CN109978944B - Coordinate system establishing method and device and data structure product - Google Patents
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Abstract
The invention provides a coordinate system making method and device and a data structure product. The coordinate system establishing method is suitable for establishing a coordinate system of an indoor space by the electronic device. The method comprises the following steps: obtaining at least one layer of the layout of the indoor space to generate a two-dimensional or three-dimensional view; obtaining the positions of a plurality of positioning devices positioned in the indoor space and marking the positions in a view; dividing the view into a plurality of view tiles according to a unit area or a unit volume for displaying the view; dividing partial views around the positioning devices into a plurality of positioning map bricks according to the marked positions of the positioning devices; and taking at least one representative point of the view map bricks and the positioning map bricks as a reference point to define a reference frame, and making a coordinate system based on the reference frame.
Description
Technical Field
The present invention relates to a positioning method and apparatus, and more particularly, to a coordinate system establishing method and apparatus.
Background
Most of the existing indoor positioning technologies utilize Wi-Fi, bluetooth, earth magnetic field, etc. to perform positioning, when an indoor positioning system is deployed, a position fingerprint (measured by Received Signal Strength Indicator (RSSI)) needs to be collected and processed at each sampling point, offline training is performed, then a detection device is moved in a positioning area to perform online correction, and a Signal map is compiled into an indoor map to synchronize the two maps after a relearning algorithm is used to complete the Signal map.
However, the above method is not only complicated in pre-positioning work and data updating process, but also difficult to predict the coverage area of the positioning device accurately due to signal obstruction caused by building structure and decoration, and the change of the positioning device cannot be sensed by people, so that even if the position of each positioning device (wireless communication device) is known in advance, it is difficult to define a coordinate system to standardize the reference frame of the indoor map.
Disclosure of Invention
The invention provides a coordinate system making method and a system thereof, which can quickly make a coordinate system of an indoor space by dividing graph bricks according to a unit area or a unit volume for displaying a view and a clustering algorithm and do not need to be rebuilt according to the change of a pattern.
The invention provides a coordinate system making method, which is suitable for making a coordinate system of an indoor space by an electronic device. The method comprises the following steps: obtaining at least one layer about the indoor spatial layout to generate a two-dimensional or three-dimensional view; obtaining the positions of a plurality of positioning devices positioned in the indoor space and marking the positions in a view; dividing the view into a plurality of view tiles according to a unit area or a unit volume for displaying the view; dividing partial views around the positioning devices into a plurality of positioning map bricks according to the marked positions of the positioning devices; and taking at least one representative point of the view tile (view tile) and the positioning tile (positioning tile) as a reference point to define a reference frame (reference frame), and making a coordinate system based on the reference frame.
The invention provides a coordinate system formulating device which comprises a data extracting unit, a storage unit and a processor. Wherein, the storage unit is used for storing the data extracted by the data extraction unit and a plurality of computer instructions or programs; a processor, coupled to the data extraction unit and the storage unit, configured to execute the computer instructions or programs to perform the steps of: the method includes the steps of obtaining at least one layer of a layout of an indoor space by the data extraction unit or the storage unit to generate a two-dimensional or three-dimensional view, obtaining positions of a plurality of positioning devices located in the indoor space by the data extraction unit, marking the positions in the view, dividing the view into a plurality of view tiles according to a unit area or unit volume for displaying the view, dividing a part of the view around the positioning devices into a plurality of positioning tiles (positioning tiles) according to the marked positions of the positioning devices, and defining a reference frame by taking at least one representative point of the view tiles (view tiles) and the positioning tiles as a reference point to define the coordinate system based on the reference frame.
The present invention provides a data structure product for providing a data structure of information necessary for an electronic map or an indoor positioning service, comprising: a data structure and an execution module, wherein the data structure comprises: a first field for storing an identification code of one of a plurality of graphic bricks partitioned from an indoor space, wherein the graphic brick includes a view graphic brick and a positioning graphic brick; a second field storing a kind of the tile; a third field for storing an indication whether at least one representative point of the graph brick belongs to a reference point; and a fourth field storing information related to the view tile, the information including at least one of a hierarchical relationship of the data structure, an attribute of the view tile, or an object description, wherein the view tile is obtained by dividing the view according to a unit area or a unit volume for displaying the view generated by at least one layer regarding a layout of the indoor space; and the positioning map tiles are obtained by dividing part of the view around the positioning devices according to the positions of the positioning devices marked in the view; the execution module accesses the data structure through the processor, and determines and outputs the view graph bricks adjacent to the position according to the content of the field corresponding to the position.
Based on the above, the coordinate system establishing method, the device and the data structure product of the invention can divide the partial view of the indoor space by the clustering algorithm, and can establish the absolute coordinate system of the indoor space by using the representative points of the divided tiles as the reference points to define the reference frame. The coordinate system can be quickly established without reconstruction in response to the change of the pattern.
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a block diagram of a coordinate system determination apparatus according to an embodiment of the invention.
Fig. 2 is a flowchart illustrating a coordinate system determination method according to an embodiment of the invention.
Fig. 3A and 3B are examples of a coordinate system determination method according to an embodiment of the invention.
FIG. 4 is an exemplary tile with a segmented bitmap according to an embodiment of the invention.
Fig. 5A and 5B are diagrams illustrating an example of marking any target point in an indoor space according to an embodiment of the invention.
Fig. 6A and 6B are examples of a coordinate system using method according to an embodiment of the invention.
Fig. 7A to 7C are examples of a coordinate system using method according to an embodiment of the invention.
[ notation ] to show
10: coordinate system making device
12: data extraction unit
14: memory cell
16: processor with a memory having a plurality of memory cells
31: map with a plurality of maps
32: layout diagram
33. 34, 35, 36, 84: view of the drawing
33 a: sign
34a, 36 a: brick with drawing
35a, 36b, 40a, 40b, 40 c: positioning picture brick
40: view of the drawing
62: multi-floor map
64: plan view of
72: indoor map
72 a: AR coordinates
74a, 76 a: AR object
76: AR scene
a. b, c: positioning device
A. B, C: dot
T, P: target point
R1、R2: reference point
r: distance between two adjacent plates
θ、
Included angle
S202 to S210, S302 to S306: step (ii) of
Detailed Description
The invention adopts an indoor positioning technology based on optical communication, utilizes a light source of visible light communication as a positioning device, and divides graph bricks according to a unit area or a unit volume for displaying a view and a clustering algorithm to define a reference frame and formulate a coordinate system of an indoor space. The coordinate system can be rapidly established and is not influenced by the change of the format. In response to the addition or subtraction of the positioning device, the present invention automatically adjusts the range of the divided tiles according to the position thereof, thereby updating the reference frame.
Fig. 1 is a block diagram of a coordinate system determination apparatus according to an embodiment of the invention. Referring to fig. 1, the coordinate system setting apparatus 10 of the present embodiment is an electronic apparatus, such as a server, a workstation, or a computer cluster, having computing capability. The coordinate system creating apparatus 10 includes, for example, a data extracting unit 12, a storage unit 14, and a processor 16, and functions thereof are as follows:
in one embodiment, the coordinate system making apparatus 10 is implemented by a processor 16 executing Computer instructions or programs to provide an editing interface, such as Drawing Software (Drawing Software), Computer Aided Design Software (Computer Aided Design Software), plug-in program (plug), which visually displays the layout of an indoor space, the location of a marked location device, and objects related to the indoor space, and provides a method for a user to edit the display effect or information of the objects; the objects include views, positioning devices, geometric objects related to points, lines, faces, and volumes, and the information includes, but is not limited to, hierarchical relationships of data structures such as identifiers of parent nodes or child nodes, attributes of view tiles such as floors and zoom levels, or object descriptions such as geometric representations, coordinates, and attributes of points, lines, faces, and volumes of the objects.
The data extracting unit 12 is an interface device such as a Universal Serial Bus (USB) interface, a Firewire (Firewire) interface, a Thunderbolt (Thunderbolt) interface, a card reader, etc., and can be connected to an external device such as a flash drive, a mobile hard disk, a memory card, etc. to extract data. In another embodiment, the data extracting unit 12 is an input tool such as a keyboard, a mouse, a touch pad, a touch screen, and the like, and is used for detecting an input operation of a user to extract input data. In another embodiment, the data extracting unit 12 is, for example, a network card supporting a wired network connection such as Ethernet (Ethernet) or a wireless network card supporting a wireless communication standard such as Institute of Electrical and Electronics Engineers (IEEE) 802.11n/b/g, and is capable of connecting with an external device through a wired or wireless network and extracting data.
The memory unit 14 may be any type of fixed or removable Random Access Memory (RAM), read-only memory (ROM), flash memory (flash memory), or the like or any combination thereof. In the present embodiment, the storage unit 14 is used for storing the data extracted by the data extraction unit 12, including data related to at least one indoor space obtained or generated by the coordinate system setting method and computer instructions or programs accessible and executable by the processor 16.
The Processor 16 is, for example, a Central Processing Unit (CPU) or a Graphics Processing Unit (GPU), or other Programmable general purpose or special purpose Microprocessor (Microprocessor), Digital Signal Processor (DSP), Programmable controller, Application Specific Integrated Circuit (ASIC), Programmable Logic Device (PLD), or other similar devices or combinations thereof. The processor 16 is connected to the data extraction unit 12 and the storage unit 14, and loads the computer instructions or programs from the storage unit 14 to perform the coordinate system determination method of the present invention. The following examples illustrate the detailed steps of this method.
Fig. 2 is a flowchart illustrating a coordinate system determination method according to an embodiment of the present application. Fig. 3A and 3B are examples of a coordinate system determination method according to an embodiment of the present application. Referring to fig. 1, fig. 2 and fig. 3A, the method of the present embodiment is applied to the coordinate system setting apparatus 10 of fig. 1, and the following describes the detailed steps of the coordinate system setting method of the present invention with various elements in the coordinate system setting apparatus 10.
In step S202, at least one layer of the layout of an indoor space is retrieved by the processor 16 through the data extraction unit 12 or the storage unit 14 to generate a two-dimensional or three-dimensional view, which is further displayed in the editing interface in one embodiment. The layer includes, for example, a drawing or a map drawn with the outline of the indoor space, a three-dimensional model of the indoor space, a layout or an equipment layout marked with objects in the indoor space, and the like, which is not limited herein. In the example of fig. 3A, a two-dimensional or three-dimensional view 33 is generated by obtaining an outline 31 of the room space and a map or layout 32, and superimposing or fusing the obtained layers.
In step S204, the data extraction unit 12 obtains the positions of the positioning devices located in the indoor space, and the positions are indicated in the drawing (for example, the indication 33A indicated in the drawing 33 in fig. 3A). In one embodiment, the aforementioned acts are performed by an editing interface. The positioning device includes various light sources supporting visible light communication, such as an illumination system, a display backlight, a traffic light, and a light box signboard, which can emit visible light waves with wavelengths of 380nm to 780nm, and provides a user device to demodulate by extracting an optical signal and position according to a decoding result. In an embodiment, the processor 16 may utilize the data extraction unit 12 to receive a position of a pointing device provided by an external device, for example, a position of the pointing device input by a user in an editing interface through a keyboard, a mouse, etc., which is indicated in the drawing, but the embodiment is not limited thereto.
In step S206, the processor 16 divides the view into a plurality of view tiles (e.g., view tile 34a divided by a dotted line in view 34 of fig. 3A) according to a unit area or a unit volume for displaying the view. In particular, the above-mentioned view tiles are, for example, one or more geometric figures that can cover the whole of the indoor space, wherein the smallest view tile has, for example, a size per unit area or per unit volume. In an embodiment, the size of the view tile may also be determined based on the bandwidth of the user device for transmitting or receiving the tile data and the resolution of the view plane, which is not limited in this embodiment.
In step S208, the processor 16 divides the view of the portion around the positioning device into a plurality of positioning map tiles according to the positions of the positioning devices (e.g., the positioning map tile 35a divided by the black dots in the view 35 of fig. 3A, each positioning map tile covering one positioning device). In one embodiment, the processor 16 groups the data points in the view using, for example, a Minimum Spanning Tree (Minimum Spanning Tree) or a K-means algorithm; the data point is, for example, an intersection point on a unit grid line of the view, and the unit may be a centimeter, a meter, a centimeter, a plateau, or a pixel, without limitation.
In one embodiment, the processor 16 represents the association of each data point with each positioning device, for example, by using a Graph (Graph) composed of a plurality of nodes (Vertex) and a plurality of edges (Edge) connecting the nodes; specifically, the node is a set of the positions of each data point and each positioning device, and any different node in the set has edges connected with each other to form a Complete Graph (Complete Graph), wherein the signal strength is obtained according to the marked position of each positioning device and is converted into a weight value of the edge connecting the data point and the positioning device, and the weight values of the rest edges connecting the two data points and the edges connecting the two positioning devices are preset to be infinite; by this transformation, an optimization goal is defined to group the nodes into a specified number of subsets, maximizing the sum of the weights of the edges connecting the smallest weights between subsets, wherein the Kruskal's algorithm known to produce the Minimum Spanning Tree (Minimum Spanning Tree) can be applied to solve the optimization problem.
In another embodiment, the processor 16 defines an optimization objective to group a plurality of data points of the view by using the position of each positioning device as a group center point, so that an error between all data points in each group and the group center point is minimized, and a positioning tile (positioning tile) is segmented by a coverage range of each group of data points, wherein the error may be a sum of distances (e.g., euclidean distances) between each group of data points and the group center point, and a known K-means clustering algorithm may be applied to solve the optimization problem; the representation and conversion method of the optimization problem, and the clustering algorithm used are not limited herein.
For example, fig. 4 is an example of a tile with a segmented bitmap according to an embodiment of the present application. Referring to fig. 4, assuming that the view 40 to be divided has 3 positioning devices a, b, and c marked therein, the positions of the 3 positioning devices a, b, and c are used as the group center points to group the plurality of data points of the view 40, so that the error from all the data points in each group to the group center point is minimized, and the positioning chart bricks 40a, 40b, and 40c are divided according to the range of each group of data points.
In one embodiment, in addition to the position of each pointing device as indicated in the view, the processor 16 divides the partial view around the pointing device into multiple pointing tiles based on the boundaries of the view tiles around the position of the pointing device, such that each divided pointing tile is only within the bounds of a single view tile. That is, each map tile will correspond to only a single view tile. Therefore, when the user device is subsequently positioned, the corresponding view map tile can be found out by using the positioning map tile where the positioning device is located as long as the positioning device closest to the user device is taken as a reference, and the view map tile is provided for the user device to display. For example, in the example of fig. 3A, the detent map tile 35a is divided by a connecting line (which may be considered as a border of the view map tile) located at an intersection (i.e., a black dot) on the unit cell line of the view 35, so that the detent map tile 35a will correspond to only a single view map tile.
Returning to the process of fig. 2, in step S210, the processor 16 defines a reference frame by taking at least one representative point of the segmented view bricks and positioning bricks as a reference point, so as to determine a coordinate system based on the reference frame. Specifically, the processor 16 takes the set of positioning map tiles and partial view map tiles as reference map tiles, for example, so that the reference map tiles can cover the indoor space, and then uses the representative points of the reference map tiles to define a reference frame, thereby making a coordinate system based on the reference frame. The representative point is, for example, a geometric center of the corresponding view diagram brick or positioning diagram brick, and the embodiment is not limited thereto. Taking fig. 3A as an example, in view 36, a representative point of each view map tile 36a is denoted, and x denotes a representative point of each positioning map tile 36 b.
By the coordinate system established by the method, any point in the indoor space can be represented by the combination of the identification code of the drawing brick and the representation method of the coordinate system. Specifically, for any one of at least one target point in the indoor space, the coordinates of the target point in the specified coordinate system can be expressed by referring to the identification code of the reference point closest to the target point in the frame, and the distance and the orientation of the target point relative to the reference point.
For example, fig. 5A and 5B are examples of marking any target point in an indoor space according to an embodiment of the present application. Referring to fig. 5A, taking a two-dimensional view as an example, a polar coordinate system (polar coordinate system) may be used to represent the position of the target point T in a two-dimensional space. The representation method takes the point closest to the target point T on the reference frame as the reference point R1(i.e., the representative point of the reference brick) to a reference point R1Identification code 01, target point T and reference point R of reference image brick1In betweenThe distance r and the angle θ to the polar axis x represent the position of the target point T in the indoor space, i.e., T (01, r, θ).
Referring to fig. 5B, taking the three-dimensional view as an example, a spherical coordinate system (spherical coordinate system) can be used to represent the position of the target point P in the three-dimensional space. The representation method takes the point closest to the target point P on the reference frame as the reference point R2(i.e., the representative point of the reference brick) to a reference point R2Identification code 02, target point P and reference point R of reference image brick2Angle theta between the positive z-axes of (a), and a reference point R2The included angle between the projection line of the connecting line to the target point P on the xy plane and the positive x axis
Indicating the position of the target point P in the interior space, i.e.
In one embodiment, the tiles generated by splitting the view can be used to create a data structure for representing data about the indoor space; it is characterized by comprising: a first field (identification code field) for storing an identification code of one of a plurality of tiles divided by a coordinate system making method in at least one indoor space; a second field (data type field) for storing a category for defining the map tile, which includes a view map tile and a location map tile; a third field (reference mark field) for marking whether at least one representative point of the tile belongs to a reference point; and a fourth field (a annotation field) storing information about the tile including, but not limited to, the hierarchical relationship of the data structure such as the identity of a parent node or a child node, attributes of the view tile such as floor and zoom level, or an object description such as the geometric representation, coordinates, and attributes of a point, line, face, volume of the object, etc.
Taking fig. 3B as an example, the view 36 includes a plurality of view tiles and a plurality of positioning tiles that have been divided, and in the data structure established in the embodiment of the present invention, a file including an identification code, a data type and a note is recorded for each view tile. In view 36, the positions of the view tiles in the horizontal direction are numbered from left to right by 0 to 5, and the positions in the vertical direction are numbered from bottom to top by 0 to 4, so that the identification code of each view tile can be represented by the position (the number in the horizontal direction and the number in the vertical direction) of the view tile. For example, the view tile numbered 2 in the horizontal direction and 1 in the vertical direction has the identification code 21; the identification code of the view tile numbered 5 in the horizontal direction and 0 in the vertical direction is 50. In addition, in the data structure, the types of the view tiles 21 and 50 are also recorded as a view tile, whether to serve as a reference frame (yes), and a notation (notation of the view tile 21 is L21, notation of the view tile 50 is LB), respectively. The above-mentioned note is used to extract data from the database, for example, note L21 represents that the database extracts data with labelID L21 as shown in the figure. On the other hand, as can be seen from fig. 3B, the view tile 21 includes a location map tile with a representative point of B, C, so that in the data structure, the identifier B, C, the type of the location map tile, whether to serve as a reference frame (yes), and a note (for example, the note of the location map tile B is LB, which represents that data with labelID of LB as shown in the figure is extracted from the database) of the two location map tiles are recorded, and based on that the location map tile B, C is included in the view tile 21, the associated view map tile is also recorded as the view map tile 21 (indicated by a connecting line in fig. 3B).
In an embodiment of the present invention, the server (i.e., the coordinate system creating device) is used to record the data related to the at least one indoor space, and the management program of the present invention provides the external user device to query and obtain the map information related to the location. When a user is in an indoor space, the user device can be used for positioning by the positioning device supporting visible light communication, reading the identification code of the surrounding positioning device to calculate the position, and uploading the coordinates of the position to the server according to the formulated coordinate system; when receiving the user location obtained by the user device using the positioning device for positioning, the server includes an execution module, which obtains the view map tile adjacent to the user location according to the content of the field of the corresponding reference map tile, such as the view map tile identification code or the identification code of the parent node or the child node in the annotation field, and outputs the view map tile to the user device, thereby providing the map information near the location of the user device. The user device uses the position as a reference point, uses inertial elements such as a gravity sensor and a gyroscope in the device to detect the displacement and the direction of the user, and calculates the walking distance. When the prediction is to reach the vicinity of other positioning devices, the positioning is performed again to re-correct the reference point. Therefore, the user device can not only accurately predict the position of the user in the indoor space, but also obtain the indoor map around the position by the server.
Based on the coordinate system established in the foregoing embodiment, an absolute coordinate may be given to any point of interest (POI) in the indoor space; for example, if 3 interest points in the indoor space of fig. 6A are overlapped to 1 point as viewed from the top view (as in fig. 6B), the embodiment of the present invention divides the views of different floors, so that the 3 interest points belong to different reference tiles, and assigns absolute coordinates to the interest points according to the identification codes of the reference points, and the distances and orientations of the locations of the interest points relative to the reference points. In the data structure, whether the identifier A, B, C of the view tile to which the interest point A, B, C belongs in fig. 6B is recorded, the type of the view tile is recorded as the reference frame (no), and the notation (LA for the view tile a, LB for the view tile B, and LC for the view tile C) is recorded. The above-mentioned note is used to extract data from the database, for example, the note LA represents data extracted from the database with labelID LA as shown in the figure, which includes data such as attributes, included child nodes, names, positions (orientations), and included parent nodes. In this way, the notation LB indicates to extract the data with labelID LB shown in the figure from the database, and the notation LC indicates to extract the data with labelID LC shown in the figure from the database. Referring to fig. 6A, the note fields of the bricks to which the interest point A, B, C belongs record data about the interest point A, B, C information, including the floor, the name and the coordinates of the interest point, respectively; in the application of the electronic map, when a user inquires about an interest point, the adjacent view graph bricks can be transmitted to display the electronic map on a user terminal; in the application of indoor navigation, when a user sets an interest point as a route starting point, an arrival point or a passing point, the coordinates of the interest point can be used for route planning.
In one embodiment, the coordinate system may be applied to an Augmented Reality (AR) experience. For example, fig. 7A to 7C are examples of a coordinate system using method according to an embodiment of the present application. The system operator may build an AR object 72a in the indoor map 72 as shown in fig. 7A, the anchor point 74a of the object is shown in fig. 7B, and descriptions about the object such as geometric representation, coordinates, and attributes are recorded in the annotation field of the parent node of the location map tile (i.e., the view map tile), so that when the user moves indoors, the distance difference may be calculated according to the coordinates of the location of the AR object and the user, and the user device accesses the neighboring view map tile and acquires the AR object, so that the user may view the AR object 76a in the AR scene 76 shown in the user device display unit.
In summary, the coordinate system generation method, apparatus and data structure product of the present invention use the existing lighting device as a positioning device, and do not need to measure the Received Signal Strength Indication (RSSI) at each sampling point and process the position fingerprint. In addition, the invention combines the data structure of the electronic map and the position of the positioning device to define the absolute coordinate system of the indoor space, so that each point in the indoor space can be accurately represented, and the coordinate system is not influenced by the change of the format.
Although the present invention has been described with reference to the above embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention.
Claims (14)
1. A coordinate system establishing method adapted to establish a coordinate system of an indoor space by an electronic device, the method comprising the steps of:
obtaining at least one layer of a layout of the indoor space to generate a two-dimensional or three-dimensional view;
obtaining the positions of a plurality of positioning devices positioned in the indoor space, and marking the positions to be positioned in the view;
determining a size per unit area or unit volume for displaying the view according to at least one of a transmission bandwidth for transmitting the view and a resolution for displaying the view;
segmenting the view into a plurality of view tiles according to the unit area or the unit volume, wherein segmenting the view into a plurality of view tiles is independent of the location of the plurality of positioning devices;
dividing a portion of the view around the positioning devices into a plurality of positioning map tiles according to the identified position of each of the positioning devices, wherein each positioning map tile covers one of the positioning devices and is located within one of the view tiles;
taking a set of the positioning diagram bricks and part of the view diagram bricks as reference diagram bricks to enable the reference diagram bricks to cover the indoor space, taking at least one representative point of each reference diagram brick as a reference point to define a reference frame, and making the coordinate system based on the reference frame; and
defining a position of any one of at least one target point in the indoor space with reference to the frame of reference, including:
finding the reference point closest to the target point in the reference frame;
calculating the distance and the orientation of the target point relative to the reference point; and
and taking the identification code of the reference point, the distance and the direction as the coordinates of the target point in the coordinate system.
2. The coordinate system making method of claim 1, wherein the step of segmenting the portion of the view around the positioning device into the positioning map tiles according to the identified position of each of the positioning devices comprises:
grouping the plurality of data points of the view by using the position of each positioning device as a group center point, so that the error from all the data points in each group to the group center point is minimum, and segmenting the positioning map brick by using the range of the data points of each group.
3. The coordinate system making method of claim 2, wherein the data points comprise intersection points on unit cell lines of the view, and the error is a sum of distances of the data points in each group to a center point of the group.
4. The coordinate system making method of claim 1 wherein the step of segmenting a portion of the view around the positioning device into a plurality of positioning map tiles based on the identified location of each of the positioning devices further comprises:
dividing a portion of the view around the positioning device into a plurality of positioning tiles according to boundaries of the positioning tiles around the position of each positioning device, such that each divided positioning tile is located within only a single one of the positioning tiles.
5. The coordinate system making method according to claim 1, wherein the reference frame is defined by taking at least one representative point of the view map tiles and the location map tiles as the reference point, and the step of making the coordinate system with reference to the reference frame further comprises:
defining a data structure that can represent the indoor space using the tiles, the data structure including at least one of an identification code, a data type, and a note bar for each of the tiles.
6. The coordinate system making method of claim 5, further comprising:
receiving a user position obtained by positioning the user device by using the positioning device; and
transmitting the view tile adjacent to the user location to the user device for display on the user device.
7. The coordinate system making method of claim 1, wherein the representative point is a geometric center of the corresponding view map tile or the location map tile.
8. A coordinate system formulation apparatus comprising:
a data extraction unit;
a storage unit that stores the data extracted by the data extraction unit and a plurality of computer instructions or programs; and
a processor, coupled to the data extraction unit and the storage unit, configured to execute the computer instructions or programs to:
acquiring at least one layer of a layout of an indoor space by using the data extraction unit or the storage unit to generate a two-dimensional or three-dimensional view;
acquiring the positions of a plurality of positioning devices positioned in the indoor space by using the data extraction unit, and marking the positions in the view;
determining a size per unit area or unit volume for displaying the view according to at least one of a transmission bandwidth for transmitting the view and a resolution for displaying the view;
segmenting the view into a plurality of view tiles according to the unit area or the unit volume, wherein segmenting the view into a plurality of view tiles is independent of the location of the plurality of positioning devices;
dividing a portion of the view around the positioning devices into a plurality of positioning map tiles according to the identified position of each of the positioning devices, wherein each positioning map tile covers one of the positioning devices and is located within one of the view tiles;
taking a set of the positioning diagram bricks and part of the view diagram bricks as reference diagram bricks to enable the reference diagram bricks to cover the indoor space, taking at least one representative point of each reference diagram brick as a reference point to define a reference frame, and making the coordinate system based on the reference frame; and
defining a position of any one of at least one target point in the indoor space with reference to the frame of reference, including:
finding the reference point closest to the target point in the reference frame;
calculating the distance and the orientation of the target point relative to the reference point; and
and taking the identification code of the reference point, the distance and the direction as the coordinates of the target point in the coordinate system.
9. The coordinate system making apparatus of claim 8 wherein the processor includes clustering the plurality of data points of the view with the location of each of the positioning devices as a cluster center point such that the error of all of the data points in each cluster to the cluster center point is minimized, and segmenting the spacer tiles by the range of the data points for each cluster.
10. The coordinate system formulation device of claim 9, wherein the data points comprise intersections on unit cell lines of the view, and the error is a sum of distances of the data points in each group to a center point of the group.
11. The coordinate system making apparatus of claim 9 wherein the processor further segments portions of the view around the positioning devices into a plurality of positioning tiles based on boundaries of the view tiles around the position of each of the positioning devices such that each of the segmented positioning tiles is located only within a single one of the view tiles.
12. The coordinate system making apparatus of claim 8, wherein the processor further defines a data structure representable by the indoor space using the tiles, the data structure including at least one of an identification code, a data type, and a note bar for each of the tiles.
13. The coordinate system making apparatus of claim 12, wherein the processor further receives a user location obtained by a user device using the positioning device, using a data extraction device, and transmits the view tiles adjacent to the user location to the user device for display on the user device.
14. A non-transitory recording medium storing a data structure, comprising:
a first field for storing an identification code of one of a plurality of graphic bricks partitioned from an indoor space, wherein the graphic brick includes a view graphic brick and a positioning graphic brick;
a second field storing a kind of the tile;
a third field for storing an indication whether at least one representative point of the graph brick belongs to a reference point; and
a fourth field storing information related to the view tile, the information including at least one of a hierarchical relationship of the data structure, an attribute of the view tile, or an object description, wherein
The view map tile is obtained by dividing the view according to a unit area or a unit volume for displaying the view generated by at least one layer regarding a layout of the indoor space, wherein the size of the unit area or the unit volume is determined according to at least one of a transmission bandwidth for transmitting the view and a resolution for displaying the view, and the view map tile obtained by dividing the view is independent of positions of the plurality of positioning devices; and
the map tile is obtained by dividing a part of the view around the positioning device according to the position of each of the plurality of positioning devices marked in the view, wherein each map tile covers one of the positioning devices and is located within one map tile,
wherein a set of the positioning map tiles and a part of the view map tiles is taken as a reference map tile so that the reference map tile can cover the indoor space, at least one representative point of each reference map tile is taken as a reference point to define a reference frame, a coordinate system based on the reference frame is worked out, and
wherein, the distance and the orientation of the target point relative to the reference point are calculated by finding out the reference point which is closest to the target point in the reference frame, and the position of any target point of at least one target point in the indoor space is defined by taking the identification code of the reference point, the distance and the orientation as the coordinates of the target point in the coordinate system; and
and the execution module accesses the data structure through the processor and determines and outputs the view graph bricks adjacent to the position according to the content of the field corresponding to the position.
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| TW106146353A TWI661210B (en) | 2017-12-27 | 2017-12-29 | Method and apparatus for establishing coordinate system and data structure product |
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