (D) = beacon 3), wherein the difference between the minimum group value is approximately 0.2dBm and the maximum difference within the same group was 1.6dBm.

Subsequently, as shown in FIG. 5B, when the moving object is located at the point B, the beacon group is divided into three groups (Group (A) = Beacon 1, 3, Group (B) = Beacon 2, 4, Group ( It was confirmed that grouping with C) = beacon 5), wherein the difference between the minimum group was approximately 5.8 dBm and the difference within the maximum same group was 0.7 dBm.

Subsequently, as shown in FIG. 5C, when the moving object is located at the point C, the beacon group is divided into three groups (Group (A) = beacons 3 and 5, Group (B) = beacons 2 and 4, Group). It was confirmed that (C) = grouped into beacon 1), where the difference between the minimum group values was approximately 5.4 dBm and the difference within the maximum same group was 0.9 dBm.

Finally, as shown in FIG. 5D, when the moving object is located at the point D, the beacon group is divided into four groups (Group (A) = Beacon 5, Group (B) = Beacon 2,4, Group (C). ) = Beacon 1, Group (D) = beacon 3) grouping was confirmed, at this time, the difference between the minimum group value is approximately 2.5dBm and the maximum difference within the same group was 0.2dBm.

As shown in 5a to 5d, when the beacons are arranged in a rhombus shape, a group (grouping) of a predetermined pattern is generated according to the change of the position of the moving object, and thus different spaces can be recognized. It was confirmed.

As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concepts of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

100: spatial recognition system of an object through a beacon's arrangement pattern
10: multiple beacons
20: spatial recognition unit of the object

Claims (8)

A spatial recognition method of an object passing into a building from a plurality of beacon signals installed in various layout patterns in the building,
Separating the space in the building into a plurality of zones and placing a plurality of beacons in different placement patterns for each zone;
Receiving beacon signals from corresponding beacons while the object passes through the area;
Measuring change values of a received signal upon passing of the object from the received beacon signals of the corresponding area; And
Grouping the change values within a predetermined range into a group based on the received signal change values and confirming a beacon arrangement pattern of the corresponding area;
The arrangement pattern of the beacon is characterized in that the rectangular, rhombus, double type or a combination thereof,
In the step of measuring the change of the received signal when passing the object, characterized in that for measuring the received conversion value when passing through the entry point, 1/3 point, 2/3 point, the exit point of the area; ,
Grouping the change values within a predetermined range into a group based on the change values of the received signal. A plurality of beacons installed in various patterns measured at each of the 1/3 point, the 2/3 point, and the exit point are grouped differently at each point.
delete The method of claim 1,
The arrangement pattern of the beacon is a spatial recognition method of the object through the arrangement pattern of the beacon, characterized in that formed differently for each floor of the building.
The method of claim 1,
The beacon signal is a spatial recognition method of the object through the beacon arrangement pattern, characterized in that the received signal strength (RSSI).
delete delete The method of claim 1,
The method of recognizing the space of the object through the arrangement pattern of the beacon, characterized in that in the step of measuring the change value of the received signal when passing the object is measured as the average value of the plurality of received signal change value.
The method of claim 1,
The object is a user having a smart phone, a drone equipped with a communication module, or an autonomous mobile body, characterized in that the spatial recognition of the object through the beacon arrangement pattern.

Images