KR102283625B1 - Moving Object Service Method Using Real-Time Positioning System and System Therefore - Google Patents

Abstract

Disclosed are a mobile service method and system using a real-time positioning system. A mobile service method according to an embodiment of the present invention comprises the steps of: receiving, at a plurality of receivers, a radio signal transmitted from at least one or more moving objects moving in a predetermined space, and calculating coordinate information of each of the moving objects; positioning each of the moving objects in real time based on the calculated coordinate information of each of the moving objects and sensing information of at least one detection sensor installed at a preset position in the predetermined space; and providing a mobile service in the predetermined space through real-time positioning of each of the moving objects.

Description

Moving Object Service Method Using Real-Time Positioning System and System Therefore

The present invention relates to a mobile service technology using a real-time positioning system, and more specifically, a mobile service service by performing real-time positioning of moving objects or vehicles in an outdoor theme space as well as an indoor theme space. , to a method and system capable of providing bumper car or cart service.

The location-based technology is a technology that acquires physical, geographical, or logical location information of an object (person or thing) placed in a specific location and responds appropriately thereto. Common positioning methods include triangulation, which measures the position by measuring the difference in distance, angle, or azimuth between objects, a scene analysis method using a landscape from a specific vantage point, and a specific location There is a proximity method to find out by being close to .

And, with the development of wireless communication technology, the radio wave identification system is spotlighted as a new wireless network technology and is widely used. In addition, the development of a technology to measure the location indoors or outdoors using the radio wave identification system is required, and this technology collects data using radio wave identification in an area that cannot be reached by humans or provides the collected data to the user. It is used for various purposes such as transmission.

Conventional positioning technology is various, such as a positioning technology using a global positioning system (Global Positioning System), a positioning technology using the received signal strength of a radio signal, a positioning technology using a short-distance wireless communication.

Positioning technology using GPS is a technology that measures the phase of a carrier signal sent from a GPS satellite floating in Earth's orbit (absolute positioning) or measures the distance to the satellite by tracing the code of the carrier signal (relative positioning). Positioning technology using GPS is currently the most used because it can provide stable service through fixed satellites with a wide signal radius, but it has the disadvantage of not being able to service indoors or shaded areas where it is difficult to receive GPS satellite signals due to low precision. have

Location measurement technology using mobile communication is a technology for obtaining geographical location information of a mobile terminal by triangulation using the currently established mobile communication system. There are a network-based method of locating a location, a terminal-based method in which a terminal having a GPS receiver transmits location information to a network independently of a base station, and a mixed method in which the two are mixed. These technologies do not require the establishment of a separate infrastructure and are widely used as macro positioning technologies because of their wide service area like GPS. However, it can be used only within the radius of the cell where the base station is located or in the city center where radio wave reception is possible, and has a problem of poor accuracy indoors due to diffraction, multipath, and signal attenuation due to propagation characteristics.

Location recognition technologies using satellite communication or mobile communication have a wide service area and are suitable for outdoor use, but are limited in their use indoors or in shaded areas. Therefore, recently, positioning technology using various wireless communication technologies such as Diffuse-Infrared, Ultrasonic Wave, RF (Radio Frequency), UWB (Ultra Wideband), and radio wave identification has been actively studied.

In addition, this indoor positioning technology can be applied to virtual reality or augmented reality. In the case of a game using virtual reality or augmented reality in an indoor space, when the movement of the moving object to position the position is fast, the moving object, that is, the moving object There is a problem in that the position cannot be accurately determined in real time.

Embodiments of the present invention provide a method for providing a moving object service, for example, a bumper car or a cart service, by performing real-time positioning of moving objects or vehicles in an indoor theme space as well as an outdoor theme space, and provide the system.

A mobile service method according to an embodiment of the present invention comprises the steps of: receiving, at a plurality of receivers, a radio signal transmitted from at least one or more moving objects moving in a predetermined space, and calculating coordinate information of each of the moving objects; positioning each of the moving objects in real time based on the calculated coordinate information of each of the moving objects and sensing information of at least one detection sensor installed at a preset position in the predetermined space; and providing a mobile service in the predetermined space through real-time positioning of each of the moving objects.

Furthermore, the moving object service method according to an embodiment of the present invention further comprises the step of scanning the coordinate information of each of the moving objects in real time with the laser scanner installed in the predetermined space, and the positioning step is the calculated information of each of the moving objects. Based on the coordinate information, the scanned coordinate information, and the detection information, the position of each of the moving objects may be determined in real time.

Furthermore, in the mobile service method according to an embodiment of the present invention, the identification information attached to each of the moving objects is photographed using an image camera, and the identification information is obtained through real-time image processing of the image photographed by the image camera. The method may further include real-time tracking, wherein the positioning may position each of the moving objects in real time based on the calculated coordinate information of each of the moving objects, the real-time tracked identification information, and the sensing information. there is.

Furthermore, the mobile service method according to an embodiment of the present invention may further include displaying an item corresponding to the location of the detection sensor using a display means at the location where the detection sensor is installed.

The providing may include providing at least one of an item, a message, and content corresponding to the corresponding detection sensor to the moving object when the moving object passes through the detection sensor.

When the predetermined space is divided into a plurality of regions, the detection sensor may be installed at a boundary between the moving path and the moving object in the predetermined space.

The providing may include controlling at least one of the speed and direction of the corresponding moving object to correspond to the augmenting element or providing an additional augmentation effect when the coordinate position of the augmented element preset through the real-time positioning matches the position of the moving object. By doing so, the mobile service can be provided.

A mobile service system according to an embodiment of the present invention includes: a calculator configured to receive, at a plurality of receivers, a radio signal transmitted from at least one or more moving objects moving in a predetermined space, and calculate coordinate information of each of the mobile objects; a positioning unit for positioning each of the moving objects in real time based on the calculated coordinate information of each of the moving objects and sensing information of at least one detection sensor installed at a preset position in the predetermined space; and a providing unit that provides a mobile service in the predetermined space through real-time positioning of each of the moving objects.

Furthermore, the mobile service system according to an embodiment of the present invention further includes a scanning unit that scans the coordinate information of each of the moving objects in real time from the laser scanner installed in the predetermined space, and the positioning unit includes the calculated coordinate information of each of the moving objects. , based on the scanned coordinate information and the sensing information, the position of each of the moving objects may be determined in real time.

Furthermore, the mobile service system according to an embodiment of the present invention captures the identification information attached to each of the moving objects using an image camera, and collects the identification information through real-time image processing of the image captured by the image camera. The method may further include a processing unit for real-time tracking, wherein the positioning unit locates the position of each of the moving objects in real time based on the calculated coordinate information of each of the moving objects, the real-time tracked identification information, and the sensing information.

Furthermore, the display unit may further include a display unit for displaying an item corresponding to the location of the detection sensor using a display means at the location where the detection sensor is installed.

When the moving object passes through the detection sensor, the providing unit may provide at least one of an item, a message, and content corresponding to the corresponding detection sensor to the corresponding moving object.

When the predetermined space is divided into a plurality of regions, the detection sensor may be installed at a boundary between the moving path and the moving object in the predetermined space.

The providing unit controls at least one of the speed and direction of the corresponding moving object to correspond to the augmented element or provides an additional augmentation effect when the coordinate position of the augmented element preset through the real-time positioning matches the position of the moving object, The mobile service can be provided.

According to embodiments of the present invention, coordinate information is calculated using a wireless signal received from a real-time positioning module, for example, a UWB module, provided in a moving object moving indoors or outdoors or indoors set as a theme space, and calculates By using the coordinate information and the detection sensor installed on the floor of the movement path of the moving object, for example, a loop coil sensor, the position of the moving object moving in the theme space is measured in real time, thereby providing a moving object service through real-time positioning. can

According to embodiments of the present invention, it is possible to position the exact position of the moving object in real time using a detection sensor installed at a preset position of the movement path of the moving object in the theme space, and corresponds to the moving object passing through the corresponding detection sensor. By providing an item, message, or content corresponding to the detection sensor, for example, a game item, a congratulatory message, a warning message, a graphic effect, an audio effect, etc., fun may be imparted to a bumper car or a cart game.

According to embodiments of the present invention, when a detection sensor is installed in an outdoor space or installed between a plurality of zones when a theme space is divided into a plurality of zones, the location of a moving object in the outdoor space may be positioned in real time, and , movement between a plurality of zones can also be detected, and through this, items, messages, and contents can be changed or provided according to the location movement to the corresponding zone.

According to embodiments of the present invention, the theme space by reflecting at least one of not only a wireless signal received from a moving object, but also coordinate information scanned by a laser scanner and image processing of an image captured by an image camera, for example, an RGB camera. positioning of moving objects can be performed in real time.

According to embodiments of the present invention, by improving the accuracy of real-time positioning of a moving object, it is possible to provide a mobile service, for example, a bumper car service, a cart service, and the like, using real-time positioning.

According to embodiments of the present invention, a preset augmentation element is provided on a movement path through which the moving objects move, and when the position of the moving object coincides with the coordinate position of the augmenting element through positioning of each of the moving objects, the augmenting element, for example, By controlling the speed or direction of the corresponding moving object according to the uphill or downhill slope or providing an additional augmentation effect, it is possible to provide more fun according to the augmentation element.

1 shows the configuration of an embodiment of a system for explaining a real-time positioning technology used in the present invention.
2 is a flowchart illustrating an operation of a mobile service method according to an embodiment of the present invention.
Figure 3 shows the configuration of another embodiment of the system for explaining the real-time positioning technology used in the present invention.
4 shows the configuration of another embodiment of the system for explaining the real-time positioning technology used in the present invention.
5 shows the configuration of another embodiment of the system for explaining the real-time positioning technology used in the present invention.
6 shows an example to which a real-time positioning method is applied.
7 shows the configuration of a mobile service system according to an embodiment of the present invention.
8 illustrates a conceptual configuration of a mobile service system according to an embodiment of the present invention.
9 shows an exemplary diagram of a game method applied together with the mobile service of the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims.

The terminology used herein is for the purpose of describing the embodiments, and is not intended to limit the present invention. As used herein, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” refers to a referenced component, step, operation and/or element of one or more other components, steps, operations and/or elements. The presence or addition is not excluded.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless specifically defined explicitly.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. The same reference numerals are used for the same components in the drawings, and repeated descriptions of the same components are omitted.

Embodiments of the present invention are, for example, a module for positioning provided in a moving object moving in a certain space, for example, indoors or indoors and outdoors set as a theme space, for example, RTLS (real-time location system) received from the UWB module Coordinate information is calculated using a wireless signal, and the position of the moving object moving in the theme space is measured in real time using the calculated coordinate information and a detection sensor installed on the floor of the moving path of the moving object, for example, a loop coil sensor. By doing so, the main point is to provide a mobile service through real-time positioning.

Here, the predetermined space (or the theme space) may be configured indoors, may be configured as a space including indoors and outdoors, or may be configured with a plurality of areas configured with different themes. Of course, even if it is composed of a plurality of areas, the moving object may move in each area, and each area may be an area for providing various services while the moving object moves.

Furthermore, the present invention provides not only wireless signals received from the RTLS UWB module and detection information by the detection sensor, but also identification information on moving objects moving in the theme space, for example, a spherical shape (different color or different size) as an image camera For example, the position of each moving object may be positioned in real time based on identification information tracked in real time through image processing of an image captured by an RGB camera.

Here, the present invention can position the position of the moving object for the first time period based on the radio signal transmitted in the first time period, for example, 100 [ms] time period from the RTLS UWB module, but is dependent on the moving speed of the moving object. Since the position of the moving object cannot be determined in real time according to the By correcting the real-time position of the moving object using the coordinate information, and reflecting the position information of the corresponding sensing sensor measured when passing through the sensing sensor, the position of the moving object in the theme space can be determined in real time.

Furthermore, the present invention locates the location of each moving object in real time based on the coordinate information of each moving object scanned using a laser scanner installed in the theme space as well as the wireless signal received from the RTLS UWB module and detection information by the detection sensor You may.

Here, the present invention can position the position of the moving object for the first time period based on the radio signal transmitted in the first time period, for example, 100 [ms] time period from the RTLS UWB module, but is dependent on the moving speed of the moving object. Since the position of the moving object cannot be determined in real time according to the By reflecting the location information of the corresponding detection sensor measured when passing through the detection sensor, the location of the moving object moving in the theme space can be determined in real time.

The real-time positioning technology used in the present invention provides real-time positioning information or coordinate information of each of moving objects moving by a user's manipulation in a certain space indoors or outdoors, thereby improving the accuracy of real-time positioning. can

Such a real-time positioning system can be applied to a mobile service such as a bumper car game theme park and a cart game theme park. That is, the present invention is a technology for providing a mobile service using a real-time positioning system. An example of the present invention is to check the location of a moving object in a theme space in real time using real-time positioning technology, and through real-time positioning The mobile service can be provided to users based on the identified location information of each of the moving objects, a fingerprint map for an indoor space among the theme spaces created and stored in advance as needed, and an augmentation element provided in advance in the theme space.

Here, the mobile service determines whether the location of the moving object on the track matches the coordinates of the augmented element when a track on which the moving object can move is provided in the theme space using an image, and if they match, the augmented element, for example, an uphill road By remotely controlling the control corresponding to the augmented element such as , downhill, cliff, cliff, etc., it is possible to provide fun for the augmented element, and it is possible to provide a fun In a situation, the movement path for at least one or more moving objects may be changed and provided.

Of course, the present invention is not limited to providing an image of a track of a moving object, and may be provided by forming an actual track. In addition, according to the present invention, when the theme space is divided into an indoor space and an outdoor space, and a moving object can move both indoor and outdoor spaces, a track can be formed using an image in the indoor space, and an actual track is provided in the outdoor space. can also be formed. Of course, in the case of an outdoor track, since a moving object moves on a predetermined track, positioning using a detection sensor can be used rather than real-time positioning by image processing.

When the fingerprint map is used in the present invention, the fingerprint map is a theme space, for example, a pattern of a certain shape in an indoor space, for example, after projecting a grid image, preset locations, for example, for each node of the grid image By measuring the coordinate information, it can be generated. Of course, if it is necessary to correct the coordinate information when generating the fingerprint map, the final fingerprint map for the theme space can be generated after the coordinate information is corrected, and the correction of the fingerprint map is in this technical field. Since it is a technical matter known to those skilled in the art, a detailed description of this part will be omitted.

Furthermore, the present invention can position the real-time location of a moving object by using all of the wireless signal transmitted from the RTLS UWB module, the detection information by the detection sensor, the coordinate information scanned by the laser scanner, and the real-time tracking of the moving object using the RGB camera. there is.

1 shows the configuration of an embodiment of a system for explaining a real-time positioning technique used in the present invention.

As shown in FIG. 1A , the indoor positioning system 100 is a system for positioning in real time the position of a moving object 120 moving in a certain space (or positioning space or theme space), for example, an indoor space and an outdoor space. , it is possible to calculate the position of the moving object 120 in the first time period using the plurality of receivers 140 that receive the radio signal transmitted from the moving object 120 in the first time period, and as shown in FIG. 1B , , a movement path on which the movable body 120 moves, for example, a preset position of a track, for example, a detection sensor 150 installed in a preset position, for example, a pressure sensor, a detection information received from a loop sensor, and the position information or coordinates calculated in the first time period Based on the information, the position of each moving object can be determined in real time.

At this time, the mobile unit 120 includes at least one 130 of an RTLS UWB module, a beacon, and an RFID, so that a wireless signal for calculating the position of the first time period can be broadcast to receivers provided in a predetermined space. Also, it is possible to calculate the position of the moving object in a predetermined space using the wireless signal received by each of the receivers. Of course, a method of calculating the position of a moving object in a predetermined space using a radio signal received by each of the receivers may include a TOA (Time Of Arrival) method, a TDOA (Time Difference Of Arrival) method, etc., and these methods are Since it is obvious to those skilled in the art, the description thereof will be omitted.

2 is a flowchart illustrating an operation of a mobile service method according to an embodiment of the present invention.

Referring to FIG. 2 , in the mobile service method according to an embodiment of the present invention, a plurality of receivers installed in a predetermined space receive a wireless signal transmitted from at least one or more mobile objects moving in a predetermined space, and receive coordinate information of each of the moving objects. Calculate (S210).

Here, in step S210, a plurality of receivers receive a radio signal transmitted in a first time period, for example, a 100 [ms] period, from a module for real-time positioning, for example, an RTLS UWB module equipped with a moving object, and the received radio Using the signal, the position of the moving object is calculated (or tracked) in the first time period, for example, 100 [ms] period, and the identification information (ID) of the moving object and the calculated position (or coordinate) information are stored in the server as the first time period. can be provided as Of course, the first time period in the present invention is not limited to 100 [ms], and the first time period may vary depending on circumstances.

In order to improve the accuracy of the position of each moving object calculated in the first time period by step S210, a movement path or track on which the moving object moves in a certain space, specifically, a detection sensor installed in the track, for example, a pressure sensor, a loop sensor When a moving object passes through the , the location of each moving object is determined in real time by using the identification information of the moving object and the position information of the corresponding detection sensor from which the detection information is generated ( S220 ).

Here, the number of detection sensors installed for real-time positioning of a moving object moving in the first time period may vary, and the number and installation positions of these detection sensors may be determined by a provider providing the technology of the present invention. Of course, when the movement path of a moving object formed in a certain space is formed using an image, detection sensors can be installed in all areas within the predetermined space, and since the movement path provided as an image can be constant, it moves further along the movement path Detection sensors can also be installed in some areas off the path.

If a real-time location is determined based on the coordinate information or location information of each of the moving objects calculated in the first time period through the process up to step S220 and the detection information by the detection sensor, the moving object service, for example, a bumper car, through such real-time positioning A service or cart service is provided (S230).

Here, in step S230, an item corresponding to the location of the corresponding detection sensor is displayed at the location where the detection sensor is installed using a display means, for example, a projector, as shown in FIG. , and you can obtain the item competitively.

Furthermore, in step S230, when the moving object passes through the detection sensor and acquires the item provided through the corresponding detection sensor, at least one of an item corresponding to the corresponding detection sensor, an item-related message, and item-related content may be provided to the corresponding moving object. . Of course, when an item is acquired, the content of the item, a message related to the acquisition of the item, a usage method, and various information related thereto may be provided to the corresponding mobile device.

Although it has been described in FIG. 2 that the detection sensor is installed on the moving track, it is not limited thereto, and the detection sensor may be installed in an area separating the indoor space and the outdoor space, and may be installed at various locations on the moving track of the outdoor space. Also, when a certain space is divided into a plurality of areas with various themes, a detection sensor is installed at the boundary between the moving track and the areas moving within the plurality of areas, thereby detecting from which area to which area the moving object moves. It may be known through detection information of a detection sensor installed in the boundary area, and various information such as theme information and obtainable item information for the area may be provided to a moving object that has moved through the detection information through the detection information. That is, the present invention installs the detection sensor for various purposes, and based on the detection information of the installed detection sensor, not only the real-time positioning of the moving object but also the service provided in the moving area through the moving direction of the moving object to the user. .

Further, in step S230, when the coordinate position of the augmented element preset and the position of the moving object match through real-time positioning, at least one of the speed and direction of the corresponding moving object is controlled to correspond to the augmented element, or an additional augmentation effect is provided. service may be provided.

Although it has been described in the present invention that real-time positioning in a certain space is made based on a wireless signal transmitted from the RTLS UWB module and detection information of a detection sensor, the present invention is not limited thereto, and real-time positioning of a moving object can be performed through various methods. there is.

For example, as shown in FIG. 3 , the wireless signal transmitted from the indoor positioning module 130 provided in the mobile body 120 , for example, the RTLS UWB module, at a first time period, for example, 100 [ms] period. is received by the plurality of receivers 140, the position of the moving object is calculated (or tracked) in a first time period, for example, 100 [ms] period, using the received radio signal, and identification information of the moving object 120 (ID) and the calculated position (or coordinates) information are provided in the first time period.

At this time, the wireless signal broadcast from the RTLS UWB module 130 to the indoor space may include identification information of a user or identification information of a moving object, and the system extracts identification information included in the wireless signal and stores identification information The identification information of the moving object can be known by searching the corresponding identification information in the current database. Of course, the method of detecting the identification information of the moving object 120 is not limited thereto, and any method capable of detecting the identification information may be applied.

Then, the coordinate information of the moving object moving in a predetermined space is scanned using at least one laser scanner 310 at a second time period, for example, 20 [ms], and the ID and coordinates of the moving object are tracked. Here, coordinate information scanned by the laser scanner may be acquired through a table in which coordinate information is stored for a certain space, for example, an indoor space. Of course, the method of acquiring the position of the moving object at a period of 20 [ms] using the information scanned by the laser scanner 310 may be determined by the operator or individual providing the present invention.

Then, using the coordinate information (or position information) of the moving object calculated in the first time period and the coordinate information of the moving object scanned in the second time period to position the position of the moving object in real time, the coordinate information scanned in the second time period is used By correcting the coordinate information calculated in the first time period with respect to the moving object and reflecting the position information on the sensing information of the detection sensor, the position of each moving object can be positioned in real time.

Furthermore, according to the present invention, when a plurality of moving objects intersect each other, it may occur that the scanned coordinate information may not know the coordinate information of the moving object, so a process of mapping the scanning information and the moving object may be added. there is. For example, the scanning coordinate information of the moving object is checked (or acquired) based on the history of the coordinate information calculated in the first time period for the moving object, for example, the moving direction, the moving speed, the track direction, etc. of the moving object, and the obtained coordinates By correcting the calculated coordinate information of the moving object using the information, the position of the moving object can be determined in real time. Correcting the coordinate information in the present invention compares the coordinate information calculated in real time for each moving object with the scanned coordinate information, and when it is out of a preset error range, the coordinate information of the moving object can be corrected using the scanned coordinate information. . In other words, since coordinate information is calculated at a cycle of 100 [ms], a moving object such as a racing cart moves quickly and causes a lot of errors. The position of the moving object can be determined in real time by correcting it by using and reflecting the detection information of the detection sensor installed in the preset position.

As another example, as shown in FIG. 4 , identification information attached to each of the moving objects 120 is photographed using the video camera 110 , for example, an RGB video camera, in order to identify each of the moving objects 120 , and the video camera Real-time tracking of identification information through real-time image processing of the image taken by 110 and real-time location of each of the moving objects using a fingerprint map generated in advance for a predetermined space and detection information of a detection sensor can be positioned.

Here, the present invention uses a plurality of receivers for receiving a radio signal transmitted from the RTLS UWB module in the first time period when the module for positioning 120 provided in the mobile unit 120, for example, an RTLS UWB module is provided. to calculate the positions of each of the bumper cars in a predetermined time period, and correct the real-time positions of each of the bumper cars using real-time image processing and fingerprint maps for images captured in real time using at least one RGB image camera 110 . And, by reflecting the location information on the detection information of the detection sensor here, the location of each moving object can be determined in real time. For example, a plurality of receivers receive a radio signal transmitted in a first time period, for example, a 100 [ms] period, from an RTLS UWB module provided in a mobile body, and use the received radio signal for a first time period, for example , calculates (or tracks) the position of the moving object at a cycle of 100 [ms], and provides identification information (ID) and calculated position (or coordinate) information of the moving object at the first time period.

At this time, the wireless signal broadcast from the RTLS UWB module to the indoor space may include the identification information of the user or the identification information of the bumper car, and the system extracts the identification information included in the wireless signal and stores the identification information. By searching for the corresponding identification information in , it is possible to know the identification information of the moving object.

And, by using the image processing and fingerprint map of the image taken by at least one RGB video camera, the coordinate information of the bumper car moving in the indoor space can be tracked in real time with a second time period, for example, a 20 [ms] period. there is. For example, by using real-time image processing using an RGB image camera and a fingerprint map, coordinates of a moving object in an indoor space are acquired in a second time period, for example, a period of 20 [ms], and the ID and coordinates of the corresponding bumper car are tracked. Thereafter, the position of the bumper car can be determined in real time by using the coordinate information (or location information) of the bumper car calculated in the first time period and the coordinate information of the bumper car obtained in the second time period. Specifically, it is obtained in the second time period By correcting the coordinate information calculated in the first time period with respect to the moving bumper car using the coordinate information and reflecting the position information on the detection information of the detection sensor, the position of each moving object can be positioned in real time.

As another example, as shown in FIG. 5 , a wireless signal transmitted from the RLTS UWB module 130 provided in the moving object 120 , coordinate information of the moving object scanned by the laser scanner 310 , an RGB image camera ( 110) based on the identification information of each of the moving objects tracked in real time and the detection information of the detection sensor, it is possible to position the respective positions of the moving objects in real time.

That is, using a plurality of receivers 140 that receive a radio signal transmitted at a predetermined time period, for example, a 100 [ms] time period from the RTLS UWB module 130 provided in the mobile unit 120, the mobile unit at a predetermined time period Each position can be calculated, and real-time image processing for an image captured in real time using at least one RGB image camera 110, real-time coordinate scanning using a laser scanner 310, and moving objects using a fingerprint map By correcting each real-time position and reflecting the position information on the sensing information of the detection sensor thereto, the position of each moving object can be positioned in real time.

Here, real-time image processing is also performed in a predetermined time period, for example, 20 [ms], and real-time scanning by the laser scanner is also performed in a predetermined time period, for example, 10 to 20 [ms], so that 100 [ms] ] Time period Correcting the position of each of the moving objects to be positioned with the coordinate information tracked in real time with a 20 [ms] time period and a 10 to 20 [ms] time period, and reflecting the position information on the detection information of the detection sensor, each of the moving objects position can be determined in real time.

At this time, the present invention provides 100 [ ms] It is possible to correct the position of each of the moving objects positioned by the time period, and the coordinate information calculated for the 20 [ms] time period and the coordinate information calculated for the 10 to 20 [ms] time period is the average of the two coordinate information considering the time period. It may be calculated by giving a value or a weight for each coordinate information as a preset weight. Of course, the 20 [ms] time period and the 10-20 [ms] time period may have the same time period or different time periods.

As described above, the mobile service method according to the present invention calculates coordinate information using a wireless signal received from a real-time positioning module, for example, a UWB module, provided in a moving object moving indoors or indoors and outdoors set as a theme space, and , by using the calculated coordinate information and a detection sensor installed on the floor of the movement path of the moving object, for example, a loop coil sensor, to position the position of the moving object in the theme space in real time, thereby providing mobile service through real-time positioning. can provide

In addition, since the method according to the present invention enables real-time positioning, the position of a moving object with high moving speed, for example, a bumper car or a cart, can also be determined in real time, and the position of a moving object is positioned in augmented reality or virtual reality. can do. Accordingly, this real-time positioning method is applied to a game in which an augmented reality game and a real game are combined, as well as a virtual reality game and an augmented reality game, to position a moving object in real time.

In addition, the method according to the present invention can position the exact position of the moving object in real time by using a detection sensor installed at a preset position of the movement path of the moving object in the theme space, and detects the moving object that has passed through the corresponding detection sensor. By providing an item, message, or content corresponding to the sensor, for example, a game item, a congratulatory message, a warning message, a graphic effect, an audio effect, etc., fun may be imparted to a bumper car or a cart game.

In addition, the method according to the present invention may position the position of the moving object in the outdoor space in real time when the detection sensor is installed in the outdoor space or installed between a plurality of zones when the theme space is divided into a plurality of zones, Movement between a plurality of zones can also be detected, and through this, items, messages, and contents can be changed or provided according to the location movement to the corresponding zone. For example, the present invention solves a problem that it is not easy to track using an RGB video camera according to ambient illuminance, weather, etc. outdoors using a detection sensor, for example, a pressure sensor or a loop sensor, and through this, the location of a moving object can be measured in real time even outdoors can be positioned as

In addition, the method according to the present invention reflects at least one of coordinate information scanned by a laser scanner and image processing of an image captured by an image camera, for example, an RGB camera, as well as a wireless signal received from a moving object in the theme space. The positioning of the moving object can be performed in real time.

In addition, the method according to the present invention provides a preset augmentation element in the movement path through which the moving objects move, and when the position of the moving object coincides with the coordinate position of the augmenting element through positioning of each of the moving objects, the augmenting element, for example, uphill Alternatively, by controlling the speed or direction of the corresponding moving object according to the downhill or providing an additional augmentation effect, it is possible to provide more fun according to the augmentation element.

In order to provide the mobile service of the present invention, a table for coordinate information for a certain space, an image map for a virtual image, and information about user registration using mobile service when registering user information, user history, etc. A server or database may be required, and a separate input/output interface or device for data input/output may be additionally provided if necessary.

For example, as shown in FIG. 6 , an image providing means 510 for providing a virtual image with a track for moving a moving object, an augmentation element, and the like should be provided on the floor of a predetermined space, that is, a theme space. Of course, when there are several image providing means, the image may be provided by synchronizing the image providing means.

7 shows the configuration of a mobile service system according to an embodiment of the present invention.

Referring to FIG. 7 , the mobile service system according to an embodiment of the present invention includes a database server 610 , a map server 620 , a server 2 IO server 630 , and a real-time positioning system 640 . ) and an image providing means 650 .

The database server 610 is a server that stores all data related to the mobile service in the theme space, and stores all information related to games or services provided through the theme space into a database.

Here, the database server 610 may store information related to a user using the mobile service, service information provided by the mobile service, and augmentation element information related to the provided service. Of course, the database server is not limited to the above data.

When user information is stored in the database server 610, the stored user information includes user information registered by a user using the service (eg, name, gender, age, height, weight, style, etc.), membership level of the mobile service , may include information such as characters, service use history, compensation information (eg, time addition, bonus use rights, coupons, etc.) as needed.

Of course, the database server 610 may include information about a program related to the service provided in the present invention, data related thereto, as well as information about a moving object, and the like.

Server 1 620 is an image map providing server, which is an image map providing server that provides an image map to be serviced in the theme space through an image providing means 650 in the theme space, for example, a projector, and is received from the server 2 Information on the moving object (or user), for example, by considering the identification information of the moving object, the current location, the direction of movement, etc. to provide.

Here, the image map providing server 620 receives real-time information about a moving object moving in the theme space from the server 2 630 and provides an augmentation element or an augmentation effect that can be provided in the service of the present invention through the image providing means. space can be provided.

For example, the image map providing server 620 may provide an augmentation element to be provided by the corresponding service in the moving direction of the moving objects based on the positions of each of the moving objects, or may provide an augmentation element to the moving object corresponding to the position corresponding to the augmentation element. It is also possible to provide an additional augmentation effect.

In addition, the image map providing server 620 may provide all images that can be provided to the theme space through the mobile service of the present invention, and the timing and location of providing the image is each of the bumper cars received from the real-time positioning system. It may be determined in consideration of real-time positioning information of

Also, the image map providing server 620 may control the image providing means 650 to synchronize the image map provided as the track map layer of the theme space and provide the image map thereto as the track map layer.

Server 2 (630) is an input/output server that controls input and output of all data used in the theme space, and provides information received from the real-time positioning system 640 and information provided from the mobile body to the system through interworking between the mobile body and the system. It is received and provided to a database server or an image map providing server.

For example, the server 2 (630) receives real-time location information for each moving object positioned in real-time for a bumper car moving in the theme space from the real-time indoor location positioning system, and provides the image map providing server 620 with real-time location information for each of the received bumper cars. ) or may be provided to the database server 610 .

In the present invention, the input/output server 630 is not limited to the above, and may process all data input/output from the mobile service.

As described above, the real-time positioning system 640 positions the positions of each of the moving objects of the moving object layer of the theme space in real time, and provides real-time coordinate information for each moving object positioned in this way with the server 2 630 and the image providing means (or server 1). ) (650).

Here, the real-time positioning system 640 may perform all of the real-time positioning methods described with reference to FIGS. 1 to 5 , and the methods may also include all of the methods described with reference to FIGS. 1 to 5 .

In addition, the theme space according to the present invention may include a moving object layer for providing/obtaining coordinates, augmentation elements, etc. for the moving object, and a track map layer for providing movement of the moving object, image map, and the like. Although the theme space has been described by classifying it into two layers, a moving object layer and a track map layer, for convenience of explanation, it is not limited to this and may be integrated into one layer depending on the situation, and may be divided into two or more layers depending on the function classification. can also be classified. In addition, the functions performed by each layer are not limited to the above-described contents, and an augmentation element and an augmentation effect may be provided through the track map layer according to circumstances.

In addition, the system according to the present invention may include means for taking an image for the theme space, for example, CCTV, DVR, and the like.

Furthermore, the mobile service system according to the present invention can provide a service item for revisiting of a user who uses the service by using the above-described servers, and checks the battery state of the mobile object by the management server to automatically control the visitor's moving object. Functions such as designation function, automatic designation using visitor name or nickname (LED Display) function, automatic visitor waiting order method (automatic visitor allocation and rotation application), and content provision using real-time positioning technology and image processing technology can also be done

In addition, in order to provide the mobile service system according to the present invention, the mobile service system may include a real-time board for ensuring real-time data and an operation board for real-time (tens of ms) processing of data, and data between two systems Algorithm for flawlessness and discrimination correction, location tracking algorithm for object movement distance and prediction, virtual reality (VR; Virtual Reality) provided through theme space, augmented reality (AR; Augmented Reality), mixed reality (MR; arithmetic technology for calculating and correcting the actual size to be applied to (mixed reality), etc. may be applied to the system.

In addition, the moving object moved by the user in the theme space controls the moving object through the system through communication with the system, the speed control of the moving object according to the user input (eg, PWM control, start, stop), interworking with the service, It can also be linked with sensor-based coordinate linkage technology. Of course, it is self-evident that the moving object includes components that can be basically configured in the moving object, for example, a user input/output unit, a moving object control unit, and the like. Here, the moving object may be controlled by a control signal transmitted to the system through association with the system. For example, when the corresponding moving object is located on an uphill slope, which is an augmentation element, the system transmits a control signal to slow the speed to the corresponding moving object, thereby controlling the speed of the corresponding moving object to be slow, and the corresponding moving object is located on a downhill slope In this case, the system may control the speed of the moving object quickly by transmitting a control signal to increase the speed of the moving object.

Furthermore, the method and system according to the present invention may provide extended services based on augmented reality (AR) and mixed reality (MR).

In general, AR and MR contents require sensors that can measure camera orientation and position in real time, for example, markers, infrared rays, motion tracking, etc., but the present invention is special for real mobile services. The MR game service can also be provided by the spectators in the stands without equipment using mobile devices. For example, in a racing game where spectators in the spectators can control virtual moving objects, real-time moving objects appear in the mobile game in real time using location information obtained through RGB images, so that the spectators and drivers of the moving objects can enjoy racing together. It can provide MR game service that can

By providing this MR game service, the audience can move away from passive viewing and actively interact with the real moving vehicle driver, so it is possible to provide a paid gaming service for free users from a business point of view, and the role of the audience By expanding the , it is possible to select not only the role of a virtual driver of the moving object, but also the role of supporter (healer) and blocker (game obstacle, monster, monster boss), so unexpectedness is reinforced by human rather than a simple pattern calculated by algorithm. It can also provide game services.

That is, a plurality of drivers and a large number of spectators can directly control various appearance elements included in one racing game so that the game is operated.

8 shows a conceptual configuration of a mobile service system according to an embodiment of the present invention, and shows a conceptual configuration of a system for performing the method of FIGS. 1 to 6 .

Referring to FIG. 8 , the system 800 of the present invention includes a calculation unit 810 , a positioning unit 820 , a display unit 830 , and a providing unit 840 .

The calculator 810 receives a wireless signal transmitted from at least one or more moving objects moving in a predetermined space from a plurality of receivers and calculates coordinate information of each of the moving objects.

The positioning unit 820 positions the respective positions of the moving objects in real time based on the calculated coordinate information of each of the moving objects and the detection information of at least one detection sensor installed at a preset position in a predetermined space.

At this time, the positioning unit 820 is provided with a scanning unit that scans the coordinate information of each moving object in real time in a laser scanner installed in a predetermined space. Based on this, the position of each moving object can be determined in real time.

At this time, the positioning unit 820 is provided with a processing unit for photographing identification information attached to each moving object using an image camera, and tracking identification information through real-time image processing of an image photographed by the image camera in real time In this case, the location of each of the moving objects may be determined in real time based on the calculated coordinate information of each of the moving objects, the real-time tracking identification information, and the detection information of the detection sensor.

The display unit 830 displays an item corresponding to the location of the detection sensor by using a display means at the location where the detection sensor is installed.

The providing unit 840 provides a moving object service in a predetermined space through real-time positioning of each of the moving objects.

In this case, when the moving object passes through the detection sensor, the providing unit 840 may provide at least one of an item, a message, and content corresponding to the corresponding detection sensor to the corresponding moving object, and the detection sensor has a predetermined space in a plurality of areas. , it may be installed at the boundary between the moving path and the area on which the moving object moves within a certain space.

Furthermore, the providing unit 840 controls at least one of the speed and direction of the corresponding moving object to correspond to the augmented element when the coordinate position of the preset augmented element and the moving object match through real-time positioning or provides an additional augmentation effect. By doing so, a mobile service can be provided.

Furthermore, the method and system according to an embodiment of the present invention can provide a service combining a mobile service and a specific game. For example, as shown in FIG. 9 , in addition to acquiring items when the user goes outdoors on a moving object, for example, a cart, a gun is mounted on the cart to increase personal fun and immersion in the game, and If you hit a target and an item, a method in which the score is reflected in the game may be applied. Here, the game method and the implementation method may be determined by a business operator or an individual providing the service of the present invention. For example, if the target and the gun are implemented digitally, they may be implemented as a monitor and a laser gun, and if implemented in an analog method, a gun with a projectile such as a dart gun or a BB gun or a laser fired gun with a real target and a gun may be implemented as

Although the description of the system of FIG. 8 is omitted, it is obvious to those skilled in the art that the system of FIG. 8 may include all of the contents of FIGS. 1 to 7 described above.

The system or apparatus described above may be implemented as a hardware component, a software component, and/or a combination of the hardware component and the software component. For example, the systems, devices and components described in the embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA). ), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions, may be implemented using one or more general purpose or special purpose computers. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For convenience of understanding, although one processing device is sometimes described as being used, one of ordinary skill in the art will recognize that the processing device includes a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that can include For example, the processing device may include a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as parallel processors.

Software may comprise a computer program, code, instructions, or a combination of one or more of these, which configures a processing device to operate as desired or is independently or collectively processed You can command the device. The software and/or data may be any kind of machine, component, physical device, virtual equipment, computer storage medium or device, to be interpreted by or to provide instructions or data to the processing device. , or may be permanently or temporarily embody in a transmitted signal wave. The software may be distributed over networked computer systems, and stored or executed in a distributed manner. Software and data may be stored in one or more computer-readable recording media.

As described above, although the embodiments have been described with reference to the limited embodiments and drawings, various modifications and variations are possible for those skilled in the art from the above description. For example, the described techniques are performed in a different order than the described method, and/or the described components of the system, structure, apparatus, circuit, etc. are combined or combined in a different form than the described method, or other components Or substituted or substituted by equivalents may achieve an appropriate result.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (14)

receiving a wireless signal transmitted from at least one or more moving objects moving in a predetermined space in a calculator at a plurality of receivers and calculating coordinate information of each of the moving objects;
positioning each of the moving objects in real time based on the calculated coordinate information of each of the moving objects and the detection information of at least one detection sensor installed at a preset position in the predetermined space by a positioning unit; and
providing a mobile service in the predetermined space through real-time positioning of each of the moving objects in the providing unit
including,
scanning the coordinate information of each of the movable objects in real time by a laser scanner installed in the predetermined space by a scanning unit;
photographing the identification information attached to each of the moving objects by the processing unit using an image camera, and real-time tracking of the identification information through real-time image processing of the image photographed by the image camera; and
Displaying an item corresponding to the location of the detection sensor by using a display means at the location where the detection sensor is installed so that the user riding on the moving object can visually confirm it on the display unit
further comprising,
The detection sensor is
When the predetermined space is divided into a plurality of areas, it is installed at the boundary between the moving path and the area on which the moving object moves in the predetermined space,
The positioning step
Coordinate information of each of the moving objects calculated at a fixed period through the plurality of receivers using the coordinate information calculated at a fixed period using the real-time tracked identification information and the coordinate information calculated at a fixed period by scanning using the laser scanner By correcting and reflecting the position information on the detection information of the detection sensor in the corrected coordinate information of each of the moving objects, the position of each of the moving objects is positioned in real time,
The positioning step
By assigning weights to each coordinate information in consideration of a period in which coordinate information is calculated using the real-time tracked identification information and a period in which coordinate information is calculated by scanning using the laser scanner, a weight is assigned to each of the receivers through the plurality of receivers. Correcting the coordinate information of each of the moving objects calculated at a certain period,
The step of providing
When the predetermined space is divided into the plurality of areas with various themes, when it is determined that the specific moving object has moved to the area through real-time positioning of each of the moving objects and the detection information of the detection sensor installed at the boundary of the areas, the specific A mobile service method for providing service information including theme information on an area to which the moving object moves and information on obtainable items to a user riding on the specific moving object.
delete delete delete According to claim 1,
The step of providing
When the moving object passes through the detection sensor, at least one of an item, a message, and content corresponding to the detection sensor is provided to the corresponding moving object.
delete According to claim 1,
The step of providing
When the coordinate position of the augmented element preset through the real-time positioning and the position of the moving object match, by controlling at least one of the speed and direction of the moving object to correspond to the augmented element or providing an additional augmentation effect, the mobile service service A mobile service method, characterized in that it provides a.
a calculator configured to receive a wireless signal transmitted from at least one or more moving objects moving in a predetermined space at a plurality of receivers and calculate coordinate information of each of the moving objects;
a positioning unit for positioning each of the moving objects in real time based on the calculated coordinate information of each of the moving objects and sensing information of at least one detection sensor installed at a preset position in the predetermined space; and
A providing unit that provides a mobile service in the predetermined space through real-time positioning of each of the moving objects
including,
a scanning unit configured to scan the coordinate information of each of the moving objects in real time from the laser scanner installed in the predetermined space;
a processing unit for photographing the identification information attached to each of the moving objects using an image camera, and tracking the identification information in real time through real-time image processing of the image photographed by the image camera; and
A display unit that displays an item corresponding to the location of the detection sensor by using a display means at the location where the detection sensor is installed so that the user riding on the moving object can visually confirm it
further comprising,
The detection sensor is
When the predetermined space is divided into a plurality of areas, it is installed at the boundary between the moving path and the area on which the moving object moves in the predetermined space,
The positioning part
Coordinate information of each of the moving objects calculated at a fixed period through the plurality of receivers using the coordinate information calculated at a fixed period using the real-time tracked identification information and the coordinate information calculated at a fixed period by scanning using the laser scanner By correcting and reflecting the position information on the detection information of the detection sensor in the corrected coordinate information of each of the moving objects, the position of each of the moving objects is positioned in real time,
The positioning part
By assigning weights to each coordinate information in consideration of a period in which coordinate information is calculated using the real-time tracked identification information and a period in which coordinate information is calculated by scanning using the laser scanner, a weight is assigned to each of the receivers through the plurality of receivers. Correcting the coordinate information of each of the moving objects calculated at a certain period,
The provider
When the predetermined space is divided into the plurality of areas with various themes, when it is determined that the specific moving object has moved to the area through real-time positioning of each of the moving objects and the detection information of the detection sensor installed at the boundary of the areas, the specific A mobile service system for providing service information including theme information on an area to which the moving object moves and information on obtainable items to a user riding on the specific moving object.
delete delete delete 9. The method of claim 8,
The provider
When the moving object passes through the detection sensor, at least one of an item, a message, and content corresponding to the detection sensor is provided to the corresponding moving object.
delete 9. The method of claim 8,
The provider
When the coordinate position of the augmented element preset through the real-time positioning and the position of the moving object match, by controlling at least one of the speed and direction of the moving object to correspond to the augmented element or providing an additional augmentation effect, the mobile service service A mobile service system, characterized in that it provides a.

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