KR102661619B1 - Apparatus and method for estimating indoor location through outer perforation - Google Patents

Abstract

An estimation device is provided. The estimation device includes an acquisition unit that acquires first information from a landmark sensor installed in a hole formed through the outer wall of the building; It may include an estimation unit that estimates the location of an object existing inside the building using the first information.

Description

Apparatus and method for estimating indoor location through outer perforation}

The present invention relates to an apparatus and method for estimating the location of a target located indoors.

Based on complex sensors other than infrared and ultrasonic waves, it is necessary to calculate the distance between sensors in an indoor environment where GPS (Global Positioning System) does not work to track the location of a person or robot and display the movement path.

This location tracking system displays the movement path by calculating the distance between the sensor attached to the moving object and the sensor fixed indoors through methods such as triangulation. In order to accurately determine the movement path, it must be specified where in the building the fixed sensor corresponding to the standard is attached. However, in situations such as disasters, a problem occurs in which the location of the sensor cannot be specified.

Korean Patent Publication No. 1906324 discloses a technology for tracking location in an indoor environment using an acceleration sensor.

Korean Patent Publication No. 1906324

The present invention is intended to provide an estimation device and method for accurately estimating the indoor location or movement path of a target through a hole in the exterior wall of a building.

The estimation device of the present invention includes an acquisition unit that acquires first information from a landmark sensor installed in a hole formed through the outer wall of a building; It may include an estimation unit that estimates the location of an object existing inside the building using the first information.

The estimation method of the present invention includes a perforation step of receiving first information related to the location from a landmark sensor installed in a hole formed through a building exterior wall and setting the location of the landmark sensor; A collection step of collecting stationary information from a fixed sensor in the building that estimates its own location using first information from the landmark sensor, and collecting movement information from the fixed sensor that estimates the position of a moving sensor in the building; Displaying the location of the landmark sensor on the floor plan of the building, displaying the location of the fixed sensor included in the fixed information on the floor plan, and displaying the location of the moving sensor included in the movement information on the floor plan It may include an estimation step.

The present invention proposes an indoor position estimation system based on outer perforations that attaches a fixed sensor by drilling a hole in the outer wall of a building, marks the location of the fixed sensor on a floor plan, and uses it as a landmark to indicate the location of the mobile sensor. You can.

Many algorithms have been developed to estimate the location of a moving sensor using fixed sensors. However, the present invention attaches a fixed sensor by drilling a hole in the outer wall of a building with a reliable location to indicate the movement path of the object, and uses the attached fixed sensor as a landmark to estimate the location of the sensor installed on the object. There is a difference.

The estimation device of the present invention can accurately estimate the location of a moving sensor present inside the building by utilizing a sensor installed at a location where a hole is made in the outer wall of the building similar to a landmark.

1 is a schematic diagram showing an estimation device of the present invention.
Figure 2 is a schematic diagram showing a landmark sensor, a fixed sensor, and a moving sensor.
Figure 3 may be a flow chart showing the estimation method of the present invention.
4 is a diagram illustrating a computing device according to an embodiment of the present invention.

Below, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts unrelated to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

In this specification, duplicate descriptions of the same components are omitted.

Also, in this specification, when a component is mentioned as being 'connected' or 'connected' to another component, it may be directly connected or connected to the other component, but may be connected to the other component in the middle. It should be understood that may exist. On the other hand, in this specification, when it is mentioned that a component is 'directly connected' or 'directly connected' to another component, it should be understood that there are no other components in between.

Additionally, the terms used in this specification are merely used to describe specific embodiments and are not intended to limit the present invention.

Also, in this specification, singular expressions may include plural expressions, unless the context clearly dictates otherwise.

In addition, in this specification, terms such as 'include' or 'have' are only intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and one or more It should be understood that this does not exclude in advance the presence or addition of other features, numbers, steps, operations, components, parts, or combinations thereof.

Also, in this specification, the term 'and/or' includes a combination of a plurality of listed items or any of the plurality of listed items. In this specification, 'A or B' may include 'A', 'B', or 'both A and B'.

Additionally, in this specification, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted.

1 is a schematic diagram showing an estimation device of the present invention. Figure 2 is a schematic diagram showing the landmark sensor 10, the fixed sensor 20, and the moving sensor 30.

The estimation device shown in FIG. 1 may include an acquisition unit 100 and an estimation unit 200.

The acquisition unit 100 may acquire first information from the landmark sensor 10 installed in a hole formed through the outer wall of the building.

The estimation unit 200 can estimate the location of an object existing inside the building using the first information.

The first information acquired through the acquisition unit 100 may be about the landmark sensor 10, whose location can be accurately determined even from the outside. The landmark sensor 10 may be fixedly installed in the center of a hole formed through a hole from the exterior surface of the building to the inner surface of the building.

The landmark sensor 10 installed in the center of the hole may communicate with the acquisition unit 100 disposed outside the building through an opening on the exterior side of the building. Additionally, the landmark sensor 10 may transmit first information related to the location of the landmark sensor 10 of the building to the inside of the building through an opening on the inner side of the building.

The first information may include coordinate information of the landmark sensor 10 or may include identification information of the landmark sensor 10. Coordinates of the outer wall of a building or coordinates of a hole may be assigned or set for each landmark by the acquisition unit 100 or the estimation unit 200. Therefore, since the coordinate value matches the identification information of the landmark sensor 10, the identification information of the landmark sensor 10 can also function as first information related to the location.

The acquisition unit 100 may be provided with a setting unit 110 and a collection unit 120.

The setting unit 110 may receive first information and set the location of the landmark sensor 10.

The collection unit 120 may collect at least one of movement information including the location of the movement sensor 30 and stationary information including the location of the fixed sensor 20.

Inside the building, a movement sensor 30 installed on an object and a fixed sensor 20 installed while the object is moving may be provided. Objects may include firefighters or robots that perform disaster activities. In order to guide disaster relief activities and protect the object, the location of the object entering the building needs to be identified. Various sensing systems inside a building may be damaged due to a disaster. In this case, it may be difficult to accurately track the location of an object inside a building where GPS, etc., are not available.

A fixed sensor 20 may be used to estimate the location of an object that has entered the building in a disaster situation.

Objects can enter deep into the building by installing fixed sensors 20 on the floor, walls, etc. of the building.

The fixed sensor 20 may be provided with a detection module that detects the moving sensor 30. Additionally, the fixed sensor 20 may be provided with a communication module that communicates with other adjacent fixed sensors 20 or with an external controller. When a plurality of fixed sensors 20 are installed, the fixed sensor 20 at the end may transmit the location of the movement sensor 30 to another fixed sensor 20 adjacent to it. The plurality of fixed sensors 20 can relay the location of the moving sensor 30 and transmit it to the controller. The estimation device of the present invention can be mounted on a controller provided outside the building.

In order to accurately determine the location of the moving sensor 30 installed on an object using the fixed sensor 20, the location of the fixed sensor 20 must first be accurately determined. This is because the position of the moving sensor 30 determined by the fixed sensor 20 corresponds to the relative position based on the fixed sensor 20. Therefore, if the position of the fixed sensor 20 is determined incorrectly, the position of the moving sensor 30 is also bound to contain an error.

Therefore, in order to accurately determine the location of the moving sensor 30, it is necessary to first accurately determine the location of the fixed sensor 20. Due to the unique nature of the environment inside a building, GPS (Global Positioning System) may not be used. As an alternative to this, the distance and direction entered from the building entrance can be determined using acceleration sensors and meters installed on the object, and the current location can be estimated using the distance and direction. Estimation of the current location can be performed by an estimator installed on the object.

When installing the fixed sensor 20 at the current location, the object can input the current coordinates corresponding to the estimation result of the estimator to the fixed sensor 20, and install the fixed sensor 20 at the current location.

The fixed sensor 20 determines that it is located at the current position input by the object, and can detect the position of the moving sensor 30 based on the current position.

However, the distance and direction entered from the building entrance have an error value, and the error value may increase as the object continues to enter. This is because the accuracy of distance measurement and direction measurement based on the building entrance may decrease as you move away from the reference building entrance.

In order to reduce the error value and accurately determine the location of the fixed sensor 20 or the moving sensor 30, it is better to provide another reference point that is distinct from the entrance of the building.

According to the present invention, the landmark sensor 10 can be used as another reference point.

As an example, the movement sensor 30 or the fixed sensor 20 may estimate its own location based on the first information transmitted from the landmark sensor 10.

For example, the fixed sensor 20 can detect the distance and direction to the specific landmark sensor 10 and calculate its relative position with respect to the specific landmark sensor 10. When the absolute position of a specific landmark sensor 10 is set by the setting unit 110, the relative position of the corresponding fixed sensor 20 may also be converted to an absolute position.

As another example, an estimator mounted on an object may detect the distance and direction to a specific landmark sensor 10 and transmit the detection result to the fixed sensor 20 to be installed at the current location. Additionally, the estimator may transmit identification information of a specific landmark to the stationary sensor 20. At this time, the fixed sensor 20 may transmit the identification information of the specific landmark, the distance and direction to the specific landmark, and the distance and direction of the moving sensor 30 relative to itself to the estimation device.

The estimation unit 200 may substitute the previously identified absolute position of a specific landmark into information obtained from the fixed sensor 20. As a result, the absolute coordinates of the fixed sensor 20 and the absolute coordinates of the moving sensor 30 are calculated, and the estimation unit 200 can estimate the calculated value as the position of the moving sensor 30.

As a result, the fixed sensor 20 can estimate its own location using the first information of the landmark sensor 10 that is closer than the entrance of building b. Accordingly, the positional accuracy of the fixed sensor 20 can be improved, and the positional accuracy of the moving sensor 30 determined based on the position of the fixed sensor 20 can be improved.

The estimation unit 200 may be provided with a first visualization unit 210, a second visualization unit 220, and a third visualization unit 230.

The first visualization unit 210 may display the position set for each landmark sensor 10 by the setting unit 110 on the floor plan of the building.

For example, a worker may drill a hole in the exterior wall of a building and install the landmark sensor 10 in the hole. At this time, if the landmark sensor 10 is equipped with a location detection means such as a GPS module, the first visualization unit 210 can set the location determined by the location detection means to the landmark sensor 10 as is.

As another example, the location may be determined through a location finder carried by a worker who drills a hole in the exterior wall of a building and installs the landmark sensor 10. The worker can inject the location determined through the location finder into the landmark sensor 10 or transmit it to the first visualization unit 210. Additionally, the worker can check the location of the perforation on the floor plan of the building. The check result is transmitted to the first visualization unit 210, and the first visualization unit 210 can set the location identified through the location finder at the location where the perforation was made (= installation location of the landmark sensor 10). .

The second visualization unit 220 may display the location of the fixation sensor 20 included in the fixation information collected by the collection unit 120 on a plan view. The fixed sensor 20 can be visualized in a one-sided view by measuring the distance to the landmark sensor 10.

The third visualization unit 230 may display the location of the movement sensor 30 included in the movement information collected by the collection unit 120 on a plan view. The distance of the moving sensor 30 may be measured through a plurality of fixed sensors 20.

The collection unit 120 may collect movement information from the fixed sensor 20 . The movement information may include the distance from the fixed sensor 20 to the moving sensor 30 and the angular position (direction) of the moving sensor 30.

When movement information is simultaneously collected from a plurality of fixed sensors 20, the third visualization unit 230 displays the closest sensor 20 to the specific fixed sensor 20 located closest to the landmark sensor 10 among the plurality of fixed sensors 20. Great weight can be given. For example, the third visualization unit 230 may assign the greatest weight to the location of the movement sensor 30 included in the specific movement information obtained from the specific fixed sensor 20.

The third visualization unit 230 may display the position of the movement sensor 30 on the plan view using a plurality of weighted positions. For example, the third visualization unit 230 may estimate the average value of a plurality of position values obtained from a plurality of fixed sensors 20 as the current position of the moving sensor 30. At this time, the position value that is the target of the average may have a weight applied.

For example, the location of the movement sensor 30 to which the greatest weight is assigned may be estimated as the current location of the movement sensor 30. Alternatively, when the current position of the movement sensor 30 is calculated using different first and second positions, if the weight of the first position is greater than the weight of the second position, the first position is better than the second position. The nearby location may be estimated as the current location of the movement sensor 30.

The landmark sensor 10 visualized in the first visualization unit 210, the fixed sensor 20 visualized in the second visualization unit 220, and the moving sensor 30 visualized in the third visualization unit 230 are shown in FIG. It can be displayed on the floor plan of the building as shown in 2.

Figure 3 may be a flow chart showing the estimation method of the present invention.

The estimation method of FIG. 3 may be performed by the estimation device of FIG. 1 .

The estimation method may include a perforation step (S 510), a collection step (S 520), and an estimation step (S 530).

In the perforation step (S510), first information related to the location may be received from the landmark sensor 10 installed in a hole formed through the outer wall of the building and the location of the landmark sensor 10 may be set. The perforation step (S510) may be performed by the setting unit 110 of the collection unit.

In the collection step (S520), fixed information is collected from the fixed sensor 20 in the building that estimates its own location using the first information of the landmark sensor 10, and the location of the moving sensor 30 in the building is estimated. Movement information can be collected from the fixed sensor 20. The collection step (S520) may be performed by the collection unit 120 of the collection unit.

In the estimation step (S530), the location of the landmark sensor 10 may be displayed on the floor plan of the building. This process may be performed by the first visualization unit 210.

In the estimation step (S530), the location of the fixed sensor 20 included in the fixed information may be displayed on the floor plan. This process may be performed by the second visualization unit 220.

In the estimation step (S540), the location of the movement sensor 30 included in the movement information may be displayed on the floor plan. This process may be performed by the third visualization unit 230.

In the estimation step (S530), a screen displaying the location of the landmark sensor 10, the location of the fixed sensor 20, and the location of the moving sensor 30 on the floor plan of the building may be provided to the user. By referring to the screen, the user can control objects that have entered the building or give various instructions to the objects.

4 is a diagram illustrating a computing device according to an embodiment of the present invention. Computing device TN100 of FIG. 4 may be a device described herein (e.g., an estimation device, etc.).

In the embodiment of FIG. 4 , the computing device TN100 may include at least one processor TN110, a transceiver device TN120, and a memory TN130. Additionally, the computing device TN100 may further include a storage device TN140, an input interface device TN150, an output interface device TN160, etc. Components included in the computing device TN100 may be connected by a bus TN170 and communicate with each other.

The processor TN110 may execute a program command stored in at least one of the memory TN130 and the storage device TN140. The processor TN110 may refer to a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to embodiments of the present invention are performed. Processor TN110 may be configured to implement procedures, functions, and methods described in connection with embodiments of the present invention. The processor TN110 may control each component of the computing device TN100.

Each of the memory TN130 and the storage device TN140 can store various information related to the operation of the processor TN110. Each of the memory TN130 and the storage device TN140 may be comprised of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory TN130 may be comprised of at least one of read only memory (ROM) and random access memory (RAM).

The transceiving device TN120 can transmit or receive wired signals or wireless signals. The transmitting and receiving device (TN120) can be connected to a network and perform communication.

Meanwhile, the embodiments of the present invention are not only implemented through the apparatus and/or method described so far, but may also be implemented through a program that realizes the function corresponding to the configuration of the embodiment of the present invention or a recording medium on which the program is recorded. This implementation can be easily implemented by anyone skilled in the art from the description of the above-described embodiments.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims are also possible. It falls within the scope of invention rights.

10...Landmark sensor 20...Fixed sensor
30...movement sensor 100...acquisition unit
110...setting unit 120...collection unit
200...estimated unit 210...first visualization unit
220...2nd visualization part 230...3rd visualization part

Claims (5)

An acquisition unit that acquires first information from a landmark sensor installed in a hole formed through the outer wall of the building;
Includes; an estimation unit that estimates the location of an object existing inside the building using the first information,
The landmark sensor is installed in the center of the hole formed from the outer surface of the building to the inner surface of the building,
The landmark sensor installed in the center of the hole communicates with the acquisition unit disposed outside the building through an opening on the outer side of the building, and communicates with the acquisition unit disposed outside the building through an opening on the inner side of the building, and the landmark sensor related to the location of the landmark sensor through the opening on the inner side of the building. Send the first information,
Inside the building, a moving sensor installed on the object and a fixed sensor installed while the object is moving are provided,
The moving sensor or the fixed sensor estimates its own location based on the first information,
The acquisition unit is provided with a setting unit and a collection unit,
The setting unit receives the first information and sets the location of the landmark sensor,
The collection unit collects at least one of movement information including the location of the moving sensor and fixed information including the location of the fixed sensor, and
The estimation unit is provided with a first visualization unit, a second visualization unit, and a third visualization unit,
The first visualization unit displays the location of the landmark sensor set by the setting unit on a floor plan of the building,
The second visualization unit displays the location of the fixed sensor included in the fixed information collected by the collection unit on the plan view,
The third visualization unit is an estimation device that displays the location of the movement sensor included in the movement information collected by the collection unit on the floor plan.
delete delete According to paragraph 1,
The collection unit collects the movement information from the fixed sensor,
The movement information includes the distance to the movement sensor based on the fixed sensor and the angular position of the movement sensor,
When the movement information is simultaneously collected from a plurality of fixed sensors, the third visualization unit give the greatest weight,
The third visualization unit is an estimation device that displays the position of the movement sensor on the floor plan using a plurality of weighted positions.
In the estimation method performed by the estimation device,
A perforation and collection step of acquiring first information from a landmark sensor installed in a hole formed through the outer wall of the building;
An estimation step of estimating the location of an object existing inside the building using the first information,
The landmark sensor is installed in the center of the hole formed from the outer surface of the building to the inner surface of the building,
The landmark sensor installed in the center of the hole communicates with an acquisition unit disposed outside the building through an opening on the outer side of the building, and communicates with the first sensor related to the location of the landmark sensor through the opening on the inner side of the building. 1 Send out information,
Inside the building, a moving sensor installed on the object and a fixed sensor installed while the object is moving are provided,
When the moving sensor or the fixed sensor estimates its own location based on the first information,
The perforation and collection steps performed by the acquisition unit,
Receiving the first information and setting the location of the landmark sensor,
Collect at least one of movement information including the location of the moving sensor and fixed information including the location of the fixed sensor, and
The estimation step is,
The location of the landmark sensor set in the perforation and collection step is displayed on the floor plan of the building,
Displaying the location of the fixed sensor included in the fixed information collected in the perforation and collection step on the floor plan,
An estimation method for displaying the location of the movement sensor included in the movement information collected in the perforation and collection step on the floor plan.

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