WO2015199479A1 - 이동체의 자세 인식 장치 및 위치기반 부가 서비스 제공 시스템 - Google Patents
이동체의 자세 인식 장치 및 위치기반 부가 서비스 제공 시스템 Download PDFInfo
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- WO2015199479A1 WO2015199479A1 PCT/KR2015/006528 KR2015006528W WO2015199479A1 WO 2015199479 A1 WO2015199479 A1 WO 2015199479A1 KR 2015006528 W KR2015006528 W KR 2015006528W WO 2015199479 A1 WO2015199479 A1 WO 2015199479A1
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- polarizer
- moving object
- illuminometer
- posture
- transmission axis
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
- G01S2205/02—Indoor
Definitions
- LBS Location Based Service
- the existing location-based services are mainly related to the outdoor localization system, such as positioning technology using GPS and mobile communication network, and positioning technology based on pattern matching algorithm of WLAN signal pattern.
- the present invention can accurately grasp the posture (for example, the direction of attention) of the moving object by using the polarized light characteristics, and the posture recognition device of the mobile body capable of providing a location-based service based on the determined posture of the moving object And to provide a location-based additional service providing system.
- the first polarizing unit and the second polarizing unit which are installed to have a transmission axis difference value between each other, and receives the light emitted from the polarized light source spaced apart from the upper position, respectively; Polarizer; A first illuminometer installed under the first polarizer and a second illuminometer installed under the second polarizer; And an analyzer configured to generate posture information of the moving object by using a detection light change curve for each of the first and second polarizers, and illuminance values measured by the first and second illuminometers, respectively.
- a posture recognition device of a moving object is provided.
- the analyzer may calculate a reference transmission axis difference value ⁇ between the reference polarizer and the first polarizer provided in the polarization light source using the illuminance values measured by the first and second illuminometers, respectively. Can be.
- a phase angle having a phase difference of 180 degrees or less may be selected from the phase angle detected at the nth attitude recognition time.
- the attitude of the mobile body can be accurately determined by using polarized light characteristics, and the location-based service can be provided based on the determined attitude of the mobile body.
- FIG. 1 is a block diagram schematically showing the configuration of a posture recognition device of a moving object according to an embodiment of the present invention.
- FIGS. 2 and 3 are views for explaining a posture recognition technique according to an embodiment of the present invention.
- FIG. 5 is a diagram illustrating a form of providing a location based additional service using a posture recognition device of a moving object according to an embodiment of the present invention.
- ... unit means a unit that processes at least one function or operation, which means hardware or software or hardware and software. It can be implemented as a combination of.
- FIGS. 2 and 3 are diagrams for describing a posture recognition technique according to an embodiment of the present invention. .
- an apparatus for recognizing a posture of a moving object may include a posture recognition unit 100 and a polarization light source 150.
- the polarized light source 150 is a means for irradiating polarized light and may include a polarizer and a light source.
- the polarization light source 150 may be implemented as, for example, a light source body with a polarizing film, a polarization lamp, a light source body with a polarization filter, and the like, and a polarizing unit (ie, for polarization processing) provided with the polarization light source 150.
- a member such as a polarizing film provided) may be referred to as a “reference polarizer” to distinguish it from the first and second polarizers 110 and 115 to be described later.
- the light source may be a luminaire disposed above the indoor space.
- the reference polarizer may be installed such that a transmission axis corresponding to a predetermined orientation (for example, a direction 0 degrees in the north direction) is formed.
- a predetermined orientation for example, a direction 0 degrees in the north direction
- the first polarizer 110 to be described later accurately recognizes the transmission axis difference value with respect to the reference polarizer, it is easy to determine in which direction the moving body is rotated.
- the posture recognition unit 100 may include a first polarizer 110, a second polarizer 115, a first illuminometer 120, a second illuminometer 125, and an analyzer 130.
- the posture recognition unit 100 may be formed or attached to one side of the mobile to recognize the posture of the mobile. However, when the posture recognition unit 100 is provided on one side of the moving object, it is natural that the posture recognition unit 100 is disposed at a position capable of receiving light from the polarization light source 150.
- the term 'posture' in the present specification should be interpreted to include a rotational state of which direction or position the moving object looks at.
- the analysis unit 130 for generating information about a posture of the moving object is included in the posture recognition unit 100 .
- the analysis unit 130 is connected to the posture recognition unit 100 through a communication network. It may be included in a separate device, in this case, the posture recognition unit 100 is a transmission unit for transmitting the illuminance value information measured by the first and second illuminometer (120, 125) to the device including the analysis unit 130 Will be included.
- the first polarizer 110, the second polarizer 115, the first illuminometer 120, the second illuminometer 125, and the analyzer 130 may be used.
- a configuration including a will be referred to as a posture recognition device.
- the first polarizer 110 and the second polarizer 115 are provided to pass or block all or part of the light flowing from the polarized light source 150 according to the set transmission axis. At this time, the first polarizing unit 110 and the second polarizing unit 115 are installed to have a transmission axis difference value by a predetermined angle (for example, ⁇ / 4) of mutually.
- a predetermined angle for example, ⁇ / 4
- the first polarizing unit 110 and the second polarizing unit 115 will function to pass all of the polarized light parallel to the transmission axis installed from the polarization light source 150 to pass through, and the polarization perpendicular to the transmission axis. When light enters it will function to absorb all of them.
- the first polarizer 110 and the second polarizer 115 may be, for example, at least one of a polarizing film, a polarization filter, and the like, as described above.
- the first illuminometer 120 is disposed below the first polarizer 110, and the second illuminometer 125 is disposed below the second polarizer 115, respectively, so that the first polarizer 110 or the first polarizer 110 is disposed.
- the illuminance value obtained by measuring illuminance (illumination) of light passing through the polarizer 115 is calculated.
- the analyzer 130 emits light from the polarized light source 150 and passes through the first polarizer 110 and the second polarizer 115 to measure the illuminance measured by the first illuminometer 120 and the second illuminometer 125.
- the values are used to generate analysis information about the attitude (e.g., direction of attention) of the moving object.
- the attitude recognizing unit 100 may include a detection light change curve according to the first and second polarizers 110 and 115, and a reference polarizer and a first polarizer calculated at each time point to analyze the attitude of the moving object.
- the storage unit may further include a storage unit for storing information about the transmission axis difference value between the (110).
- the first polarizer 110 and the second polarizer 115 are respectively provided to have transmission axis difference values equal to a predetermined ⁇ .
- ⁇ which is a difference between transmission axes between the first and second polarizers 110 and 115, is described as an example of ⁇ / 4 for convenience of description.
- the first polarizer 110 and the second polarizer 115 When the Malus' law is used for each of the first polarizer 110 and the second polarizer 115, the first polarizer is present at the current position and posture of the moving object as shown in Equations 1 to 4 below.
- the transmission axis difference value ⁇ between 110 and the reference polarizer may be calculated.
- Equation 1 representing the Malus' law for each of the first polarizer 110 and the second polarizer 115
- I 11 is an illuminance measurement value before passing through the first polarizer 110.
- I 12 is the illuminance measurement value after passing through the first polarization unit 110 (ie, the illuminance value measured by the first illuminometer 120), and I 21 passes through the second polarization unit 115.
- roughness measurements before, I 22 is a (the illumination values measured by the other words, the second roughness 125) a second measured value of the illuminance after passing through the polarization unit 115.
- the ratio of I 12 and I 22 presented in Equation 1 may be summarized by the equation of tan ⁇ using ⁇ , which is a difference in transmission axis between the first polarizer 110 and the reference polarizer, as shown in Equation 2 below.
- I 21 / which is the ratio of the measured illuminance measured on the upper portions of the first and second polarizers 110 and 115.
- I 11 can be approximated to one.
- the transmission axis difference value ⁇ between the first polarizer 110 and the reference polarizer may be calculated by calculating the ratio of the illuminance measured values after passing through the two polarizers mounted on the moving object as arctan ⁇ . have.
- the curve of change in the amount of light detected by the first illuminometer 120 and the second illuminometer 125 disposed under the first and second polarizers 110 and 115 attached to the moving body is plotted by the law of Malus. It can be expressed as 3.
- the light amount change curve illustrated in FIG. 3 illustrates a case where the first and second polarizers 110 and 115 are installed to have a transmission axis difference value of ⁇ / 4.
- the change curve of the amount of light ideally has a maximum light amount Imax at a rotation angle of 0 degrees and 180 degrees when the transmission axis of the first polarization part 110 is parallel to the reference polarization part, and each transmission axis is orthogonal to each other. It is a cosine waveform having a minimum amount of light Imin at rotation angles of 90 degrees and 270 degrees, and has a period of pi.
- the first intersection group of the light intensity change curve 310 of the first polarizer 110 and the illuminance value 330 measured by the first illuminometer 120 at a specific point in time has four intersections (that is, a, b, and c). , d), and the second intersection group of the light intensity change curve 320 of the second polarizer 115 and the illuminance value 340 measured by the second illuminometer 125 at a specific time point is also four intersection points ( That is, e, f, g, h).
- the posture recognition unit 100 uses the same polarization phases (ie, ⁇ 1 and ⁇ 2 ) by installing and using two polarization units, the first polarization unit 110 and the second polarization unit 115.
- the intersections in the two light intensity curves are reduced to two (ie, a and e, c and g), and the two intersections have an angular difference of ⁇ .
- the moving body suddenly does not suddenly change direction by more than ⁇ (that is, 180 degrees)
- the moving object may be recognized in which direction by which angle as the difference from the previous transmission axis difference value.
- the transmission axis difference value calculated at the next time point is ⁇ 1 is 40 degrees and ⁇ 2 is ( If it is calculated as ⁇ + 40 degrees) can be recognized that the transmission axis difference value at that time is 40 degrees, the analysis unit 130 may recognize that the moving object rotated by 30 degrees clockwise.
- the transmission axis difference value calculated at each time point or the previous time point may be stored and managed in a storage unit (not shown) in order to calculate the rotation angle change amount at the time point recognition time point.
- the attitude recognition unit 100 calculates and stores a reference transmission axis difference value ⁇ between the reference polarizer and the first polarizer 110.
- the reference transmission axis difference value between the reference polarizer and the first polarizer 110 may be calculated with reference to Equations 1 to 4 described above. If the transmission axis of the reference polarizer is installed so as to correspond to a predetermined orientation, it can be easily interpreted in which direction the moving object is currently looking by using the reference transmission axis difference value.
- the posture recognition unit 100 may use the first polarization unit (eg, light transmission characteristics of the first and second polarizers 110 and 115) to receive the light emitted from the polarization light source 150. 110 and a detection light change curve for each of the second polarizer 115 is generated and stored.
- first polarization unit eg, light transmission characteristics of the first and second polarizers 110 and 115
- the posture recognition unit 100 has an intersection of intersections between illuminance values measured by the first illuminometer 120 and the second illuminometer 125 and the detection light change curve generated in step 410 at the present time.
- a plurality of candidate transmission axis difference values corresponding to the phase angles are calculated.
- the posture recognition unit 100 may include a reference transmission axis difference value (ie, the reference transmission axis difference value calculated in step 410 or a candidate previously selected in the previous posture recognition process) among the plurality of candidate transmission axis difference values calculated.
- the transmission axis difference value) and a candidate transmission axis difference value having a phase difference within 180 degrees are selected and stored.
- the attitude recognition unit 100 In operation 440, the attitude recognition unit 100 generates rotation information (eg, rotation direction and rotation angle) of the moving object using the phase difference between the candidate transmission axis difference value and the reference transmission axis difference value selected in step 430. .
- rotation information eg, rotation direction and rotation angle
- FIG. 5 is a diagram illustrating a form of providing a location based additional service using a posture recognition device of a moving object according to an embodiment of the present invention.
- FIG. 5 illustrates a location-based additional service that is an exhibition introduction service corresponding to a viewing direction of a visitor who visits an exhibition hall, and the posture recognition unit 100 is attached to an upper surface of a hat worn by a visitor as an example. Drawing.
- the indoor location system 510 for specifying the location of the visitor for providing the location-based supplementary service for the visitor, and the visitor location and posture recognition unit specified by the indoor location system 510.
- the guide system 520 may be provided to provide the visitor with additional service information corresponding to the posture (for example, the gaze direction) of the visitor specified by the 100.
- the guidance system 520 has a database in which location-based information is provided to the visitor in accordance with the visitor's geographical position and attitude information, and the geographical position information and the attitude information from the indoor positioning system 510 and the attitude recognition unit 100 are provided. Receives and transmits the corresponding location-based information to the visitor.
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Abstract
Description
Claims (10)
- 이동체의 자세 인식 장치에 있어서,상호간에 투과축 차이값을 가지도록 설치되고, 상부 위치에 이격 설치된 편광 광원으로부터 발산되는 빛을 각각 유입받는 제1 편광부와 제2 편광부;상기 제1 편광부의 하부에 설치되는 제1 조도계와 상기 제2 편광부의 하부에 설치되는 제2 조도계; 및상기 제1 편광부 및 상기 제2 편광부 각각에 대한 검출광 변화곡선 및 상기 제1 조도계 및 상기 제2 조도계 각각에 의해 측정된 조도값을 이용하여 상기 이동체의 자세 정보를 생성하는 해석부를 포함하는 이동체의 자세 인식 장치.
- 제1항에 있어서,상기 해석부는 상기 제1 조도계 및 상기 제2 조도계 각각에 의해 측정된 조도값을 이용하여 상기 편광 광원에 구비된 기준 편광부와 상기 제1 편광부와의 기준 투과축 차이값(Φ)을 산출하는 것을 특징으로 하는 이동체의 자세 인식 장치.
- 제2항에 있어서,상기 기준 편광부의 투과축이 미리 지정된 방향에 부합되도록 설치된 경우, 상기 해석부는 상기 기준 투과축 차이값을 이용하여 상기 이동체의 주시 방향을 인식하는 것을 특징으로 하는 이동체의 자세 인식 장치.
- 제1항에 있어서,상기 해석부는, n+1번째(여기서, n은 임의의 자연수) 자세 인식 시점에서 상기 제1 조도계에 따른 조도값과 상기 제1 편광부에 따른 검출광 변화곡선이 교차하는 교점들 중 하나 이상과 상기 제2 조도계에 따른 조도값과 상기 제2 편광부에 따른 검출광 변화곡선이 교차하는 교점들 중 하나 이상이 공통적으로 위치하는 위상각을 검출하고, 검출된 위상각을 n번째 자세 인식 시점에서 검출된 위상각과 대비하여 상기 이동체의 회전 정보를 생성하는 것을 특징으로 하는 이동체의 자세 인식 장치.
- 제4항에 있어서,상기 n+1번째 자세 인식 시점에서 복수의 위상각이 검출된 경우, n번째 자세 인식 시점에서 검출된 위상각과 180도 이하의 위상차를 가지는 위상각을 선택하는 것을 특징으로 하는 이동체의 자세 인식 장치.
- 이동체의 위치기반 부가 서비스 시스템에 있어서,이동체의 자세 정보를 생성하는 자세 인식 장치;실내 공간 내에서 상기 이동체의 지리적 위치에 관한 위치 정보를 생성하는 실내측위 시스템; 및상기 자세 정보 및 상기 위치 정보에 부합되는 미리 지정된 위치기반 정보를 상기 이동체에 제공하는 부가 서비스 장치를 포함하되,상기 자세 인식 장치는,상호간에 투과축 차이값을 가지도록 설치되고, 상부 위치에 이격 설치된 편광 광원으로부터 발산되는 빛을 유입받는 제1 편광부와 제2 편광부;상기 제1 편광부의 하부에 설치되는 제1 조도계와 상기 제2 편광부의 하부에 설치되는 제2 조도계; 및상기 제1 편광부 및 상기 제2 편광부 각각에 대한 검출광 변화곡선 및 상기 제1 조도계 및 상기 제2 조도계 각각에 의해 측정된 조도값을 이용하여 상기 이동체의 자세 정보를 생성하는 해석부를 포함하는 것을 특징으로 하는 이동체의 위치기반 부가 서비스 시스템.
- 제6항에 있어서,상기 해석부는 상기 제1 조도계 및 상기 제2 조도계 각각에 의해 측정된 조도값을 이용하여 상기 편광 광원에 구비된 기준 편광부와 상기 제1 편광부와의 기준 투과축 차이값(Φ)을 산출하는 것을 특징으로 하는 이동체의 위치기반 부가 서비스 시스템.
- 제7항에 있어서,상기 기준 편광부의 투과축이 미리 지정된 방향에 부합되도록 설치된 경우, 상기 해석부는 상기 기준 투과축 차이값을 이용하여 상기 이동체의 주시 방향을 인식하는 것을 특징으로 하는 이동체의 위치기반 부가 서비스 시스템.
- 제6항에 있어서,상기 해석부는, n+1번째(여기서, n은 임의의 자연수) 자세 인식 시점에서 상기 제1 조도계에 따른 조도값과 상기 제1 편광부에 따른 검출광 변화곡선이 교차하는 교점들 중 하나 이상과 상기 제2 조도계에 따른 조도값과 상기 제2 편광부에 따른 검출광 변화곡선이 교차하는 교점들 중 하나 이상이 공통적으로 위치하는 위상각을 검출하고, 검출된 위상각을 n번째 자세 인식 시점에서 검출된 위상각과 대비하여 상기 이동체의 회전 정보를 생성하는 것을 특징으로 하는 이동체의 위치기반 부가 서비스 시스템.
- 제9항에 있어서,상기 n+1번째 자세 인식 시점에서 복수의 위상각이 검출된 경우, n번째 자세 인식 시점에서 검출된 위상각과 180도 이하의 위상차를 가지는 위상각을 선택하는 것을 특징으로 하는 이동체의 위치기반 부가 서비스 시스템.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201580026237.XA CN106461370B (zh) | 2014-06-27 | 2015-06-26 | 移动体的姿势识别装置以及基于位置的附加服务提供系统 |
JP2017512623A JP2017518513A (ja) | 2014-06-27 | 2015-06-26 | 移動体の姿勢認識装置及び位置基盤付加サービス提供システム |
US15/383,063 US10215839B2 (en) | 2014-06-27 | 2016-12-19 | Pose detection device of movable body and location-based supplemental service providing system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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KR1020140079934A KR101542947B1 (ko) | 2014-06-27 | 2014-06-27 | 이동체의 자세 인식 장치 및 위치기반 부가 서비스 제공 시스템 |
KR10-2014-0079934 | 2014-06-27 |
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US10186078B2 (en) * | 2014-11-28 | 2019-01-22 | Polariant, Inc. | System and method of recognizing indoor location of moving object |
KR101618795B1 (ko) * | 2014-11-28 | 2016-05-12 | 주식회사 폴라리언트 | 이동체의 3차원 자세 및 위치 인식 장치 |
WO2018205159A1 (zh) * | 2017-05-10 | 2018-11-15 | 深圳市大疆创新科技有限公司 | 运动识别方法、便携式设备、机器可读存储介质 |
JP2019107939A (ja) * | 2017-12-15 | 2019-07-04 | 株式会社オートネットワーク技術研究所 | 照度調整装置、照度調整方法及びコンピュータプログラム |
CN112444245B (zh) * | 2020-11-17 | 2023-06-09 | 大连理工大学 | 一种基于偏振光、光流矢量、双目视觉传感器的仿昆虫视觉组合导航方法 |
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