JP2011242589A - Calculator and method for generating indoor space network data - Google Patents

Abstract

PROBLEM TO BE SOLVED: To generate and update automatically indoor space network data based on the arrangement of positioning devices.SOLUTION: The calculator for generating indoor space network data holds coordinate values indicating the position and shape of spaces in a building, and coordinate values indicating the position of a plurality of positioning devices, which are installed in the spaces and used for position measurement of mobile terminals in the spaces. And the calculator divides the spaces into a plurality of areas corresponding to the positioning devices respectively based on the coordinate values indicating the position and shape of the spaces and the coordinate values indicating the position of the plurality of positioning devices, and generates indoor space network data, which includes the links connecting nodes corresponding to each of the divided areas and two of the nodes corresponding to the two adjacent areas.

Description

  The present invention relates to a position measurement technique for a mobile terminal indoors, and more particularly to a technique for automatically generating indoor space network data.

  In recent years, techniques for providing various services to users of mobile terminals using position information of mobile terminals indoors have been proposed.

  Patent Document 1 discloses a technique for realizing indoor route search by expressing an indoor space as a network including nodes and links.

  Patent Document 2 discloses a technique for distributing a map image corresponding to indoor location information to a mobile phone.

JP 2007-248472 A JP 2008-33043 A

  In order to realize services such as route search such as car navigation in outdoor space, the outdoor space is expressed as a spatial network consisting of nodes corresponding to intersections and links corresponding to roads connecting the intersections. There is a need to.

  Similarly, in order to provide a service such as route search to a user walking in an indoor space, the indoor space needs to be expressed as a network composed of nodes and links. Typically, a room, a hallway, a staircase, or the like is associated with a node, and a passable opening such as a door is associated with a link. Using such network data and location information of the mobile terminal carried by the user, services such as route search can be provided to the user.

  In general, GPS (Global Positioning System) is often used for positioning of a mobile terminal outdoors. However, since it is difficult to receive a signal from a GPS satellite indoors, a positioning system that does not depend on a signal from a GPS satellite is required indoors.

  For example, if a plurality of devices that transmit signals compatible with signals from GPS satellites are installed indoors, the mobile terminal can perform the same positioning as outdoors. Alternatively, if a plurality of wireless LAN (Local Area Network) base stations are installed indoors, positioning of the mobile terminal can be performed by determining in which base station the mobile terminal is located.

  The above positioning method is merely an example, and there may be various other methods. In any case, a plurality of positioning devices (for example, an apparatus or a wireless LAN that transmits a signal compatible with a GPS signal) Base station, etc.) must be installed and network data consistent with the location of these positioning devices must be created. Furthermore, if there is a change in the positioning device placement (ie, the addition of a new positioning device or the deletion of a positioning device that has been installed, etc.), it is necessary to update the network data so that it matches the positioning device placement after the change. There is.

  However, when the administrator manually creates and updates such network data, a work cost for the administrator is generated. In addition, since manual update takes a certain amount of time, it is difficult to quickly start a service using the updated network data. For example, if some positioning devices are deleted due to a disaster etc., network data needs to be updated quickly to match the rest of the positioning devices to evacuate the user, thereby quickly restoring service However, it is difficult to achieve this manually by the administrator.

  A typical example of the present invention is as follows. That is, a computer that generates indoor space network data, the computer comprising: an interface connected to a network; a processor connected to the interface; and a memory connected to the processor; A coordinate value indicating the position and shape of the space, and a coordinate value indicating the position of a plurality of positioning devices installed in the space and used for measuring the position of the mobile terminal in the space, and Based on the coordinate value indicating the position and shape of the space and the coordinate value indicating the position of the plurality of positioning devices, the space is divided into a plurality of regions each corresponding to each positioning device, and each of the divided Indoor space network data including a node corresponding to an area and a link connecting two nodes corresponding to two adjacent areas. Characterized in that it created.

  According to one embodiment of the present invention, indoor space network data can be automatically created and updated based on the positioning device positioning.

It is a block diagram which shows the structure of the spatial information management system of embodiment of this invention. It is a block diagram which shows the structure of the application server of embodiment of this invention. It is a block diagram which shows the structure of the map information server of embodiment of this invention. It is explanatory drawing of the graphic data contained in indoor map DB of embodiment of this invention. It is explanatory drawing of the node data for a search contained in indoor map DB of embodiment of this invention. It is explanatory drawing of the link data for a search contained in indoor map DB of embodiment of this invention. It is explanatory drawing of the positioning device data of embodiment of this invention. It is a sequence diagram which shows the procedure of the communication performed in embodiment of this invention. It is explanatory drawing of the indoor navigation performed in embodiment of this invention. It is explanatory drawing of the construction method of the conventional network data. It is explanatory drawing of the construction method of the network data of embodiment of this invention. It is a flowchart which shows the network data generation process of embodiment of this invention. It is explanatory drawing of the update method of the network data of embodiment of this invention. It is a flowchart which shows the network data update process of embodiment of this invention. It is explanatory drawing which shows the 1st example of the division | segmentation of the indoor space performed in embodiment of this invention. It is explanatory drawing which shows the 2nd example of the division | segmentation of the indoor space performed in embodiment of this invention. It is explanatory drawing which shows the 3rd example of the division | segmentation of the indoor space performed in embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1A is a block diagram illustrating a configuration of a spatial information management system according to the embodiment of this invention.

  The spatial information management system 10 of this embodiment includes one or more mobile terminals 101, a plurality of positioning devices 114, an application server 102, and a map information server 103. One or more mobile terminals 101 and a plurality of positioning devices 114 are each connected to the application server 102 via the network 121. The map information server 103 is connected to the application server 102 via the network 121.

  The mobile terminal 101 is a portable terminal having a positioning function and a communication function. For example, the mobile terminal 101 may be a computer or a mobile phone carried by the user.

  In the present embodiment, the position of the mobile terminal 101 is measured. The positioning method used for that purpose may be a method in which the mobile terminal 101 itself measures the position of the mobile terminal 101, or a device installed around the mobile terminal 101 (in the example of FIG. 1A). The positioning device 114) may measure the position of the mobile terminal 101.

  For example, the mobile terminal 101 of the present embodiment may acquire the coordinates of the current position of the mobile terminal 101 using the received GPS signal. However, since it is usually difficult to receive a signal from a GPS satellite indoors, it is necessary to install a device that transmits a signal compatible with the GPS signal indoors. In this case, the positioning device 114 of FIG. 1A corresponds to the device.

  Alternatively, for example, positioning of the mobile terminal 101 may be performed based on communication between the mobile terminal 101 and the positioning device 114. For example, when the positioning device 114 is a wireless LAN base station and the mobile terminal 101 has a function of connecting to the wireless LAN, the mobile terminal 101 can be moved by specifying in which base station area the mobile terminal 101 is located. The position of the body terminal 101 can be measured. In this case, the positioning device 114 may measure the position of the mobile terminal 101.

  The positioning method as described above is merely an example, and various positioning methods can be used in the present embodiment. For example, ZigBee (registered trademark, the same applies hereinafter) may be used instead of the wireless LAN. Alternatively, a plurality of positioning methods may be used in combination. Regardless of which positioning method is used, in order to measure the position of the mobile terminal 101, a plurality of transmissions of signals to the mobile terminal 101 or reception of signals from the mobile terminal 101 are performed. This positioning device 114 must be installed.

  The mobile terminal 101 transmits the location information of the mobile terminal 101 acquired by positioning to the application server 102 via the network 121. Communication between the mobile terminal 101 and the application server 102 may be realized by any means. For example, when the mobile terminal 101 is a mobile phone, the mobile terminal 101 may communicate with the application server 102 using an Internet connection service provided by a mobile phone carrier. Alternatively, when the mobile terminal 101 has a wireless LAN communication function, the mobile terminal 101 may communicate with the application server 102 via any positioning device 114.

  FIG. 1A shows an example in which the positioning device 114 and the mobile terminal 101 are connected to the application server 102 via the common network 121. However, the positioning device 114 and the mobile terminal 101 are connected to the application server via different networks. 102 may be connected. For example, when the mobile terminal 101 is a mobile phone having a positioning function using a GPS signal and the positioning device 114 is a device that transmits a signal compatible with the GPS signal, the mobile terminal 101 is connected via a mobile phone network. The positioning device 114 connected to the application server 102 may be connected to the application server 102 via a wired or wireless LAN.

  The application server 102 and the map information server 103 of this embodiment can be realized by a general-purpose computer. These detailed configurations will be described later (see FIGS. 1B and 1C).

  The application server 102 includes a positioning data acquisition unit 104 and a map information transmission unit 105.

  The positioning data acquisition unit 104 acquires the position information of the mobile terminal 101 from the mobile terminal 101. When the positioning device 114 performs positioning, the positioning data acquisition unit 104 may acquire the position information of the mobile terminal 101 from the positioning device 114.

  The map information transmission unit 105 transmits the map information to the mobile terminal 101 based on the position information acquired by the positioning data acquisition unit 104. For example, the map information transmission unit 105 transmits map information in a predetermined range including the current position of the mobile terminal 101. This map information may include map image information, route information superimposed on the map image, and the like. These pieces of information are created by the map information server 103 and transmitted to the application server 102 as necessary. The mobile terminal 101 displays the map image received from the application server 102 to the user.

  The transmission of map information as described above is merely an example of a location information service that the application server 102 provides to the user of the mobile terminal 101. The application server 102 can provide various services based on the position information acquired by the positioning data acquisition unit 104.

  The map information server 103 includes a map display processing unit 106, a route search processing unit 108, a map data reference unit 109, a map data conversion unit 112, an outdoor map database (DB) 110, an indoor map DB 111, and positioning device data 113.

  The indoor map DB 111 stores indoor map information, specifically, information (namely, network data) related to nodes and links of a network representing an indoor space. Details of the indoor map DB 111 will be described later (see FIG. 2).

  The outdoor map DB 110 stores outdoor map information. Similar to the indoor space, the outdoor space is expressed by a network composed of nodes and links. Since the outdoor map DB 110 may be the same as that used in a conventional car navigation system or a personal navigation system for pedestrians, description thereof will be omitted. In the following description of the present embodiment, the outdoor map DB 110 is not referred to in order to illustrate the creation of network data indoors. However, the outdoor map DB 110 is also referred to when providing the same service seamlessly indoors even outdoors.

  The positioning device data 113 includes information indicating the type and position of the installed positioning device 114. Details of the positioning device data 113 will be described later.

  The map display processing unit 106 creates a map image to be displayed by the mobile terminal 101 in accordance with a request from the map information transmission unit 105 of the application server 102. At this time, the map display processing unit 106 may acquire a route search result from the route search processing unit 108 as necessary.

  The route search processing unit 108 performs route search. For example, given the current position of the mobile terminal 101 and the destination position input by the user of the mobile terminal 101, the route search processing unit 108 searches for the shortest route from the current position to the destination. The result may be output. The route search processing unit 108 uses the map information (that is, the outdoor map DB 110 or the indoor map DB 111) referred to by the map data reference unit 109 when executing the route search.

  The above-described map information reference, route search, and creation of map information to be displayed may be realized by a method similar to a conventional car navigation system or the like.

  The map data conversion unit 112 creates and updates the network data of the indoor map DB 111 based on the position where the positioning device 114 is installed. The detailed procedure will be described later. Similarly, the map data conversion unit 112 may create and update network data in the outdoor map DB 110.

  The network 121 may be of any type as long as it enables communication between devices connected to the network 121. Typically, the network 121 is realized by a mobile phone network, a wired LAN, a wireless LAN, or a combination thereof, and communication may be performed using, for example, an Internet protocol. Although two networks 121 are shown in FIG. 1A, these may be implemented by a single network or more than two networks. For example, one or more mobile terminals 101 and a plurality of positioning devices 114 may be connected to the application server 102 via different networks.

  FIG. 1B is a block diagram illustrating a configuration of the application server 102 according to the embodiment of this invention.

  The application server 102 according to this embodiment is a computer including a processor 131, a main memory 132, an input device 133, an output device 134, an interface (I / F) 135, and a storage device 136 that are connected to each other.

  The processor 131 executes a program stored in the main memory 132.

  The main memory 132 is a semiconductor memory, for example, and stores a program executed by the processor 131 and data referred to by the processor 131. Specifically, at least a part of the program and data stored in the storage device 136 is copied to the main memory 132 as necessary.

  The input device 133 receives input from a user or an administrator. The input device 133 may be a keyboard or a mouse, for example.

  The output device 134 outputs information to a user or an administrator. The output device 134 may be an image display device such as a liquid crystal display device.

  The I / F 135 is an interface that is connected to the network 121 and communicates with the mobile terminal 101, the positioning device 114, and the map information server 103.

  The storage device 136 is a non-volatile storage device such as a hard disk device (HDD) or a flash memory. The storage device 136 of this embodiment stores at least a positioning data acquisition unit 104 and a map information transmission unit 105.

  The positioning data acquisition unit 104 and the map information transmission unit 105 are programs executed by the processor 131. In the present embodiment, the processing executed by the positioning data acquisition unit 104 and the map information transmission unit 105 is actually executed by the processor 131 according to the commands described in the positioning data acquisition unit 104 and the map information transmission unit 105.

  FIG. 1C is a block diagram illustrating a configuration of the map information server 103 according to the embodiment of this invention.

  The map information server 103 of this embodiment is a computer that includes a processor 141, a main memory 142, an input device 143, an output device 144, an I / F 145, and a storage device 146 that are connected to one another. The processor 141, main memory 142, input device 143, output device 144, I / F 145, and storage device 146 are the processor 131, main memory 132, input device 133, output device 134, I / F 135, and storage of the application server 102, respectively. Since it is the same as the apparatus 136, detailed description thereof will be omitted.

  However, the storage device 146 stores a map display processing unit 106, a route search processing unit 108, a map data reference unit 109, a map data conversion unit 112, an outdoor map DB 110, an indoor map DB 111, and positioning device data 113. The map display processing unit 106, the route search processing unit 108, the map data reference unit 109, and the map data conversion unit 112 are programs executed by the processor 141. In the present embodiment, the processes executed by these units are actually executed by the processor 141 according to the instructions described in these units.

  1A shows an example in which the application server 102 and the map information server 103 are realized by independent hardware, but these may be realized by a single computer. For example, if the map display processing unit 106, the route search processing unit 108, the map data reference unit 109, the map data conversion unit 112, the outdoor map DB 110, and the indoor map DB 111 are further stored in the storage device 136, the application server 102 can map Since the function of the information server 103 is also provided, the hardware of the map information server 103 can be omitted.

  FIG. 2A is an explanatory diagram of the graphic data 201 included in the indoor map DB 111 according to the embodiment of this invention.

  The graphic data 201 includes information for specifying the type, shape, and position of the graphic corresponding to each node or each link. Specifically, the graphic data 201 includes a graphic ID 202, a type 203, and a coordinate string 204.

  The graphic ID 202 is information for identifying a graphic corresponding to each node or each link.

  The type 203 is information for identifying the type of graphic corresponding to each node or each link. For example, the values “Polygon”, “Polyline”, and “Point” of the type 1012 mean a polygon, a line segment group, and a point, respectively.

  The coordinate sequence 204 is one or more coordinate values that specify the shape and position of a figure corresponding to each node or each link. For example, when the figure is a point, one coordinate value indicating the position of the point is stored as the coordinate sequence 204. When the figure is a polygon, a plurality of coordinate values indicating the positions of a plurality of vertices of the polygon are stored as a coordinate sequence 204.

  FIG. 2B is an explanatory diagram of the search node data 211 included in the indoor map DB 111 according to the embodiment of this invention.

  The search node data 211 includes information on each node that is referred to for route search. Specifically, the search node data 211 includes a node ID 212, a graphic ID 213, a node type 214, and an area type 215.

  The node ID 212 is information for identifying each node.

  The graphic ID 213 is information for identifying a graphic corresponding to each node. The figure ID 213 corresponds to the figure ID 202 of the figure data 201.

  The node type 214 indicates the type of each node. For example, “elevator”, “corridor”, “room”, “stairs”, “outdoor end point”, and the like are stored as the node type 214. As will be described later, when a network data area corresponding to the positioning device 114 is set as a node, the node type 214 of the node may include information for identifying the positioning device 114 corresponding to the node.

  The area type 215 identifies the area where each node is arranged. For example, when a certain node is a hallway on the third floor of a building A (not shown), “corridor” and “building A 3F” are stored as the node type 214 and area type 215 of the node, respectively.

  FIG. 2C is an explanatory diagram of the search link data 221 included in the indoor map DB 111 according to the embodiment of this invention.

  The search link data 221 includes information regarding each link referred to for route search. Specifically, the search link data 221 includes a link ID 222, a graphic ID 223, a start point node (From) 224, an end point node (To) 225, a link type 226, and a cost 227.

  The link ID 222 is information for identifying each link.

  The graphic ID 223 is information for identifying a graphic corresponding to each link. The graphic ID 223 corresponds to the graphic ID 202 of the graphic data 201.

  The starting point node 224 is information for identifying the starting point node of each link.

  The end node 225 is information for identifying the end node of each link.

  The link type 226 is information indicating the type of each link, that is, which area node the link is connected to. For example, when a link connects two nodes in the same area, “in the same area” is stored as the link type 226 of the link. When another link connects an indoor node and an outdoor node, “between indoor and outdoor” is stored as the link type 226 of the other link.

  The cost 227 is an index indicating a cost (for example, time required for movement) for moving from the start node to the end node along each link.

  FIG. 3 is an explanatory diagram of the positioning device data 113 according to the embodiment of this invention.

  The positioning device data 113 includes a device ID 301, a physical ID 302, a device type 303, a positioning possible distance 304, a positioning accuracy 305, an installation position coordinate 306, and an area type 307.

  The device ID 301 is information for identifying each positioning device 114.

  The physical ID 302 is information that physically identifies each positioning device 114. The physical ID 302 may be, for example, a MAC (Media Access Control) address, and is used for communication with each positioning device 114.

  The device type 303 indicates the type of each positioning device 114. For example, when the positioning device 114 is a wireless LAN or Zigbee base station, “Wi-Fi” or “Zigbee” is stored as the device type 303 of the positioning device 114.

  The positioning possible distance 304 indicates a range in which positioning is possible using each positioning device 114. For example, when the positioning possible distance 304 of a certain positioning device 114 is “5 m”, the position of the mobile terminal 101 whose distance from the positioning device 114 is within 5 m can be measured using the positioning device 114. it can.

  Note that “the position of the mobile terminal 101 can be measured using the positioning device 114” means that, for example, when the mobile terminal 101 performs positioning using a signal received from the positioning device 114, the mobile terminal 101 Means that the positioning device 114 can receive a signal from the positioning device 114, and when the positioning device 114 performs positioning using the signal received from the mobile terminal 101, the positioning device 114 receives the signal from the mobile terminal 101. Can be received. Therefore, generally, the value of the positioning possible distance 304 depends on the transmission power of the positioning device 114, the antenna sensitivity, or the like. As the positioning possible distance 304, for example, a value provided by the manufacturer of the positioning device 114 may be stored, or a value measured in advance by the user may be stored.

  The positioning accuracy 305 indicates the accuracy of positioning using each positioning device 114.

  The installation position coordinate 306 indicates the coordinate value of the position where each positioning device 114 is installed.

  The area type 307 indicates an area where each positioning device 114 is installed. The area type 307 corresponds to the area type 215 of the search node data 211.

  The positioning device data 113 shown in FIG. 3 is an example, and the actual positioning device data 113 does not have to include all of the illustrated information, and may further include information not illustrated. However, since network data is created based on the position where the positioning device 114 is installed as will be described later, information indicating the installation position of the positioning device 114 is necessary.

  It has been described with reference to FIG. 2B that the search node data 211 may include information for identifying the positioning device 114 corresponding to the node. However, instead of the search node data 211 including such information, the positioning device data 113 may include information for identifying a node corresponding to each positioning device 114. Alternatively, the map information server 103 may hold information for associating the positioning device 114 with a node set correspondingly by a method other than the above.

  FIG. 4 is a sequence diagram showing a communication procedure executed in the embodiment of the present invention.

  First, the mobile terminal 101 transmits positioning data to the application server 102 (step 401). The positioning data transmitted at this time includes the current position information (coordinate values) of the mobile terminal 101 acquired by positioning, and further includes the position information of the destination input by the user of the mobile terminal 101. But you can. When the positioning device 114 performs positioning, the mobile terminal 101 may acquire positioning data including the location information of the mobile terminal 101 itself from the positioning device 114 and transmit it to the application server 102. The positioning device 114 may transmit positioning data regarding the mobile terminal 101 to the application server 102 via the network 121.

  Upon receiving the positioning data, the application server 102 transmits a request for a route search result based on the positioning data to the map information server 103 (step 402). For example, the application server 102 may request a route search from the current position of the mobile terminal 101 to the destination.

  When receiving a request for a route search result, the route search processing unit 108 of the map information server 103 executes a route search process according to the request (step 403). This process may be executed by a method similar to that of a conventional car navigation system or the like.

  The map data reference unit 109 of the map information server 103 searches the indoor map DB 111 or the like for map data necessary for the route search processing by the route search processing unit 108 (step 404).

  The map display processing unit 106 of the map information server 103 converts the searched map information into image data to be transmitted to the mobile terminal 101 (step 405).

  Then, the map information server 103 transmits the converted map information to the mobile terminal 101 via the application server 102 (steps 406 and 407).

  The mobile terminal 101 displays map information (that is, a map image) received from the map information server 103.

  FIG. 5 is an explanatory diagram of the indoor navigation executed in the embodiment of the present invention.

  For example, when the current position of the mobile terminal 101 is a room (elevator room) 501 and the destination is a room 505 on the floor 500 of the building on the site, information indicating the current position and the destination is the map information server 103. (Steps 401 and 402). The map information server 103 searches for a route 521 from the room 501 through the corridors 502, 503, and 504 to the room 505 (steps 403 to 405), and transmits the search result to the mobile terminal 101 (step 406).

  In FIG. 5, each room and corridor displayed in polygons may be associated with a node, and an entrance of a room displayed with “x” may be associated with a link (see FIG. 6). One room or hallway may be divided into a plurality of areas, and each area may be associated with one node (see FIG. 7).

  FIG. 6 is an explanatory diagram of a conventional network data construction method.

  FIG. 6 shows a construction method of network data corresponding to the building floor 500 shown in FIG. 5 as an example.

  In the example of FIG. 6, each room and each hallway has one node, and each room and hallway, a room-to-room or a passageable boundary between hallways and hallways (in other words, each hallway or entrance to the room) has one node. Associated with a link.

  For example, a room 501, a hallway 502, a hallway 503, a hallway 504, and a room 505 are respectively connected to a node (N001) 601, a node (N002) 602, a node (N003) 603, a node (N004) 604, and a node (N005) 605. It is associated.

  On the other hand, the boundary between the room 501 and the hallway 502 is a link (L001) 611, the boundary between the hallway 502 and the hallway 503 is a link (L002) 612, and the boundary between the hallway 503 and the hallway 504 is a link (L003) 613. The boundary between the hallway 504 and the room 505 is associated with the link (L004) 614 and the link (L005) 615, respectively.

  In FIG. 6, reference numerals in parentheses (such as (N001) and (L001)) are node and link identifiers, and correspond to the node ID 212 of the search node data 211 and the link ID 222 of the search link data 221. .

  At each boundary, a structure (for example, a wall) that divides the space may or may not be installed. In order to be able to pass through the boundary where the structure that divides the space is installed, it is necessary to provide an opening (for example, a door) that can pass through the structure.

  For example, there may be no walls at the boundary between the hallway 502 and the hallway 503 and the boundary between the hallway 503 and the hallway 504. In this case, those boundaries can pass and are associated with the link (L002) 612 and the link (L003) 613, respectively. A wall may be provided at the boundary between the hallway 504 and the room 505, and two doors (not shown) may be provided on the wall. In this case, two doors are associated with the link (L004) 614 and the link (L005) 615, respectively.

  FIG. 7 is an explanatory diagram of a network data construction method according to the embodiment of this invention.

  As shown in FIG. 6, conventionally, typically, one room is associated with one node. On the other hand, in this embodiment, when a plurality of positioning devices are installed in one room or one corridor, those rooms or corridors are divided into a plurality of regions corresponding to the positioning device, and each region is divided. Corresponds to one node. Thereby, the granularity of the route search and guidance can be made finer.

  In the example of FIG. 7, two positioning devices 701, that is, positioning devices 701 </ b> A and 701 </ b> B are installed in the hallway 504. Then, network data areas 711A and 711B corresponding to the positioning devices 701A and 701B are set.

  On the other hand, four positioning devices 702, that is, positioning devices 702A to 702D are installed in the room 505. Then, network data areas 712A to 712D corresponding to the positioning devices 702A to 702D are set.

  Each positioning device 701 and 702 corresponds to the positioning device 114 in FIG. 1A.

  Each network data area is associated with a node. In the following description, nodes corresponding to the network data areas 711A and 711B are referred to as nodes 711A and 711B, respectively, and nodes corresponding to the network data areas 712A to 712D are referred to as nodes 712A to 712D, respectively.

  Further, a passable boundary of each network data area is associated with the link. In the example of FIG. 7, the boundary between the network data areas 711A and 711B is associated with the link 721A. The boundary between the network data areas 712A and 712B is the link 722A, the boundary between the network data areas 712B and 712D is the link 722B, the boundary between the network data areas 712C and 712D is the link 722C, and the network data areas 712C and 712A A boundary is associated with each link 722D.

  Next, processing for generating network data based on the installation position of the positioning device as described above will be described.

  FIG. 8 is a flowchart illustrating network data generation processing according to the embodiment of this invention.

  First, the map data conversion unit 112 of the map information server 103 acquires spatial layout information, positioning device information, and information regarding the installation position of the positioning device (step 801). Specifically, the map data conversion unit 112 acquires information stored in the indoor map DB 111 and the positioning device data 113 via the map data reference unit 109. Thereby, information such as the installation position coordinates, the positioning possible distance, and the positioning accuracy of the positioning device 114 (positioning devices 701A, 701B and 702A to 702D in the example of FIG. 7) installed in each room or the like is acquired.

  Next, the map data conversion unit 112 divides the space where the positioning device 114 is installed among the spaces specified by the space layout information according to the attribute information of the positioning device (step 802). Specifically, the map data conversion unit 112 compares the graphic data 201, the search node data 211, and the positioning device data 113 to determine in which space (room or hallway) where the positioning device 114 is installed. Can be specified.

  For example, referring to FIGS. 2B, 5, and 6, it can be seen that the node (N004) 604 is associated with the hallway 504 on the third floor of the building A. The position and shape of the figure corresponding to the node (N004) 604 (that is, the position and shape of the corridor 504) is specified by searching the figure data 201 using the figure ID “1234” corresponding to the node ID “N004” as a key. The That is, the value of the coordinate sequence 204 corresponding to the graphic ID “1234” indicates the position and shape of the graphic corresponding to the node (N004) 604 (however, in FIG. 2A, the graphic ID “1234” and the coordinate sequence corresponding thereto are The illustration is omitted).

  On the other hand, the position where the positioning device 114 is installed is specified by the installation position coordinates 306 of the positioning device data 113. For example, when the installation position coordinate of the positioning device 114 installed on the third floor of the building A is within the range of the figure corresponding to the node (N004) 604, the positioning device 114 is in the node (N004) 604 (ie, the hallway). 504)). In this way, for example, when it is determined that the positioning devices 701A and 701B are installed in the corridor 504, in step 802, the space of the corridor 504 includes two networks corresponding to the two positioning devices 701A and 701B, respectively. The data area is divided into 711A and 711B (see FIG. 7).

  Next, the map data conversion unit 112 sets a node corresponding to each of the spaces divided in step 802, sets a link connecting the set nodes, and stores them in the indoor map DB 111 ( Step 803).

  For example, when the nodes and links shown in FIG. 7 are set, information indicating the positions, shapes, and the like of the nodes 711A, 711B, 712A to 712D, the links 721A, and the links 722A to 722D is the graphic data 201 and the search nodes. Data 211 and search link data 221 are stored.

  Specifically, for example, the graphic ID for identifying the graphic of the node 711A (that is, the network data area 711A), the type of the graphic, and the coordinate string specifying the position and the shape of the graphic are respectively in the graphic data 201. It is stored as a graphic ID 202, a type 203, and a coordinate string 204. Further, the node ID for identifying the node 711A, the graphic ID, the type of the node, and the information indicating the area where the node is arranged are the node ID 212, the graphic ID 213, the node type 214, and the area of the search node data 211, respectively. Stored as type 215. In this case, the node type 214 includes information indicating that the node 711A is the network data area 711A corresponding to the positioning device 701A. The same applies to nodes corresponding to other positioning devices.

  Further, for example, a graphic ID for identifying the graphic of the link 721A, a type of the graphic, and a coordinate string for specifying the position and shape of the graphic are a graphic ID 202, a type 203, and a coordinate string 204 of the graphic data 201, respectively. Stored. Further, the link ID for identifying the link 721A, the above-mentioned graphic ID, the start node and the end node of the link 721A, the information indicating the type and cost of the link 721A are the link ID 222, the graphic ID 223, and the start point of the search link data 221, respectively. They are stored as a node 224, an end node 225, a link type 226, and a cost 227.

  When the network data area 711A to 711B can be passed, the start point node and the end point node of the link 721A are the nodes 711A and 711B, respectively. When the reverse direction is possible, the start point node and the end point node of the link 721A are the nodes 711B and 711A, respectively. When traffic in both directions is possible, information corresponding to each direction is stored in the search link data 221.

  A detailed method for dividing the space and setting the nodes will be described later (see FIGS. 11 to 13).

  This completes the network data generation process.

  Next, update of network data when the positioning device 114 is added or deleted will be described.

  FIG. 9 is an explanatory diagram of a network data update method according to the embodiment of this invention.

  Specifically, FIG. 9 shows an example in which the positioning device 701C is added to the hallway 504, and the positioning devices 702C and 702D in the room 505 are deleted due to a disaster or the like.

  Even if the positioning device 701C is added as shown in FIG. 9 after the network data shown in FIG. 7 is generated, an accurate location information service cannot be performed unless the network data is updated. For this reason, the map information server 103 of this embodiment updates network data according to the addition of the positioning device 701C.

  Specifically, when the positioning device 701C is added to the hallway 504, a network data area 711C corresponding to the positioning device 701C is added. The network data area 711C includes a part of the network data areas 711A and 711B before the positioning device 701C is added. Therefore, the network data areas 711A and 711B are also updated to network data areas 711D and 711E that do not overlap with the network data area 711C, respectively. Further, the link 721A is deleted, and a link 721B that connects the network data areas 711D and 711C and a link 721C that connects the network data areas 711C and 711E are added.

  Similarly, after the network data shown in FIG. 7 is generated, even if the positioning devices 702C and 702D are deleted as shown in FIG. 9, if the network data is not updated, an accurate location information service cannot be performed. . For example, after the positioning device 702C is deleted, positioning using the positioning device 702A may be possible in the network data area 712C. In this case, when the mobile terminal 101 in the network data area 712C performs positioning, the position information of the node corresponding to the positioning device 702A, that is, the position information of the network data area 712A is acquired. At this time, if the location information of the network data area 712 has not been updated, the mobile terminal 101 in the network data area 712C of FIG. 7 is actually misidentified as being in the network data area 712A of FIG. This hinders the provision of accurate location information services. For this reason, the map information server 103 of this embodiment updates network data according to deletion of the positioning devices 702C and 702D.

  When the positioning devices 702C and 702D are deleted from the room 505, the corresponding network data areas 712C and 712D are also deleted. Further, the network data areas 712A and 712B are respectively updated to network data areas 712E and 712F including the network data areas 712C and 712D before being deleted. Further, the links 722A to 722D are deleted, and a link 722E that connects the network data areas 712E and 712F is added.

  FIG. 10 is a flowchart illustrating network data update processing according to the embodiment of this invention.

  First, the map data conversion unit 112 of the map information server 103 searches for an indoor space where the positioning device 114 has been added or deleted (step 1001). For example, the map data conversion unit 112 compares the search node data 211 with the positioning device data 113, and a node corresponding to the positioning device 114 registered in the positioning device data 113 is registered in the search node data 211. If not, it is determined that the positioning device 114 is newly added. If the positioning device 114 corresponding to the node registered in the search node data 211 is not registered in the positioning device data 113, the positioning device 114 is determined. It may be determined that has been deleted.

  Next, the map data conversion unit 112 acquires all positioning device information and installation positions installed in the indoor space searched in Step 1001 (that is, a room or a corridor in which the positioning device 114 is added or deleted) ( Step 1002). For example, when it is determined in step 1001 that the positioning device 114 has been added, the map data conversion unit 112 determines that all the positioning devices 114 installed in an indoor space such as a room or a corridor in which the positioning device 114 is installed. Information on the installation position coordinates, positioning distance, positioning accuracy, etc. is acquired from the positioning device data 113. If it is determined in step 1001 that the positioning device 114 has been deleted, the map data conversion unit 112 has all installed in the indoor space such as a room or a corridor that was installed before the positioning device 114 was deleted. Positioning device 114 (in the example of the room 505 after the positioning devices 702C and 702D in FIG. 9 are deleted, positioning devices 702A and 702B) information on the installation position coordinates, positioning possible distance, positioning accuracy, etc. Get from.

  Next, the map data conversion unit 112 divides the indoor space searched in step 1001 based on the device attribute information of the positioning device 114 installed therein (step 1003). This process is the same as step 802 in FIG.

  Next, the map data conversion unit 112 sets nodes and links for the areas divided in step 1003, and stores information related to them in the indoor map DB 111 (step 1004). This process is the same as step 803 in FIG.

  Next, the indoor space division executed in step 802 in FIG. 8 and step 1003 in FIG. 10 will be described. The division of the indoor space (more specifically, calculation of coordinate values indicating the position and shape of each divided area) is based on the coordinate value indicating the position and shape of the indoor space and the coordinate value of the installation position of the positioning device 114. Thus, it can be performed using a known method. Typical examples are shown in FIGS.

  FIG. 11 is an explanatory diagram illustrating a first example of indoor space division executed in the embodiment of the present invention.

  In the example of FIG. 11, the indoor space is divided by Voronoi.

  In a space (for example, a room) 1100 indicated by a solid rectangle in FIG. 11, four positioning devices 1101, that is, positioning devices 1101A to 1101D are installed. These correspond to the positioning device 114 of FIG.

  When the division shown in FIG. 11 is executed in step 802 of FIG. 8, the positioning devices 1101A to 1101D correspond to the positioning device 114 whose installation position and the like have been acquired in step 801. When the division shown in FIG. 11 is executed in step 1003 of FIG. 10, the positioning devices 1101A to 1101D correspond to the positioning device 114 for which the installation position and the like have been acquired in step 1002. The same applies to the positioning devices shown in FIGS. 12 and 13 described later.

  The map data conversion unit 112 performs Voronoi division on the space 1100 based on the coordinate values indicating the position and shape of the space 1100 and the coordinate values indicating the installation positions of the positioning devices 1101A to 1101D. Coordinate values indicating the position and shape of the space 1100 are acquired from the indoor map DB 111. The installation positions of the positioning devices 1101A to 1101D are the mother points of the Voronoi division. The thin broken lines displayed in FIG. 11 indicate the boundary lines 1102A to 1102D of the divided areas.

  For example, the distance from an arbitrary point in the area 1103D (that is, the area surrounded by the thick broken line in FIG. 11) delimited by the boundary lines 1102B and 1102C to the positioning device 1101D is the other positioning devices 1101A to 1101A˜ It is shorter than any distance up to 1101C. Such a set of points is an area 1103D corresponding to the positioning device 1101D. The map data conversion unit 112 calculates coordinate values indicating the position and shape of the area 1103D by Voronoi division, and registers the area 1103D as a node in the indoor map DB 111.

  Similarly, an area closest to each of the positioning devices 1101A to 1101C is divided as an area corresponding to each of the positioning devices 1101A to 1101C, and is registered in the indoor map DB 111 as a node.

  The area corresponding to each positioning device 1101A to 1101D needs to include at least a range where positioning is possible using the positioning devices 1101A to 1101D. For example, the area 1103D needs to include a range that can be measured using the positioning device 1101D. More specifically, for example, when the mobile terminal 101 is in the area 1103D corresponding to the positioning device 1101D, it is desirable that this can be specified by positioning using the positioning device 1101D. However, even if the region is not measurable using the positioning device 1101D, if there is no other positioning device suitable for positioning in the region, the region may be included in the region 1103D. The same applies to FIGS. 12 and 13 described later.

  Further, the map data conversion unit 112 registers at least one point on each of the divided lines 1102A to 1102D in the indoor map DB 111 as links 1104A to 1104D. The positions of the links 1104A to 1104D can be determined by any method. For example, the map data conversion unit 112 determines the positions of the points where the straight lines connecting the centroids of the polygons representing the divided areas and the boundary lines 1102A to 1102D intersect as the positions of the links 1104A to 1104D. The cost of each link may be determined so that the cost increases as the distance of the link increases.

  FIG. 12 is an explanatory diagram illustrating a second example of indoor space division executed in the embodiment of the present invention.

  In the example of FIG. 12, the indoor space is divided by weighted Voronoi.

  Two types of positioning devices are installed in the space 1200 shown in FIG. The positioning possible distance of one type of positioning devices A_1201A and 1201B is 0.5 m, and the positioning possible distance of the other type of positioning devices B_1202A and 1202B is 2 m. These correspond to the positioning device 114 of FIG. These positioning possible distances are acquired from the positioning possible distance 304 of the positioning device data 113.

  By performing weighted Voronoi division using this positioning possible distance, the space 1200 is divided into regions corresponding to the positioning devices 114. Usually, the region corresponding to the positioning device 114 having a longer positioning possible distance becomes larger.

  Boundary lines 1203A to 1203E shown in FIG. 12 are boundary lines of regions corresponding to each positioning device. For example, the boundary lines 1203B, 1203C, and 1203E are boundary lines between an area (that is, a node) corresponding to the positioning device B_1202A and other areas. For example, when the mobile terminal 101 in the space 1200 can perform positioning using either the positioning device A_1201A or the positioning device B_1202A, the power of the signal received by the mobile terminal 101 from the positioning device B_1202A is determined by the positioning device A_1201A. If it is larger than the power of the signal received from the mobile terminal 101, it can be determined that the mobile terminal 101 is in the area corresponding to the positioning device B_1202A.

  Furthermore, as in the case of FIG. 11, at least one point of each of the boundary lines 1203A to 1203E is registered as links 1204A to 1204E. Those positions may be determined by the same method as in FIG.

  FIG. 13 is an explanatory diagram illustrating a third example of indoor space division executed in the embodiment of the present invention.

  In the example of FIG. 13, the indoor space is divided into cells.

  In the space 1300 shown in FIG. 13, four positioning devices 1301, that is, positioning devices 1301A to 1301D are installed. These correspond to the positioning device 114 of FIG.

  The map data conversion unit 112 divides the space 1300 into a plurality of regions having a predetermined shape and size, that is, cells 1302. In the example of FIG. 13, each cell 1302 is a square of a predetermined size displayed by a thin broken line, but the cell 1302 may have other shapes.

  Then, the map data conversion unit 112 determines which of the four positioning devices 1301A to 1301D is closest to each cell 1302, and is included in an area corresponding to the positioning device that is determined to be closest to each cell 1302. The space 1300 is divided into two. Thick broken lines shown in FIG. 13 are boundary lines 1303A to 1303E of the divided areas. Further, as in the case of FIGS. 11 and 12, at least one point of each of the boundary lines 1303A to 1303E is registered as links 1304A to 1304E. Those positions may be determined by the same method as in FIG.

  As described above, according to the embodiment of the present invention, network data can be automatically generated and updated based on the position of a positioning device. Thereby, the work cost of the manager at the start of operation of the spatial information management system can be reduced. Furthermore, even when a positioning device is added or deleted during operation, network data can be quickly updated and operation can be continued. In particular, if a positioning device is deleted due to a disaster, for example, to quickly evacuate the user, the network data should be updated quickly to match the remaining positioning devices, thereby continuing the operation of the system. Can do.

DESCRIPTION OF SYMBOLS 10 Spatial information management system 101 Mobile terminal 102 Application server 103 Map information server 104 Positioning data acquisition part 105 Map information transmission part 106 Map display process part 108 Route search process part 109 Map data reference part 110 Outdoor map DB
111 Indoor map DB
112 Map data converter 113 Positioning device data 114 Positioning device 121 Network

Claims (14)

A computer that generates indoor space network data,
The calculator is
An interface connected to a network, a processor connected to the interface, and a memory connected to the processor,
Holds coordinate values indicating the position and shape of the space in the building and coordinate values indicating the positions of a plurality of positioning devices installed in the space and used for measuring the position of the mobile terminal in the space. And
Based on the coordinate value indicating the position and shape of the space and the coordinate value indicating the position of the plurality of positioning devices, the space is divided into a plurality of regions each corresponding to the positioning device,
An indoor space network data including a node corresponding to each of the divided areas and a link connecting the two nodes corresponding to two adjacent areas is created.   2. The computer according to claim 1, wherein the computer divides the space into the plurality of regions such that each region includes a range that can be measured by using each positioning device corresponding to each region. Listed calculator.   The computer according to claim 2, wherein the computer divides the space into the plurality of regions by Voronoi division using a position of each positioning device as a generating point. The calculator is
Further holding information indicating a range that can be measured using each positioning device,
4. The computer according to claim 3, wherein the space is divided into the plurality of regions by weighted Voronoi division using a size of the positioning range as a weight. The calculator is
Dividing the space into a plurality of cells of a predetermined shape and size;
The computer according to claim 2, wherein the space is divided into the plurality of regions so that each cell is included in the region corresponding to the positioning device closest to each cell. The spatial network data includes a coordinate value indicating the position and shape of an area corresponding to each node, and a value indicating the cost of each link,
The calculator is
Based on the coordinate value indicating the position and shape of the space and the coordinate value indicating the position of the plurality of positioning devices, the coordinate value indicating the position and shape of the divided region is calculated,
The value indicating the cost of each link is calculated so that the value indicating the cost of each link increases as the distance between the centroids of the graphic indicating the shape of the region corresponding to the two nodes to which the link is connected increases. The computer according to claim 1, wherein: The building includes a plurality of the spaces,
In each space, one or more positioning devices are installed,
The calculator is
Further holding coordinate values indicating the position and shape of each space,
When the positioning device is added or deleted, the space where the positioning device is added or deleted is specified based on the coordinate value indicating the position and shape of each space and the coordinate value indicating the position of the plurality of positioning devices. And
Based on the coordinate value indicating the position of all the positioning devices installed in the specified space after the addition or deletion, and the coordinate value indicating the position and shape of the specified space, The computer according to claim 1, wherein the space is divided into a plurality of regions each corresponding to each positioning device. A method of generating indoor space network data using a computer,
The calculator is
An interface connected to a network, a processor connected to the interface, and a memory connected to the processor,
Holds coordinate values indicating the position and shape of the space in the building and coordinate values indicating the positions of a plurality of positioning devices installed in the space and used for measuring the position of the mobile terminal in the space. And
The method
The computer divides the space into a plurality of regions each corresponding to each positioning device based on coordinate values indicating the position and shape of the space and coordinate values indicating the position of the plurality of positioning devices. 1 procedure,
A second procedure in which the computer creates indoor space network data including a node corresponding to each of the divided areas and a link connecting the two nodes corresponding to the two adjacent areas; A method comprising the steps of:   In the first procedure, the computer divides the space into the plurality of regions such that each region includes a range that can be measured by using each positioning device corresponding to each region. 9. A method according to claim 8, characterized in that   The method according to claim 9, wherein in the first procedure, the computer divides the space into the plurality of regions by Voronoi division using a position of each positioning device as a generating point. The calculator further holds information indicating a range that can be measured using each positioning device,
The said computer WHEREIN: The said computer divides | segments the said space into the said several area | region by weighted Voronoi division | segmentation using the magnitude | size of the range which can be measured as a weight. the method of. The space is divided into a plurality of cells having a predetermined shape and size,
In the first procedure, the computer divides the space into the plurality of regions so that each cell is included in the region corresponding to the positioning device closest to each cell. The method according to claim 9. The spatial network data includes a coordinate value indicating the position and shape of an area corresponding to each node, and a value indicating the cost of each link,
In the first procedure, the computer uses a coordinate value indicating the position and shape of the divided area based on a coordinate value indicating the position and shape of the space and a coordinate value indicating the position of the plurality of positioning devices. To calculate
In the second procedure, the computer increases the value indicating the cost of each link as the distance between the centroids of the figures indicating the shape of the region corresponding to the two nodes to which the link is connected increases. 9. The method according to claim 8, wherein a value indicating a cost of the link is calculated. The building includes a plurality of the spaces,
In each space, one or more positioning devices are installed,
The calculator further holds coordinate values indicating the position and shape of each space,
In the method, when the positioning device is added or deleted, the calculator determines whether the positioning device is based on the coordinate value indicating the position and shape of each space and the coordinate value indicating the position of the plurality of positioning devices. And further comprising a third procedure for identifying the added or deleted space,
In the first procedure, the computer calculates coordinate values indicating the positions of all the positioning devices installed in the space specified by the third procedure, and the positions and shapes of the specified spaces. 9. The method according to claim 8, wherein the space is divided into a plurality of regions each corresponding to each positioning device based on the coordinate values indicated.

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