CN103591958A - Intelligent spectacle based worker navigation system and method - Google Patents
Intelligent spectacle based worker navigation system and method Download PDFInfo
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- CN103591958A CN103591958A CN201310561439.7A CN201310561439A CN103591958A CN 103591958 A CN103591958 A CN 103591958A CN 201310561439 A CN201310561439 A CN 201310561439A CN 103591958 A CN103591958 A CN 103591958A
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
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Abstract
The invention provides an intelligent spectacle based worker navigation system and method. The method comprises the following steps: S1, a sensor unit is adopted to acquire user position information, and the acquired user position information is subjected to positioning calibration by a positioning unit; S2, position information of other correlated users is acquired by a communication unit; S3, position information of different users is input in a navigation calculating unit, and navigation paths between the user positions are calculated according to indoor map information of a memory unit; and S4, each correlated user adopts an indicating unit to perform real-time path navigation. Through introduction of intelligent spectacles, the whole navigation system structure is simplified, the cost is reduced, and moreover, real-time navigation can be conveniently and rapidly performed on more than two workers in an active state.
Description
Technical field
The present invention relates to airmanship, relate in particular to a kind of personnel's navigational system and method based on intelligent glasses.
Background technology
In navigation field, current outdoor airmanship is mainly by GPS, to realize accurately location to navigate, and its precision is greatly between 5-20 rice, and while using movable signal location, precision is poor and can be faced with the problem of confidentiality.When using navigation, GPS is mainly used in the location to fixed target, does not possess the function of user interactions.Thereby during indoor navigation, use satellite-signal can face larger signal attenuation and cause locating out of true, and the relevant shared airmanship in real-time location is not realized in the field of conventional use wireless location technology, normally used is that radio communication or the intensity matching by signal hot spot networks position, and is mainly used in fixedly destination navigation.
The exploitation of intelligent glasses now enters a new stage, intelligent glasses is having advantageous advantage in navigation field: 1. intelligent glasses shows that by having an X-rayed eyeglass carries out the demonstration of navigation information in the situation that of making not affect real perception, 2. intelligent glasses has the operating system of oneself, can carry out the real time tasks such as some wisdom computings, realization works alone, 3. intelligent glasses can be by getting involved the existing real-time communication function of network implementation, be convenient to network interaction, 4. intelligent glasses is worn on eyes, conveniently carries out iris recognition and carries out authentication.
Seldom use in the market special-purpose indoor missing formula navigation positioning system, just by broadcast, carry out indicative searching, result of use is usually uncertain, the inapplicable and large-scale more complicated place of building structure.Chinese patent CN201110421695.7 mentions the identification label that uses twireless radio-frequency communication to read specific device, the location for the treatment of searcher, and by recognition of face, carry out corresponding identity validation, convenient personnel positioning and search in large-scale place.
In current large-scale place, when generation need to be found personnel's situation (as child wanders away, visit personnel cooperate with the personnel that lose, find other laboratories etc.), can use broadcast system to carry out missing at information desk, because region, place is larger or when a riot of sound, broadcast system sound probably can not clearly be passed on, and broadcast system may increase the noise pollution of indoor environment.
The scheme that Chinese patent CN201110421695.7 mentions has following shortcoming: 1. need in the whole interior space, lay radio frequency communication network, to realize the orientation problem for the treatment of searcher, cost is higher; 2. treat that searcher must wear RF identification label, this label must be that indoor radio frequency network can be identified and distinguish with other labels; Thereby 3. must have flourishing monitoring arrangement in market, can gather in time facial image and carry out personal identification, cost is high, and personnel's complex environment may not effectively be worked; 4. there is no subsidiary communications, by searcher, may do not known that searcher is searching, may cause search to become complicated because of continuous shift position, system effectiveness be lower; 5. by searcher, can not be known in time searcher's position, may cause personnel's emotional instability, produce puzzlement.
Summary of the invention
The object of the present invention is to provide a kind of personnel's navigational system and method based on intelligent glasses, can conveniently realize two above all personnel in active state and carry out real-time navigation.
In order to achieve the above object, the invention provides a kind of personnel's navigational system based on intelligent glasses, comprise the control module of above each unit of communication unit, storage unit, sensor unit, positioning unit, navigation computing unit, indicating member and connection and control;
Described communication unit, for obtaining indoor cartographic information and externally communicating;
Described storage unit, for cartographic information in locker room and user profile;
Described sensor unit, comprises direction sensor and acceleration transducer, for obtaining user's positional information;
Described positioning unit, positions calibration for the positional information to user, and user's positioning result is fed back to navigation computing unit;
Described navigation computing unit, for inputting the positional information of different user, and calculates the guidance path between each customer location according to the indoor cartographic information of storage unit;
Described indicating member, is used to indicate guidance path.
Preferably, described direction sensor comprises horizontal direction sensor and vertical angular transducer, and described acceleration transducer comprises horizontal acceleration sensor and vertical acceleration transducer; Wherein, described vertical acceleration transducer is for measuring the real-time height of user's glasses, described vertical angular transducer is for obtaining the projecting direction of user's glasses and the angle of level ground, and described horizontal acceleration sensor and horizontal direction sensor are for obtaining the positional information of user on indoor map.
Preferably, described indicating member comprises display unit and/or voice unit, and described display unit is for show navigator path, and described voice unit is for carrying out voice message to guidance path.
Preferably, also comprise data processing unit, the real-time matching that its method by geometric projection is carried out described guidance path and reality scene covers.
Preferably, also comprise image unit, for taking, need the video information of transmission and the iris feature of recording user.
Preferably, also comprise the service network system that coordinates intelligent glasses to use, described service network unit comprises communication network, some anchor points and server, and the auxiliary intelligent glasses of described anchor point carries out personnel positioning, described server stores has indoor map, for transferring to intelligent glasses.
Preferably, described each anchor point has the radio characteristics code of oneself.
In order to realize object of the present invention, also disclosed a kind of personnel's air navigation aid based on intelligent glasses, comprise the steps:
S1, employing sensor unit obtain user's positional information, and by positioning unit, obtained customer position information are positioned to calibration;
S2, by communication unit, obtain the positional information of other associated users;
S3, in navigation, input the positional information of different user in computing unit, and calculate the guidance path between each customer location according to the indoor cartographic information of storage unit;
S4, each associated user adopt indicating member to carry out real-time route navigation.
Preferably, described sensor unit comprises direction sensor and acceleration transducer, and described direction sensor comprises horizontal direction sensor and vertical angular transducer, and described acceleration transducer comprises horizontal acceleration sensor and vertical acceleration transducer; Wherein, described vertical acceleration transducer is for measuring the real-time height of user's glasses, described vertical angular transducer is for obtaining the projecting direction of user's glasses and the angle of level ground, and described horizontal acceleration sensor and horizontal direction sensor are for obtaining the positional information of user on indoor map.
Preferably, described indicating member comprises display unit and/or voice unit, and described display unit is for show navigator path, and described voice unit is for carrying out voice message to guidance path.
Personnel's navigational system of the present invention and method have the following advantages: 1., by introducing intelligent glasses, not only simplified whole person finding system, reduced system and set up cost; 2. the terminal device of holding has versatility, can avoid carrying of useless equipment to make people produce conflict psychology and repellency; 3. the present invention can realize the position information share of searching people and being searched people and guidance path is provided; 4. the present invention can realize searcher and by searcher's information interaction (voice messaging, Word message, video information); 5. the present invention can conveniently confirm searcher's identity, does not need additionally to make a video recording first-class equipment (iris recognition).
Accompanying drawing explanation
Fig. 1 is the system schematic of the present invention staff's navigational system;
Fig. 2 is the process flow diagram of the present invention staff's air navigation aid.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment, the present invention is described in further detail.
Please refer to Fig. 1, the present invention relates to a kind of personnel's navigational system 100 based on intelligent glasses, comprise communication unit 20, storage unit 30, sensor unit 40, positioning unit 50, navigation computing unit 60, indicating member 70 and the control module 80 that connects and control above each unit.In the present embodiment, above each system unit is all integrated in intelligent glasses.
Described intelligent glasses be a kind of can Clairvoyant type intelligent glasses, when user puts on after this intelligent glasses, ambient visible light can see through the eyeglass of intelligent glasses, user's eyes can normally be seen the environment of surrounding.Meanwhile, intelligent glasses can be superimposed upon some image informations on people's the true visual field.
Described communication unit 20, utilizes wireless network obtain indoor cartographic information and externally communicate.Described indoor map can upgrade accordingly according to actual needs (as carried out shutoff or subregion sealing etc. due to reasons such as transformations in part path), this kind upgrades function opening to corresponding management person, during renewal, can send on intelligent glasses by forms such as note, mails, prompting user carries out in time map and upgrades.
Described storage unit 30, for cartographic information in locker room and user profile or navigation information.Specifically, indoor map mainly comprises two-dimentional indoor map and three-dimensional indoor map, the indoor map of described two dimension is mainly to generate according to architectural CAD drawing, and three-dimensional indoor map needs professional person to use professional software (ArcGIS etc.) to carry out 3 D rendering.The present invention needs according to personnel's navigational system 100, adopts two-dimentional indoor map.In addition, the user profile of described storage can be iris information of user etc.
Described sensor unit 40, comprises direction sensor (not shown) and acceleration transducer (not shown), for obtaining user's positional information.Described direction sensor comprises horizontal direction sensor and vertical angular transducer, and described acceleration transducer comprises horizontal acceleration sensor and vertical acceleration transducer; Wherein, described vertical acceleration transducer is for measuring the real-time height of user's glasses, described vertical angular transducer is for obtaining the projecting direction of user's glasses and the angle of level ground, and described horizontal acceleration sensor and horizontal direction sensor are for obtaining the positional information of user on indoor map.In addition, alignment sensor unit can also be acceleration transducer and gyrostatic combination.
Described positioning unit 50, positions calibration for the positional information to user, and user's positioning result is fed back to navigation computing unit 60.
Described navigation computing unit 60, for inputting the positional information of different user, and calculates the guidance path between each customer location according to the indoor cartographic information of storage unit 30.Described different user comprises searcher and by searcher, described searcher and had unique identifier (as IP address) of network allocation by searcher's intelligent glasses, described searcher and can be realized the function of described communication unit 20, storage unit 30, sensor unit 40 and positioning unit 50 by searcher's intelligent glasses.By searcher's positional information, through after location calibration, can be sent in searcher's intelligent glasses, searcher's navigation computing unit 60 can be according to indoor map, and searcher and generated best guidance path by searcher's positional information.In addition, described can be one or more by searcher.
Described indicating member 70, is used to indicate guidance path.Described indicating member 70 comprises display unit (not shown) and/or voice unit (not shown), and described display unit is for show navigator path, and described voice unit is for carrying out voice message to guidance path.According to actual conditions, described voice unit also can be used for recording the user speech information for mutual, and display unit also can be used for the Word message receiving and video information to show.
Described personnel's navigational system 100 also comprises the data processing unit 91 being integrated in intelligent glasses, and the real-time matching that its method by geometric projection is carried out described guidance path and reality scene covers.Concrete example, if regard human eye as a video camera, two central authorities that the imagination is positioned over people by a video camera are also highly consistent with it, along the sight line of human eye, place, and can photograph the reflection of the reality scene in the people visual field; In like manner, relative, eyes with people are done straight line, this straight line is placed on to the overhead in two-dimentional indoor map according to the height of the body dimension at people place and eyes and angle, by the indoor map of two dimension along this straight line pendulum angle, this pendulum angle is identical with the angle of human eye projecting direction and level ground, and carry out cutting according to the size of human eye viewport, reflection in the indoor map of now cutting two dimension out and human eye will have very high compatible degree, by the relevant registration difficulty of great mitigation system, be conducive to the navigation of real-time.In indoor map, described guidance path can be delineated out (highlighted or use special color as green) with special display mode.When getting redy to start off, data processing module 91 can show (carrying out superposeing after registration with the scenery in human eye) by indoor map in foregoing geometric projection mode according to human eye height, realize and strengthen the effect showing, at this moment, distance and the angle of user after can active adjustment figure image intensifying, make itself and real effect reach optimum, this kind of regulative mode is in fact before fine setting navigation, to be assigned to the elemental height of eyes of intelligent glasses and initial position to reach the accurate value before setting out.
Described personnel's navigational system 100 also comprises the image unit 92 being integrated in intelligent glasses; for taking, need the video information of transmission and the iris feature of recording user; like this, user's data before intelligent glasses meeting auto-destruct when other staff use, to protect privacy of user.
Described personnel's navigational system 100 also comprises the service network system (not shown) that coordinates intelligent glasses to use, described service network system comprises communication network, some anchor points and server, the auxiliary intelligent glasses of described anchor point carries out personnel positioning, described server stores has indoor map, for transferring to intelligent glasses.Described each anchor point has the radio characteristics code of oneself, and is arranged on the indoor place of finding more for convenience; Described anchor point has different wireless transmit codes, and the transmitter code of each anchor point is one to one with its relative position information in indoor map.Described anchor point (as 2m) when apart from its closer distance can carry out signal identification and realize the auxiliary correction of current location, eliminates the error that sensor unit brings., as doorway, corner, all should there be anchor point the comparatively significant position in each indoor region, can be technology for radio frequency anchor point, can be also magnetic inductive anchor point.The positioning unit 50 of described intelligent glasses, for identifying indoor stationary anchor points, is used corresponding induction technology correctly to identify with stationary anchor points.
Adopt specific embodiment to describe below, the user of described personnel's navigational system is when entering building, it connects internal home network by communication unit, automatically from server application, obtain and download map corresponding to this indoor environment in storage unit, and automatically carry out the calibration of first location at the anchor point of entrance.At this moment, can start the navigation feature of intelligent glasses, but must carry out iris recognition by intelligent glasses before navigation feature is used, thereby identifying user identity information is avoided unrelated person to use intelligent glasses and caused the leakage of the information such as individual real time position.
Searcher, when opening the navigation feature of intelligent glasses, to being communicated by searcher's intelligent glasses, and sends the information of navigation request and own position point by internal home network.The intelligent glasses of being worn by searcher receives after relevant information by internal home network, after confirming, own position is fed back to requestor by internal home network, described confirmation requirements of process presets, can be to confirm just to set up navigation contact through user, can be also automatic feedback Information Surveillance navigation contact.Searcher receive feedback by searcher's the navigation informations such as location point after, searcher and by searcher's intelligent glasses all can by navigation computing unit use same algorithm, indoor map and each side's location point automatically to generate guidance path, described guidance path can show by display unit, display effect is that map rotates along with personnel's working direction changes, remain that user's working direction is straight up on display unit, user friendlyly watch and use.
In addition, the intelligent glasses of each side upgrades the navigation informations such as location point separately by network timing, when personnel's navigational system is used, can use image unit, voice unit, display unit to carry out the generation of associated video, voice, Word message, and by internal home network, the navigation user having connected is transmitted, realize information interaction timely.In actual use, each side can meet and discuss a little or other guide by the timely communication protocol of these supplementarys, and each side can carry out position adjustment at any time according to interactive information, so that navigation work is more efficient.
A kind of personnel's navigational system based on intelligent glasses that the present invention introduces, this system also can be navigated to fixing destination when single use, use-pattern is to specify according to indoor map the fixed location that needs arrival, automatically generates corresponding guidance path and guides user.
Please refer to Fig. 2, the present invention has also disclosed a kind of personnel's air navigation aid based on intelligent glasses, comprises the steps:
S1, employing sensor unit obtain user's positional information, and by positioning unit, obtained customer position information are positioned to calibration;
In step S1, described sensor unit comprises direction sensor and acceleration transducer, and described direction sensor comprises horizontal direction sensor and vertical angular transducer, and described acceleration transducer comprises horizontal acceleration sensor and vertical acceleration transducer; Wherein, described vertical acceleration transducer is for measuring the real-time height of user's glasses, described vertical angular transducer is for obtaining the projecting direction of user's glasses and the angle of level ground, and described horizontal acceleration sensor and horizontal direction sensor are for obtaining the positional information of user on indoor map.According to the purposes of above each sensor, carry out in real time user location, comprise that plan position information and elevation information are (for judging the residing position of user and direction, judge accordingly the route characteristic in the user visual field, conveniently carry out the coupling of guidance path), this information can adopt positioning unit or other modes suitably to calibrate.And, because intelligent glasses is to have the fixing direction of wearing, so various kinds of sensors has directional sensitivity, in normally wearing in use, can correctly realize corresponding function.
S2, by communication unit, obtain the positional information of other associated users;
In step S2, searcher, when opening the navigation feature of intelligent glasses, to being communicated by searcher's intelligent glasses, and sends the information of navigation request and own position point by internal home network.The intelligent glasses of being worn by searcher receives after relevant information by internal home network, after confirming, own position is fed back to requestor by internal home network, described confirmation requirements of process presets, can be to confirm just to set up navigation contact through user, can be also automatic feedback Information Surveillance navigation contact.
S3, in navigation, input the positional information of different user in computing unit, and calculate the guidance path between each customer location according to the indoor cartographic information of storage unit;
Searcher the navigation computing unit of its intelligent glasses input its with by searcher's positional information, searcher's navigation computing unit can be according to indoor map, and searcher and generated best guidance path by searcher's positional information.
S4, each associated user adopt indicating member to carry out real-time route navigation.
In step S4, described indicating member comprises display unit and/or voice unit.Described display unit is for show navigator path, after the real-time matching of realizing indoor digital map navigation path and reality scene covers, the present invention can need according to system, use indoor map, and feature need to be carried out in path and delineate, indicate each path specific position except path such as node and room, stair that crosses, and, describedly delineate out, can adopt highlighted or use special color.Described voice unit is for carrying out voice message to guidance path.Described voice message can be to use in whole process, can be also the location of walking especially, as carried out assistant voice prompting in the place that needs turn round or stair activity etc. should be noted that.
According to above method step, the technical problem to be solved in the present invention is in practical work life, often need to two all the personnel in active state carry out real-time navigation, with the shared state of a kind of real-time position information, both sides personnel are carried out to position and share and guidance path guiding, thereby realize personnel's real-time navigation.
Comprehensive, personnel's navigational system of the present invention and method have the following advantages: 1., by introducing intelligent glasses, not only simplified whole person finding system, reduced system and set up cost; 2. the terminal device of holding has versatility, can avoid carrying of useless equipment to make people produce conflict psychology and repellency; 3. the present invention can realize the position information share of searching people and being searched people and guidance path is provided; 4. the present invention can realize the information interaction (voice messaging, Word message, video information) of searching people and being searched people; 5. the present invention can conveniently confirm searcher's identity, does not need additionally to make a video recording first-class equipment (iris recognition).
Be understandable that, for the person of ordinary skill of the art, can make other various corresponding changes and distortion by technical conceive according to the present invention, and all these change and distortion all should belong to the protection domain of the claims in the present invention.
Claims (10)
1. the personnel's navigational system based on intelligent glasses, is characterized in that, comprises the control module of above each unit of communication unit, storage unit, sensor unit, positioning unit, navigation computing unit, indicating member and connection and control;
Described communication unit, for obtaining indoor cartographic information and externally communicating;
Described storage unit, for cartographic information in locker room and user profile;
Described sensor unit, comprises direction sensor and acceleration transducer, for obtaining user's positional information;
Described positioning unit, positions calibration for the positional information to user, and user's positioning result is fed back to navigation computing unit;
Described navigation computing unit, for inputting the positional information of different user, and calculates the guidance path between each customer location according to the indoor cartographic information of storage unit;
Described indicating member, is used to indicate guidance path.
2. personnel's navigational system according to claim 1, is characterized in that: described direction sensor comprises horizontal direction sensor and vertical angular transducer, and described acceleration transducer comprises horizontal acceleration sensor and vertical acceleration transducer; Wherein, described vertical acceleration transducer is for measuring the real-time height of user's glasses, described vertical angular transducer is for obtaining the projecting direction of user's glasses and the angle of level ground, and described horizontal acceleration sensor and horizontal direction sensor are for obtaining the positional information of user on indoor map.
3. personnel's navigational system according to claim 1, is characterized in that: described indicating member comprises display unit and/or voice unit, and described display unit is for show navigator path, and described voice unit is for carrying out voice message to guidance path.
4. personnel's navigational system according to claim 1, is characterized in that: also comprise data processing unit, the real-time matching that its method by geometric projection is carried out described guidance path and reality scene covers.
5. personnel's navigational system according to claim 1, is characterized in that: also comprise image unit, for taking, need the video information of transmission and the iris feature of recording user.
6. personnel's navigational system according to claim 1, it is characterized in that: also comprise the service network system that coordinates intelligent glasses to use, described service network unit comprises communication network, some anchor points and server, the auxiliary intelligent glasses of described anchor point carries out personnel positioning, described server stores has indoor map, for transferring to intelligent glasses.
7. personnel's navigational system according to claim 6, is characterized in that: described each anchor point has the radio characteristics code of oneself.
8. the personnel's air navigation aid based on intelligent glasses, is characterized in that, comprises the steps:
S1, employing sensor unit obtain user's positional information, and by positioning unit, obtained customer position information are positioned to calibration;
S2, by communication unit, obtain the positional information of other associated users;
S3, in navigation, input the positional information of different user in computing unit, and calculate the guidance path between each customer location according to the indoor cartographic information of storage unit;
S4, each associated user adopt indicating member to carry out real-time route navigation.
9. personnel's air navigation aid according to claim 8, it is characterized in that, described sensor unit comprises direction sensor and acceleration transducer, described direction sensor comprises horizontal direction sensor and vertical angular transducer, and described acceleration transducer comprises horizontal acceleration sensor and vertical acceleration transducer; Wherein, described vertical acceleration transducer is for measuring the real-time height of user's glasses, described vertical angular transducer is for obtaining the projecting direction of user's glasses and the angle of level ground, and described horizontal acceleration sensor and horizontal direction sensor are for obtaining the positional information of user on indoor map.
10. personnel's air navigation aid according to claim 8, is characterized in that, described indicating member comprises display unit and/or voice unit, and described display unit is for show navigator path, and described voice unit is for carrying out voice message to guidance path.
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| CN104021398A (en) * | 2014-06-16 | 2014-09-03 | 北京云视智通科技有限公司 | Wearable intelligent device and method for assisting identity recognition |
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