KR102125759B1 - Integrated control system and method for indoor situation - Google Patents

Abstract

According to embodiments of the present invention, a sensor unit provided to a person entering the room, the sensor unit measures the movement of the person and a distance from surrounding objects, and estimates the position and direction of the person based on the measured movement It provides an integrated indoor situation control system including a map generating unit for generating a map based on the location direction estimation and the estimated location, direction and the measured distance.
Accordingly, embodiments of the present invention can effectively control the indoor situation by estimating the location of the person being put into the room in real time and generating a map.

Description

INTEGRATED CONTROL SYSTEM AND METHOD FOR INDOOR SITUATION}

The present invention relates to an indoor situation integrated control system and method, and more particularly, to an indoor situation integrated control system and method for effectively controlling an indoor situation by estimating a location of a person who is put in the room and generating an indoor map. .

As the number of narrow spaces where many people live or work, such as Go Siwon, officetels, and karaoke, increases, effectively suppress fires occurring in the narrow spaces or improve the effectiveness of rescue operations, police operations, or military operations conducted in narrow spaces. We need a way to improve it.

The narrow residential space has a structure in which several rooms partitioned by partitions are arranged along a narrow passage. In addition, there is a high possibility that the residential structure is different from the pre-written indoor map due to frequent structural changes.

Therefore, in order to improve the effectiveness of fire suppression, rescue operations, police operations, or military operations in a narrow residential space, it is necessary to conduct a search for all rooms while preventing overlapping search, and to be put into indoor maps and indoors of the narrow residential space. It should be possible to locate firefighters, police or soldiers in real time.

In addition, in order to increase the speed of fire fighting or operation, when multiple people are input through different paths, it is necessary to prevent overlapping searches by merging maps identified through multiple people.

Looking at the related art is as follows.

Korean Patent Publication No. 10-2018-0010637 relates to a disaster rescue device, and when a disaster event occurs, a driving unit that provides power to move to the disaster site where the disaster event occurs; A sensor unit that searches for a disaster victim belonging to the disaster scene during the movement process and detects a biosignal of the discovered disaster victim; And a disaster status determination unit for determining the current status of the searched victim based on the detected biosignal and an operation determination unit for differently determining relief actions to be performed on the disaster victim according to the determined current status. Control unit; And a screen unit displaying a map for guiding the evacuation method to the disaster victim under the control of the control unit.

However, the prior art uses a GPS receiver for location estimation, and thus is not suitable for indoor location estimation.

In addition, the prior art only provides a method for estimating the position of a slowly moving unmanned aerial vehicle, and does not provide a method for accurately estimating the position of a person moving indoors and rapidly moving.

In addition, the prior art does not provide a method for judging whether the unmanned aerial vehicle has searched everywhere in the disaster site, and thus is not suitable for fire suppression or operation.

In addition, the prior art does not provide a method for creating an indoor map using a plurality of unmanned aerial vehicles, so it takes a long time to create an indoor map.

In order to solve the above-described problems, embodiments of the present invention are provided with a sensor unit provided to a person entering the room, the sensor unit measures the movement of the person and the distance to the surrounding object, and based on the measured movement An object of the present invention is to provide an integrated indoor situation control system comprising a location direction estimator for estimating a person's location and direction and a map generator for generating a map based on the estimated location, direction, and the measured distance. .

In addition, embodiments of the present invention extracts a feature point based on a distance measured from a surrounding object, determines a wall surface or an obstacle, and locates a person input into the room based on the extracted feature point or the geometric feature of the determined wall surface or obstacle, and An object of the present invention is to provide an integrated control system for indoor situations characterized by correcting a direction.

In addition, the exemplary embodiments of the present invention generate a map of different parts by a sensor unit traveling along different paths, and match the map when the sensor units traveling along different paths meet and match the map. The purpose is to provide.

In addition, embodiments of the present invention has an object to provide an indoor situation integrated control system including an unexplored area judgment unit for determining an area where a map has not been generated or has not been observed over a specific time.

In addition, embodiments of the present invention has an object to provide an indoor situation integrated control system characterized in that the position of the requestor is estimated based on the detected bio-signal.

In addition, embodiments of the present invention to provide an integrated indoor situation control system including a status determination unit for estimating the status of the requestor based on the detected bio-signal and a display unit for displaying the abnormal status when the status is abnormal There is this.

In addition, embodiments of the present invention has an object to provide an indoor situation integrated control system characterized by estimating the position of the flash point based on the measured temperature.

In addition, embodiments of the present invention to provide an integrated indoor situation control system including an evacuation route judgment unit for determining the evacuation route based on the position of the person or requestor who is put into the room and a display unit for displaying the evacuation route. have.

In addition, embodiments of the present invention is a repeater to maintain a wireless communication connection between a wireless communication terminal comprising a sensor unit and provided to a person entering the room and an integrated control device comprising a location direction estimator or a map generator. The purpose of the present invention is to provide an integrated indoor situation control system including a repeater management unit that determines a location to be deployed and manages a deployed repeater.

In addition, embodiments of the present invention has an object to provide an indoor situation integrated control system for determining a location to which a repeater is to be placed based on the strength of a signal received from a terminal.

In addition, embodiments of the present invention is a sensing step for measuring the movement of the person and the distance to the surrounding object through the sensor unit provided to the person entering the room, the position and direction of the person is estimated based on the measured motion An object of the present invention is to provide an integrated control method for indoor situations, including a location direction estimation step and a map generation step of generating an indoor map based on the estimated location, direction, and the measured distance.

An embodiment of the present invention for achieving the above object is a sensor unit provided to a person entering the room, the sensor unit measures the movement of the person and the distance to the surrounding object, and based on the measured movement It provides an indoor situation integrated control system comprising a location direction estimator for estimating a person's location and direction and a map generator for generating a map based on the estimated location, direction, and the measured distance.

In one embodiment, the position direction estimator extracts a feature point based on the measured distance or determines a wall surface or an obstacle, and the location of a person input into the room based on the extracted feature point or the geometrical feature of the determined wall surface or obstacle, and The direction can be corrected.

In one embodiment, the map generating unit may generate maps of different parts by a sensor unit traveling along different paths and match the maps when the sensor units traveling along the different paths meet.

In one embodiment, the indoor situation integrated control system may include an unexplored area determination unit for determining an area where the map has not been generated or has not been observed for a specific time.

In one embodiment, the sensor unit detects a biosignal of the requesting assistant, and the position direction estimator may estimate the position of the requesting assistant based on the detected biosignal.

In one embodiment, the indoor situation integrated control system may include a status determination unit for estimating the status of the requestor based on the detected bio-signal and a display unit for displaying the abnormal status when the status is abnormal.

In one embodiment, the indoor situation integrated control system, based on the estimated position or direction, a status determination unit for estimating the state of a person being put into the room, and a display unit for displaying an abnormal state when the state is abnormal It can contain.

In one embodiment, the sensor unit measures the temperature, and the position direction estimator may estimate the position of the flash point based on the measured temperature.

In one embodiment, the indoor situation integrated control system may include an evacuation route determination unit for determining an evacuation route based on the position of the person or the requestor who is put into the room, and a display unit for displaying the evacuation route.

In one embodiment, the sensor unit is configured to be included in a wireless communication terminal provided to a person entering the room, and the position direction estimator or the map generation unit is configured to be included in an integrated control device, and the terminal and the integrated control device are Connected via wireless communication, the indoor situation integrated control system may include a repeater management unit for determining a location where a repeater is to be disposed and managing the deployed repeater so that the connection is maintained.

In one embodiment, the repeater management unit may determine a location where a repeater is to be placed based on the strength of a signal received from the terminal.

In addition, another embodiment of the present invention for achieving the above object is a sensing step for measuring the movement of the person and the distance to the surrounding object through the sensor unit provided to the person to be put into the room; An indoor situation comprising a position direction estimation step of estimating the position and direction of the person based on the measured motion and a map generation step of generating an indoor map based on the estimated position, direction and the measured distance It provides an integrated control method.

As described above, embodiments of the present invention are provided with a sensor unit provided to a person entering the room, the sensor unit measures the movement of the person and the distance to the surrounding object, the position of the person based on the measured movement and The indoor situation can be effectively controlled by providing an integrated indoor situation control system comprising a location direction estimator for estimating a direction and a map generator for generating a map based on the estimated location, direction, and the measured distance. have.

In addition, embodiments of the present invention extracts a feature point based on a distance measured from a surrounding object, determines a wall surface or an obstacle, and locates a person input into the room based on the extracted feature point or the geometric feature of the determined wall surface or obstacle, and By correcting the direction, it is possible to accurately correct the position and direction of the person entering the room even if there is a small area where the distance is sensed by the person entering the room before and after moving or rotating and after moving or rotating.

In addition, embodiments of the present invention generate maps of different parts by a sensor unit traveling along different paths, and when a sensor unit traveling along different paths meets the maps, the maps are matched to prevent multiple searches, and thus to multiple paths. You can browse the room, so you can quickly control the indoor situation.

In addition, the embodiments of the present invention include an unexplored area judgment unit that determines an area where a map has not been generated or has not been observed for a specific time, so that an area where a search is required can be easily known, so that the indoor situation is completely and quickly searched. can do.

In addition, embodiments of the present invention can perform the rescue operation quickly and accurately by estimating the position of the requestor based on the detected bio-signals.

In addition, embodiments of the present invention include a status determination unit for estimating the status of the requesting assistant based on the detected bio-signal, and a display unit for displaying the abnormal status when the status is abnormal, thereby providing a rescue method or structure according to the status of the requesting assistant. The ranking can be set to improve the efficiency of the rescue operation.

In addition, embodiments of the present invention include a status determination unit for estimating the state of a person being put into the room based on the estimated position or direction, and a display unit for displaying an abnormal state when the state is abnormal, thereby indoors in a simple manner. It is possible to estimate the state of the person being put into the room, so it is possible to efficiently control the indoor situation.

In addition, embodiments of the present invention can quickly and accurately perform fire suppression by estimating the location of the flash point based on the measured temperature.

In addition, embodiments of the present invention include a evacuation route judgment unit for determining an evacuation route based on the position of a person or requesting person who is put into the room and a display unit for displaying the evacuation route, so that rescue operations can be performed quickly and safely. .

In addition, embodiments of the present invention is a repeater to maintain a wireless communication connection between a wireless communication terminal comprising a sensor unit and provided to a person entering the room and an integrated control device comprising a location direction estimator or a map generator. By including the repeater management unit that determines the location to be deployed and manages the deployed repeater, it is possible to control the indoor situation in real time.

In addition, embodiments of the present invention can efficiently deploy the repeater by determining the position where the repeater will be placed based on the strength of the signal received from the terminal.

In addition, embodiments of the present invention is a sensing step for measuring the movement of the person and the distance to the surrounding object through the sensor unit provided to the person entering the room, the position and direction of the person is estimated based on the measured motion By providing an integrated control method for indoor situations, which includes a location direction estimation step and a map generation step for generating an indoor map based on the estimated location, direction, and the measured distance, the indoor situation can be effectively controlled. .

It is not limited to the above-mentioned effects, and other effects that are not mentioned can be clearly understood by those skilled in the art from the following description.

1 is a view showing an example of an indoor situation integrated control system according to the present invention by way of example.
2 and 3 are views showing an example of a helmet according to the present invention.
4 and 5 are views showing an example of a portable device according to the present invention.
6 is a view showing an example of an integrated control device according to the present invention by way of example.
7 is a view showing a distance measuring point on a wall where a distance is measured when a person scans the periphery with a distance sensor before rotating in an embodiment according to the present invention.
8 is a view showing a distance measuring point on a wall where a distance is measured when a person scans the surroundings with a distance detection sensor after a person rotates in an embodiment according to the present invention.
9 is a view showing the location of the requestor and the shop in one embodiment on the map.
10 is a view showing an example of a map generated by the map generating unit according to the present invention.
11 is a view showing a case where a person who progresses along different paths in one embodiment meets.
12 exemplarily shows another example of the indoor situation integrated control system according to the present invention.
13 is a flowchart exemplarily showing an example of an indoor situation integrated control method according to the present invention.

Since the description of the present invention is merely embodiments for structural or functional description, the scope of the present invention should not be interpreted as being limited by the embodiments described in the text. That is, since the present embodiments can be variously modified and have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing technical ideas.

In addition, the purpose or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such an effect, and the scope of the present invention should not be understood as being limited thereby.

In addition, the accompanying drawings are provided to help understanding of the present invention, and provide embodiments with detailed description. However, the technical features of the present invention are not limited to specific drawings, and the features disclosed in each drawing may be combined with each other to form a new embodiment.

The indoor situation integrated control system disclosed in the following embodiments will be described in more detail with reference to each drawing.

1 is a view showing an example of an indoor situation integrated control system according to the present invention by way of example.

Referring to FIG. 1, the indoor situation integrated control system 100 according to an embodiment includes a helmet 200, a portable device 300, and an integrated control device 400.

The helmet 200 is provided to a person who is put into the room, and the configuration of the helmet 200 will be described with reference to FIGS. 2 and 3. The portable device 300 is provided to a person who is introduced indoors, and the configuration of the portable device 300 will be described with reference to FIGS. 4 and 5.

The helmet 200 and the portable device 300 may be connected to the integrated control device 400 through a communication network. Here, the communication network may mean a wide-concept network including a wired or wireless communication network.

The integrated control device 400 may be disposed at a control station away from the input site, and the configuration of the integrated control device 400 will be described with reference to FIG. 6.

2 and 3 are views showing an example of a helmet according to the present invention.

2 and 3, the helmet 200 according to an embodiment includes a first sensor unit 210 and a first communication unit 220, and the first sensor unit 210 is a distance sensing sensor ( 212), an acceleration sensor 214 and a temperature sensor 216.

The distance sensor 212 may be provided on the front surface of the helmet 200 and may be connected to the first communication unit 220. The distance detection sensor 212 is a sensor that measures a distance to a surrounding object, and may correspond to a radar (RADAR) sensor using ultrasonic waves or a light detection and ranging (LIDAR) sensor using laser.

Here, LIDAR, also called a laser scanner, is a device that measures the distance from surrounding objects by shooting a laser pulse and measuring the return time. The lidar (LIDAR) may be classified as a two-dimensional lidar (LIDAR) or a three-dimensional lidar (LIDAR) according to a method of shooting a laser pulse.

The distance information measured by the distance sensor 212 may be transmitted to a map generator 420, which will be described later, and used to generate a map, or transmitted to a position direction estimator 410, which will be described later, to estimate a location or direction, or Can be used to calibrate.

On the other hand, the distance sensor 212 is provided in the helmet 200 worn by a person entering the room. Since the person entering the room moves quickly, the distance sensing sensor 212 provided in the helmet 200 also moves. It can be many. Therefore, since the distance detection sensor 212 preferably has a short scan period, the distance detection sensor 212 may preferably have a two-dimensional lidar (LIDAR) having a short scan period than a long three-dimensional lidar (LIDAR). have.

The acceleration sensor 214 may be installed on the side of the helmet 200 and may be connected to the first communication unit 220. The acceleration sensor 214 is a sensor that measures the movement of a person entering the room and can measure the translational or rotational motion of a person entering the room about the X, Y, and Z axes.

The motion information measured by the acceleration sensor 214 is transmitted to the position direction estimator 410 and can be used to estimate the position or direction of a person entering the room. Specifically, the translational motion information of a person entering the room may be used to estimate the position of the person entering the room, and the rotational motion information of a person entering the room may be used to estimate the direction of the person entering the room. have. Here, the direction of the person input into the room may mean a direction in which the front of the person entering the room is facing.

The temperature sensor 216 may be provided on the front surface of the helmet 200 and may be connected to the first communication unit 220. The temperature sensor 216 may measure the ambient temperature by measuring the intensity of heat radiation emitted from the surrounding object.

The temperature information measured by the temperature sensor 216 is transmitted to the position direction estimator 410 and can be used to estimate the position of the fire point.

The first communication unit 220 is provided in the helmet 200 and may be connected to a distance sensor 212, an acceleration sensor 214, or a temperature sensor 216. The first communication unit 220 transmits the distance information measured by the distance sensor 212, the motion information measured by the acceleration sensor 214, or the temperature information measured by the temperature sensor 216 to the integrated control device 400. Can transmit.

4 and 5 are views showing an example of a portable device according to the present invention.

4 and 5, the portable device 300 according to an embodiment includes a second sensor unit 310, a first display unit 320, and a second communication unit 330, and a second sensor unit 310 is configured to include a bio-signal detection sensor 312.

The biosignal detection sensor 312 may be provided in the portable device 300 and may be connected to the first display unit 320 and the second communication unit 330. Here, the bio-signal may mean a heartbeat signal or a breathing signal of a requesting helper (detected person).

The biosignal detection sensor 312 uses radar (RADAR) using an Ultra Wide Band (UWB) frequency to detect the movement of the chest due to breathing or heartbeat or the movement of the skin due to the pulse. The accuracy is high and can be detected through the outer wall.

The bio-signal information measured by the bio-signal detection sensor 312 is transmitted to the position direction estimator 410 and can be used to estimate the position of the requestor, and transmitted to the status determination unit 440 to estimate the state of the requestor. Can be used for

The first display unit 320 is provided in the portable device 300 and may be connected to the bio-signal detection sensor 312 or the second communication unit 330. The first display unit 320 displays the position of the requestor measured by the bio-signal detection sensor 312 or receives the status information of the requester or the person input into the room from the status determination unit 440 through the second communication unit 330. It may be displayed by receiving or receiving and displaying the evacuation route from the evacuation route determination unit 450, or receiving and displaying the arrangement position of the repeater 600 from the relay management unit 460.

Meanwhile, unlike the FIG. 5, the first display unit 320 may output information such as an alarm or output a voice to inform information.

The second communication unit 330 is provided in the portable device 300 and may be connected to the bio-signal detection sensor 312 or the first display unit 320. The second communication unit 330 can transmit the bio-signal information measured by the bio-signal detection sensor 312 to the integrated control device 400 and evacuate the status information, evacuation of the requestor or the person input into the room from the integrated control device 400. The route or the position of the repeater 600 may be received and transmitted to the first display unit 320.

6 is a view showing an example of an integrated control device according to the present invention by way of example.

Referring to FIG. 6, the integrated control device 400 according to an embodiment includes a location direction estimation unit 410, a map generation unit 420, an undiscovered area determination unit 430, a status determination unit 440, and evacuation. It comprises a path determination unit 450, the second display unit 470, the third communication unit 480 and the control unit 490.

The position direction estimator 410 may estimate a person's position and direction based on motion information received from the acceleration sensor 214. Specifically, the position direction estimator 410 sets the position and direction before (or below) the movement or rotation as the origin and the reference coordinate axis and moves or rotates (hereinafter, after) the received motion information. The displacements of the X, Y, and Z axes included in the translational motion information of can be applied to the origin and the reference coordinate axis to estimate the subsequent position, and the rotation angles for the X, Y, and Z axes included in the rotational motion information can be estimated. The direction can be estimated by applying it to the origin and the reference coordinate axis.

As described above, the position direction estimator 410 can effectively control the indoor situation by estimating the position and direction of the person entering the room based on the motion information measured by the sensor provided to the person entering the room. .

In addition, the position direction estimator 410 receives the distance information from the distance detection sensor 212, the person input to the room before moving or rotating (hereinafter, the previous) distance information and the person input to the room moves or Displacement and rotation angle are calculated by comparing the distance information after rotation (hereinafter, hereinafter), and the estimated position based on motion information by applying the displacement and rotation angle calculated based on the distance information to the previous position and direction And the position and direction can be corrected by comparing with the direction.

For example, the position direction estimator 410 may calculate the displacement and rotation angle that most resemble the coordinates of the subsequent distance measurement point when the coordinates of the previous distance measurement point are moved and rotated, and calculate the calculated displacement and rotation angle. The position and direction can be corrected by comparing with the estimated position and direction based on the motion information applied to the previous position and direction. Here, the distance measuring point refers to a place where a laser or radio waves that are reflected and return when the distance measurement is performed using a laser or radio waves, and the coordinates may mean relative coordinates based on the distance detection sensor 212. .

Specifically, the position direction estimator 410 calculates an error between coordinates that have moved or rotated the coordinates of the previous distance measuring point to various values and the coordinates of the subsequent distance measuring point and selects a movement or rotation value with the smallest error. And by applying this value to the previous position and direction and comparing the applied value with the estimated position and direction based on the motion information, the estimated position and direction based on the motion information can be corrected.

However, since this method needs to be compared between coordinates of a distance measuring point before moving or rotating and after moving or rotating, the position and direction may be incorrectly corrected. In this regard, look at Figures 7 and 8.

7 is a view showing a distance measuring point on the wall where the distance is measured when a person input into the room scans the surroundings with a distance sensor before rotating in an embodiment according to the present invention and FIG. 8 is an embodiment according to the present invention In the example, this is a diagram showing the distance measuring point on the wall where the distance was measured when a person entering the room scanned the surroundings with a distance sensor after rotating.

Referring to FIGS. 7 and 8, in one embodiment, before a person entering the room rotates counterclockwise (FIG. 7 ), the distance measuring point on the wall W where the distance is measured is A1 and B1, but is inserted indoors. After the person rotates 30 degrees counterclockwise (FIG. 8), the distance measurement points on the wall W where the distance is measured become A2, B2 and C2.

Therefore, when comparing between the coordinates of the distance measurement points before and after rotation using the above-described method, the rotation angle is wrong because the distance including the C2 existing in the area on the wall W where the new distance was detected is compared after rotation. Can be calculated.

In addition, since the scanning for the distance detection is usually performed discontinuously for each unit angle based on the rotation axis of the distance detection sensor 212, the distance at the same position as the A1 scanned before the person entering the room rotates counterclockwise. After the person entering the measuring point rotates counterclockwise, it may not be scanned.

That is, after rotation, the relative coordinates of A1 before rotation are rotated 30 degrees clockwise relative to the distance detection sensor 212 (as opposed to the rotation direction of the person entering the room) among the distance measuring points A2, B2, and C2. The distance measuring point having the coordinates may not exist.

Therefore, when comparing the coordinates of the distance measuring points before and after rotation using the above-described method, the rotation angle may be incorrectly calculated due to the discontinuity of scanning.

Such a problem may occur in the same manner when the person entering the room rotates as well as when moving. In addition, the problem may be increased as the overlapping area in the area where the distance is sensed before the person entering the room moves or rotates quickly and moves or rotates and the distance is detected after moving or rotating is small. That is, in FIG. 8, as the distance measurement points such as C2 increase, the problem may increase.

To solve this problem, the position direction estimator 410 does not compare between the coordinates of the distance measurement points before and after rotation or movement, but extracts the feature points from the distance measurement points to compare the coordinates of the feature points or to determine a wall or obstacle. The geometric characteristics of the wall or obstacle must be calculated and compared.

First, we will look at how to extract the feature points and compare the coordinates of the feature points.

Position direction estimator 410 is a SIFT (Scale) in the image information derived from the distance information before and after the person is moved or rotated and moved or rotated (for example, the image of the gray sector in FIGS. 7 and 8) -Invariant Feature Transform) is used to extract the feature points and compare only the matched feature points to calculate the displacement or rotation angle. And direction can be corrected accurately.

Second, we will look at how to determine a wall or obstacle and calculate and compare the geometric characteristics of the wall or obstacle.

The position direction estimator 410 detects a plane, a straight line, etc. from the relative coordinates of the distance measurement points where the distance is detected for each case where the person entering the room moves or rotates and moves or rotates, and then all or part of the distance It is possible to discriminate a wall surface or an obstacle composed of measurement points.

For example, in FIG. 7 or FIG. 8, the position direction estimator 410 is a distance measuring point (A1 and B1 or A2 and B2) in which a distance is detected using a random sample consensus (RANSAC) or a Hough transform. C2) can detect a straight line (W) and the straight line W corresponds to a wall or an obstacle, so summing up, the position direction estimator 410 can determine a two-dimensional wall or an obstacle made up of distance measurement points. .

In addition, the position direction estimator 410 calculates the geometrical characteristics of the determined wall or obstacle for each case before or after the person moving or rotating and moving or rotating, and calculates the geometrical characteristics before and after the movement or rotation. By comparison, the displacement and rotation angle with the smallest error can be calculated.

For example, the position direction estimator 410 uses the relative coordinates of A1 and A2 in FIG. 7 to calculate the equation L1 of the two-dimensional wall (straight line W), and in FIG. 8 uses the relative coordinates of A2, B2, and C2. By calculating the equation L2 of the two-dimensional wall surface (straight line W), it is possible to calculate the rotation angle that becomes L2 when L1 is rotated.

As described above, the position direction estimator 410 can accurately correct the position and direction of a person entering the room even if there is a small area where the distance is detected by overlapping before and after movement or rotation by comparing the geometric characteristics of the wall or the obstacle. .

That is, even if the distance measuring point C2 where the distance is newly detected increases after a person who is input into the room rotates as shown in FIG. 8, when the distance measuring point C2 where the distance is newly detected is a distance measuring point on a straight line, it is put indoors. It can accurately correct the direction of the person.

Meanwhile, the position direction estimator 410 may estimate the position and direction based on the motion information and then calculate the position and direction using the distance information from the beginning without correcting the position and direction using the distance information.

Also, the position direction estimator 410 may estimate the position of the requestor based on the bio-signals detected by the bio-signal detection sensor 312. Specifically, the position direction estimator 410 receives the biosignal information from the biosignal detection sensor 312 and inputs the relative position of the requestor included in the biosignal information into the room estimated by the position direction estimator 410. The position of the requestor can be estimated by converting to the absolute position using the person's position and direction.

As described above, the position direction estimator 410 estimates the position of the requestor based on the bio-signals detected by the bio-signal detection sensor 312 so that the rescue operation can be performed quickly and accurately.

In addition, the position direction estimator 410 may estimate the position of the flash point based on the temperature measured by the temperature sensor 216. Here, the ignition point may mean a heat source or an area currently being burned by fire.

Specifically, the position direction estimator 410 receives the temperature information from the temperature sensor 216 and uses the position and direction of the person put into the room estimated by the position direction estimator 410 to determine the temperature for each position or direction. While storing information, it can be assumed that there will be a fire in a position or direction where the temperature tends to rise.

As described above, the position direction estimator 410 estimates the location of the fire point based on the temperature measured by the temperature sensor 216, so that fire suppression can be performed quickly and accurately.

9 is a view showing the location of the requestor and the shop in one embodiment on the map.

Referring to FIG. 9, the position direction estimator 410 may estimate the position (f) of the fire point and the position (e) of the requestor.

In addition, the position direction estimator 410 may estimate or correct the position of the terminal by using the position and signal strength of the repeater 600 received from the repeater management unit 460. In this regard, the repeater management unit 460 will take a look.

The map generating unit 420 may generate a map based on the location and direction of a person input into the room estimated by the location direction estimator 410 and distance information received from the distance sensor 212. Specifically, the map generation unit 420 generates a map by adding a distance measuring point to the map based on the location and direction of a person input into the room estimated by the location direction estimator 410 for the map generated so far ( Update).

10 is a view showing an example of a map generated by the map generating unit according to the present invention.

Referring to FIG. 10, the map generation unit 420 according to an embodiment receives the distance information measured by the distance detection sensor 212 while a person entering the room moves and maps the map by adding a distance measurement point to the map. Can be created (updated). In FIG. 10, the upper, lower, and center left of the drawing are regions in which the distance of the distance measuring point displayed on the map is low, and the map is not completed.

As described above, the map generation unit 420 generates a map based on the distance information received from the distance detection sensor 212 to generate an accurate map in real time to accurately control the indoor situation.

In addition, the map generation unit 420 may generate maps of different parts by the first sensor unit 210 traveling along different paths, and the first sensor unit 210 traveling along different paths may be generated. When you meet, you can match the map. Referring to FIG. 11 in this regard.

FIG. 11 is a diagram illustrating a case where a person who is inputted into a room progressing along different paths in one embodiment meets.

Referring to FIG. 11, in one embodiment, people (p, q) who are introduced into the room may proceed along different paths, and at this time, the map generating unit 420 includes people (p, q) who are introduced into the room. Maps of different parts may be generated through one distance detection sensor 212. However, when people p and q who are inputted in the room along different paths meet, the map generation unit 420 may match the map generated as p and q move.

The map generating unit 420 may detect that p and q have met based on the positions and directions of p and q estimated by the position direction estimator 410, and may be determined by p and q using various image matching methods. You can match the generated map.

In addition, the map generating unit 420 receives distance information from the distance detection sensors 212 provided in p and q, respectively, and image information derived from the received distance information (for example, in a gray sector in FIG. 7 and FIG. 8 ). It is also possible to detect that p and q have been met by extracting the feature points using a method such as Scale-Invariant Feature Transform (SIFT) from the image) and comparing whether the feature points match.

As described above, the map generation unit 420 generates maps of different parts by a sensor unit that follows different paths, and when the sensor units that follow different paths meet, maps are matched to prevent multiple searches while preventing multiple searches. It enables you to navigate the room, so you can quickly control the indoor situation.

The undiscovered area determination unit 430 may determine an area that has not been observed over a specific time even if a map has not been generated or a map has been generated, and the first display unit 320 or the second display unit 470 Can be delivered to.

Specifically, the non-navigation area determination unit 430 may determine an area where the density of the distance measurement points displayed on the map is low, such as an area of the top, bottom, and center left of FIG. 10 as an area where no map is generated.

In addition, the undetected area determination unit 430 can calculate the observation time for various regions on the map by using the location and direction information estimated from the location direction estimator 410, and a map is generated (ie, on the map). Although the density of the marked distance measurement points is high), it is possible to judge an area that has not been observed over a specific time.

As described above, the unexplored area determination unit 430 can easily find out the area that needs to be searched by determining the area that has not been observed beyond a specific time even if a map has not been generated or a map has been generated, so that the indoor situation is completely and quickly searched. Make it possible.

The status determination unit 440 may estimate the status of the requestor based on the detected bio-signals. Specifically, the status determination unit 440 receives the bio-signal information from the bio-signal detection sensor 312 and based on the breath rate or heart rate of the requesting assistant included in the bio-signal information, whether the requesting assistant is in a normal state or an emergency state It can be determined whether it is (abnormal condition), and when the requestor is in an abnormal state, it can transmit the abnormal state to the first display unit 320 or the second display unit 470.

As described above, the status determination unit 440 estimates the status of the requestor based on the detected bio-signal, so that the rescue method or the structure ranking can be determined according to the requestor's status, thereby improving the efficiency of the rescue operation.

In addition, the status determination unit 440 receives the motion information regarding the position or direction of the person being input into the room from the position direction estimator 420, and when the person entering the room dwells in one place for a specific time or more. It can be determined that the person input to the abnormal state is the person input to the first display unit 320 or the second display unit 470 is an abnormal state.

As described above, the state determination unit 440 can estimate the state of the person who is put in the room, which is input to the room, in a simple way, thereby effectively controlling the indoor situation.

The evacuation route determination unit 450 may determine the evacuation route based on the position of the person or requestor who is put into the room, and may transmit the determined evacuation route to the first display unit 320 or the second display unit 470.

Specifically, the evacuation route determination unit 450 generates a path from the location of the person or requestor who is put into the room estimated from the location direction estimator 410 to the nearest or safest emergency exit from the map generation unit 420. It can be calculated based on the map and transmitted to the first display unit 320 or the second display unit 470. Here, the route to the safest emergency exit may be calculated based on the position of the fire point estimated by the position direction estimator 410.

As described above, the evacuation route determination unit 450 determines that the evacuation route is based on the position of the person or requestor who is put into the room so that the rescue operation can be performed quickly and safely.

The repeater management unit 460 determines the position where the repeater 600 is to be arranged and maintains the arranged repeater 600 so that the wireless communication connection between the wireless communication terminal and the integrated control device 400 provided to the person entering the room is maintained. I can manage it.

Here, the wireless communication terminal may correspond to the helmet 200 or the portable device 300, and the repeater receives the radio wave signal and amplifies and retransmits the strength (amplitude) of the received signal, so that the signal can reach a longer distance. It is an electronic device that helps.

Referring to Fig. 12 in this regard.

12 exemplarily shows another example of the indoor situation integrated control system according to the present invention.

Referring to FIG. 12, the indoor situation integrated control method 500 according to another embodiment includes a helmet 200, a portable device 300, an integrated control device 400, an access point 500, and a repeater 600. Including.

The access point 500 may be configured to be connected to the integrated control device 400 through wired communication, and to be connected to the helmet 200 or the portable device 300 (hereinafter referred to as a terminal) through wireless communication.

In addition, the access point 500 may transmit the identifier and signal strength of the terminal or repeater 600 to the integrated control device 400 when receiving a signal from the terminal or repeater 600.

The repeater 600 is disposed indoors, amplifies the radio wave received from the terminal to maintain the wireless communication connection between the terminal and the access point 500, transmits it to the access point 500, and transmits the radio wave received from the access point 500. It can be amplified and transmitted to the terminal.

In addition, the repeater 600 may transmit the identifier and signal strength of the terminal or other repeater 600 to the integrated control device 400 when receiving a signal from the terminal or another repeater 600.

The repeater management unit 460 may determine a location where the repeater 600 is to be placed based on the signal strength of the terminal received from the access point 500 or the repeater 600.

Specifically, when the person having the terminal T moves away from the access point 500 or the repeater 600 to search the room, the intensity of the signal received by the access point 500 or the repeater 600 gradually decreases. However, if the signal strength becomes smaller than a specific value, the repeater management unit 460 may receive the estimated position of the terminal T from the position direction estimator 410 and determine the estimated position as the position where the repeater 600 will be arranged.

In addition, the repeater management unit 460 may notify a person who is put into the room to place the repeater 600 at the current position through the first display unit 320 after determining the position where the repeater 600 will be arranged.

On the other hand, when the signal of the terminal T is received by both the access point 500 and the repeater 600 or multiple repeaters 600, the repeater management unit 460 repeats the repeater based on the maximum value among the plurality of signal strengths ( 600) can be positioned. When determining the position of the repeater 600 based on the maximum value among the plurality of signal strengths, the arrangement of the repeater 600 is minimized because the repeater 600 is arranged only when the maximum value among the plurality of signal strengths is less than a specific value This can reduce the cost of the deployment and signal interference between the repeaters 600.

In addition, the repeater management unit 460 may set the position of the terminal T to the position of the repeater 600 R when the repeater 600 R is disposed by a person equipped with the terminal T. Here, a method of knowing that (i) when the repeater 600 R is deployed and (ii) that the repeater 600 R is deployed by a person equipped with the terminal T is demonstrated.

Regarding (i), when a person entering the room deploys the repeater 600 R, the repeater 600 causes the repeater management unit 460 to transmit the identifier R through wireless communication. ) It is possible to detect the time when R is placed.

In relation to (ii), since the repeater 600 R is configured to transmit the terminal identifier and signal strength to the integrated control device 400 when a signal is received from the terminal, the repeater management unit 460 is arranged with the repeater 600 R Immediately after, the terminal having the largest signal strength among the signals received from the terminal can be calculated.

However, if the repeater 600 R is arranged by a person having the terminal T, the terminal having the largest signal strength will be the terminal T immediately after deployment, so the repeater management unit 460 has the repeater 600 R having the terminal T. You can see that it was deployed by people.

Meanwhile, the repeater management unit 460 may know that the repeater 600 R is disposed by the person having the terminal T through a predetermined method so that only the person having the terminal T can be arranged. .

In addition, the repeater management unit 460 may manage the repeater 600 such that a network is configured through the deployed repeater 600. For example, when the transmission error increases due to interference between the newly arranged repeater 600 and the already arranged repeater 600, the repeater management unit 460 decreases the signal strength of the repeater 600 to reduce signal interference. Can be reduced.

In addition, the repeater management unit 460, if a failure occurs in one of the already deployed repeaters 600 or an obstacle appears between the already arranged repeaters 600, and the wireless communication is not smoothly performed, the repeater 600 Wireless signal can be smoothed by increasing the signal strength of.

In addition, the relay management unit 460 configures a network topology with the relay 600 disposed when a plurality of relays 600 are disposed, calculates a routing method, generates a routing table, and transmits the routing table to the relay 600 By doing so, efficient routing can also be implemented.

Here, the routing table may refer to a data structure in which an identifier of the next repeater 600 to which data is retransmitted for each repeater 600 is designated.

For example, the repeater management unit 460 may allow data received from the terminal to be routed to the access point 500 through only the minimum number of repeaters 600, or to prevent network traffic from being biased to some of the repeaters 600. Paths can also be distributed.

In addition, the repeater management unit 460 may transmit the position and signal strength of the repeater 600 to the position direction estimator 410 when a plurality of repeaters 600 receive signals from the same terminal. 410) may estimate or correct the position of the terminal using the received repeater 600 position and signal strength.

As described above, the repeater management unit 460 determines the location where the repeater 600 is to be placed and manages the deployed repeater 600, so that wireless communication can be efficiently performed between the terminal and the integrated control device 400, Since the wireless communication connection can be maintained, the indoor situation can be controlled in real time without interruption.

The second display unit 470 receives and displays an area in need of search from the undiscovered area determination unit 430, or receives and displays status information of a requestor or person entering the room from the status determination unit 440, or determines an evacuation route. The evacuation route may be received from the unit 450 and displayed.

On the other hand, the second display unit 470 may output a sound such as an alarm to inform that the requestor or the person being put into the room is in an abnormal state.

The third communication unit 480 includes distance information measured by the distance sensor 212, motion information measured by the acceleration sensor 214, temperature information measured by the temperature sensor 216, and a biosignal sensor 312. It is possible to receive the biosignal information measured from the terminal, the identifier of the terminal, the repeater 600, and signal strength, and to search for the unrecovered area of the information, evacuation route, or routing table of the requesting area or the person entering the room. It may be transmitted from the unit 430, the status determination unit 440, the evacuation route determination unit 450, or the relay management unit 460, and may be transmitted to the first display unit 320 or the relay 460.

The control unit 490 controls the overall operation of the integrated control device 400, the position direction estimation unit 410, the map generation unit 420, the undiscovered area determination unit 430, the status determination unit 440, and evacuation. The control flow or data flow between the path determination unit 450, the relay management unit 460, the second display unit 470, and the third communication unit 480 may be controlled.

13 is a flowchart exemplarily showing an example of an indoor situation integrated control method according to the present invention.

Referring to FIG. 13, the indoor situation integrated control method 700 according to an embodiment includes a sensing step (S710 ), a location direction estimation step (S720 ), and a map generating step (S730 ).

In the sensing step (S710), the indoor situation integrated control system 100 measures the distance to the surrounding objects through the distance detection sensor 212 provided to the person entering the room, and the indoor through the acceleration detection sensor 214. The movement of the person being input is measured, the ambient temperature is measured through the temperature sensor 216, and the biosignal of the requester can be detected through the biosignal sensor 312.

In the position direction estimating step (S720 ), the indoor situation integrated control system 100 may estimate the position and direction of a person input into the room based on the motion information received from the acceleration sensor 214.

In addition, the indoor situation integrated control system 100 extracts a feature point based on the distance information received from the distance sensor 212 or determines a wall surface or an obstacle, and based on the extracted feature point or the geometric feature of the determined wall surface or obstacle. It is possible to correct the position and direction of the person entering the room.

Specifically, the indoor situation integrated control system 100 is the image information derived from the distance information before and after the movement or rotation of the person entering the room is moved or rotated (eg, images of gray sectors in FIGS. 7 and 8) Extracts the feature points using a method such as Scale-Invariant Feature Transform (SIFT) and compares only the matching feature points to calculate the displacement or rotation angle to correct the position and direction of the person entering the room estimated based on the motion information. can do.

In addition, the indoor situation integrated control system 100 detects a plane, a straight line, and the like from relative coordinates of distance measuring points where distance is detected for each case where the person entering the room moves or rotates before and after moving or rotating. Thus, it is possible to discriminate a wall surface or an obstacle composed of all or part of the distance measurement points, and (ii) calculate the geometric characteristics of the determined wall surface or obstacle, and compare the geometric features before and after movement or rotation to displace and rotate with the least error It is possible to calculate the angle and correct the position and direction of the person who is put into the estimated room based on the motion information using the calculated displacement and rotation angle.

In addition, the indoor situation integrated control system 100 may estimate the position of the requestor based on the bio-signals detected by the bio-signal detection sensor 312.

In addition, the indoor situation integrated control system 100 may estimate the position of the flash point based on the temperature measured by the temperature sensor 216.

In the map generation step (S730), the indoor situation integrated control system 100 is based on the position and direction of the person input to the room estimated in the position direction estimation step (S720) and the distance information received from the distance detection sensor 212. Can generate a map.

Specifically, the indoor situation integrated control system 100 adds a distance measurement point to the map based on the position and direction of a person who is put in the room estimated in the position direction estimation step (S720) for the map generated so far to map the map. Can be created (updated).

In addition, the indoor situation integrated control system 100 may generate maps of different parts by the first sensor unit 210 traveling along different paths, and the first sensor unit 210 traveling along different paths. ) Can match the map.

Specifically, the indoor situation integrated control system 100 can detect that the first sensor unit 210 that progresses along different paths based on the estimated position and direction in the position direction estimation step (S720) has been met. Maps of different parts can be matched using various image matching methods.

As described above, although described with reference to preferred embodiments of the present application, those skilled in the art variously modify the present application without departing from the spirit and scope of the present invention described in the following claims. And can be changed.

100: indoor situation integrated control system
200: helmet
210: first sensor unit 212: distance sensor
214: acceleration sensor 216: temperature sensor
220: 1st Communication Department
300: portable device
310: second sensor unit 312: bio-signal detection sensor
320: first display unit 330: second communication unit
400: integrated control device
410: Location direction estimation 420: Map generation department
430: undiscovered area determination unit 440: status determination unit
450: Evacuation route determination unit 460: Repeater management unit
470: second display unit
480: third communication unit 490: control unit
500: access point 600: repeater
700: Indoor situation integrated control method

Claims (12)

A sensor unit provided to a person entering the room and measuring a person's movement and a distance from surrounding objects;
A position direction estimator for estimating a person's position and direction based on the movement measured by the sensor unit;
A map generation unit generating a map based on the location, direction, and measured distance estimated by the location direction estimator; And
It is composed of a repeater management unit that determines the location where the repeater will be placed and manages the deployed repeater,
The sensor unit is configured to be included in a wireless communication terminal provided to a person entering the room, and the position direction estimator, map generation unit, and repeater management unit are included in an integrated control device, and the terminal and the integrated control device are wireless communication. Connected through,
When the repeater receives a signal from the terminal or another repeater, it transmits the identifier and signal strength of the terminal or other repeater to the integrated control device, and the repeater management unit positions the direction when the signal strength received by the specific repeater is less than the specified value. An indoor situation integrated control system that receives an estimated position of the terminal from an estimation unit and displays the estimated position on the terminal to inform a location where a repeater is to be placed.
According to claim 1,
The position direction estimator extracts a feature point based on the measured distance or determines a wall surface or an obstacle, and corrects the position and direction of a person input into the room based on the extracted feature point or the geometric feature of the determined wall surface or obstacle. Integrated indoor situation control system.
According to claim 1,
The map generating unit generates a map of different parts by a sensor unit traveling along different paths, and matches the map when the sensor units traveling along the different paths match the map.
According to claim 1,
The indoor situation integrated control system,
An indoor situation integrated control system including an unexplored area judgment unit for determining an area where the map has not been generated or has not been observed for a specific time.
According to claim 1,
The sensor unit detects the biosignal of the requestor,
The position direction estimator is an indoor situation integrated control system, characterized in that for estimating the position of the requestor based on the detected bio-signal.
The method of claim 5,
The indoor situation integrated control system,
A state determination unit for estimating the status of the requestor based on the detected bio-signals and
An indoor situation integrated control system including a display unit for displaying an abnormal state when the state is abnormal.
According to claim 1,
The indoor situation integrated control system,
A state determination unit for estimating the state of the person being put into the room based on the estimated position or direction and
An indoor situation integrated control system including a display unit for displaying an abnormal state when the state is abnormal.
According to claim 1,
The sensor unit measures the temperature,
The position direction estimator is an indoor situation integrated control system, characterized in that for estimating the position of the flash point based on the measured temperature.
The method according to claim 1 or 5,
The indoor situation integrated control system,
Evacuation route judging unit to determine the evacuation route based on the position of the person or requestor who is put into the room, and
Indoor situation integrated control system including a display unit for displaying the evacuation route. delete delete delete

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