KR20210023173A - Moving Object Service Method Using Real-Time Positioning System and System Therefore - Google Patents

Abstract

Disclosed are a moving object service method and system using a real-time positioning system. The moving object service method according to one embodiment of the present invention comprises the steps of: receiving a wireless signal transmitted from at least one moving object moving in a predetermined space 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 sensing information of at least one sensor installed at a preset position in the predetermined space; and providing a moving object 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 moving object service technology using a real-time location positioning system, and more specifically, a moving object service by performing real-time positioning of moving objects or vehicles in an outdoor theme space as well as an indoor theme space. , It relates to a method and system capable of providing a bumper car or cart service.

Location-based technology is a technology that acquires physical, geographic or logical location information of an object (person or object) placed in a specific location and reacts appropriately thereto. Typical location positioning methods include triangulation, which measures the position by measuring the difference, angle, or azimuth between objects, and scene analysis using a landscape seen from a specific point of view (Scene Analysis), and a specific location. There is a proximity method (proximity) to find out close to.

And, with the development of wireless communication technology, radio wave identification systems are in the spotlight as a new wireless network technology, and are widely used. In addition, there is a demand for the development of a technology to measure the location indoors or outdoors using a radio wave identification system, 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.

Typical positioning techniques are various such as location measurement technology using a global positioning system, location measurement technology using the received signal strength of wireless signals, and location measurement technology using short-range wireless communication.

Position measurement technology using GPS is a technology that measures the phase of a carrier wave signal sent from a GPS satellite floating in Earth's orbit (absolute positioning) or traces the code of a carrier signal (relative positioning) to measure the distance to the satellite. The location measurement technology using GPS has a wide signal radius and can provide stable services through fixed satellites, so it is currently most often used, but it has a disadvantage that it is not possible to service indoors or shaded areas where it is difficult to receive GPS satellite signals with low precision. Have.

Location measurement technology using mobile communication is a technology that obtains geographic location information of a mobile terminal by triangulation using a currently established mobile communication system. There are a network-based method for finding a location, a terminal-based method in which a terminal with a GPS receiver transmits location information to the network independently of a base station, and a hybrid method in which the two are mixed. These technologies do not require a separate infrastructure construction and have a wide service area like GPS, and are thus widely used as macro location positioning technologies. However, it can be used only within a cell radius in which the base station is located or in an urban area where radio waves can be received, and indoor accuracy is deteriorated due to diffraction, multipath, and signal attenuation by radio wave characteristics.

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

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

Embodiments of the present invention provide a method for providing a moving object service, such as a bumper car or a cart service, by performing real-time positioning of moving objects or vehicles in not only an indoor theme space but also an outdoor theme space, and System.

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

Further, the moving object service method according to an embodiment of the present invention further includes the step of scanning coordinate information of each of the moving objects in real time by a laser scanner installed in the predetermined space, and the positioning step is performed by calculating the calculated values of each of the moving objects. Based on the coordinate information, the scanned coordinate information, and the sensing information, the position of each of the moving objects may be positioned 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 mobile objects is photographed using an image camera, and the identification information through real-time image processing of the image captured by the image camera is obtained. It further comprises the step of real-time tracking (tracking), and the positioning step can position each of the moving object in real time based on the calculated coordinate information, the real-time tracked identification information and the sensing information of each of the moving object. have.

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

In the providing step, when the moving object passes through the sensing sensor, at least one of an item, a message, and content corresponding to the sensing sensor may be provided to the moving object.

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

The providing step is to control at least one of the speed and direction of the moving object so as to correspond to the augmented element when the coordinate position of the augmented element and the position of the moving object set in advance through the real-time position positioning coincide or provide an additional enhancement effect Thus, the mobile service can be provided.

A mobile service system according to an embodiment of the present invention includes: a calculation unit that receives radio signals transmitted from at least one or more mobile objects moving in a predetermined space by a plurality of receivers and calculates coordinate information of each of the mobile objects; A positioning unit for real-time positioning of each of the moving objects based on the calculated coordinate information of each of the moving objects and detection information of at least one detection sensor installed at a preset position in the predetermined space; And a providing unit that provides a moving object service in the predetermined space through real-time positioning of each of the moving objects.

Further, the moving object service system according to an embodiment of the present invention further includes a scanning unit for scanning coordinate information of each of the moving objects in real time in a laser scanner installed in the predetermined space, and the positioning unit is 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 positioned in real time.

Furthermore, the moving object 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 captures the identification information through real-time image processing of the image captured by the image camera. A processing unit for real-time tracking may be further included, and the positioning unit 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.

Furthermore, it may further include 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.

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

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

The providing unit controls at least one of the speed and direction of the moving object to correspond to the augmented element when the coordinate position of the augmented element and the position of the moving object previously set through the real-time position positioning coincide, or by providing an additional enhancement effect, 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 indoors or indoors and outdoors set as a theme space, and calculates By positioning the location of the moving object in real time in the theme space using the coordinate information and the detection sensor installed on the floor of the moving path where the moving object moves, for example, a loop coil sensor, it is possible to provide a moving object service through real-time position positioning. I can.

According to embodiments of the present invention, an accurate position of a moving object can be positioned in real time using a detection sensor installed at a preset position of a moving path in which the moving object moves in a theme space, and corresponds to a moving object passing through the corresponding detection sensor. By providing items, messages, and contents corresponding to the detection sensor, for example, game items, congratulatory messages, warning messages, graphic effects, audio effects, and the like, it is possible to give fun 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 when a theme space is divided into a plurality of areas, when installed between a plurality of areas, the position of a moving object in the outdoor space may be positioned in real time. , Movement between a plurality of areas may also be detected, through which items, messages, and contents may be changed or provided according to the movement of the location to the corresponding area.

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

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

According to embodiments of the present invention, when a pre-set augmentation element is provided in a moving path through which the moving objects move, and the position of the moving object coincides with the coordinate position of the augmenting element through positioning of each of the moving objects, for example, By controlling the speed or direction of the moving object according to the uphill or downhill or by providing an additional reinforcing effect, it is possible to further provide fun according to the reinforcing element.

1 shows the configuration of an embodiment of a system for explaining the real-time location 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.
3 is a block diagram of another embodiment of a system for describing a real-time location positioning technology used in the present invention.
4 is a diagram showing the configuration of another embodiment of a system for explaining the real-time location positioning technology used in the present invention.
5 is a block diagram of another embodiment of a system for describing a real-time location positioning technology used in the present invention.
6 shows an example to which the real-time location positioning method is applied.
7 shows the configuration of a mobile service system according to an embodiment of the present invention.
8 shows 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 a mobile service according to the present invention.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, only the present embodiments are intended to complete the disclosure of the present invention, and common knowledge in the technical field to which the present invention pertains. It is provided to completely inform the scope of the invention to those who have, and the invention is only defined by the scope of the claims.

The terms used in the present specification are for describing exemplary embodiments, and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used herein, "comprises" and/or "comprising" refers to the recited component, step, operation, and/or element. It does not exclude presence or addition.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used with meanings that can be 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 interpreted ideally or excessively unless explicitly defined specifically.

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 elements in the drawings, and duplicate descriptions for the same elements are omitted.

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

Here, the predetermined space (or theme space) may be configured indoors, may be configured as a space including indoors and outdoors, or may be configured as 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 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 the wireless signal received from the RTLS UWB module and the detection information by the detection sensor, but also the identification information on the moving object moving in the theme space, for example, a spherical shape (different color or different size, etc.). 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 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 the moving speed of the moving object Accordingly, since the position of the moving object cannot be positioned in real time, the coordinate information of the moving object is scanned in a second time period, for example, 10 to 20 [ms], using a laser scanner, and 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 moving in the theme space can be positioned in real time.

Furthermore, the present invention locates the position of each moving object in real time based on the coordinate information of each of the moving objects 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 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 the moving speed of the moving object Accordingly, since the position of the moving object cannot be positioned in real time, the moving object is tracked in a second time period through real-time image processing on the image captured in real time using at least one RGB camera to correct the real-time position of each moving object. By reflecting the location information of the detection sensor measured when passing through the detection sensor, the location of the moving object moving in the theme space can be located in real time.

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

Such a real-time location positioning system can be applied to a moving object 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 moving object service using a real-time positioning system. An example of the present invention is to check the position of a moving object in a theme space in real time using real-time positioning technology, and through real-time positioning. A moving object service may be provided to users based on location information of each of the identified moving objects, a fingerprint map for an indoor space among theme spaces previously generated and stored as needed, and an augmentation element provided in advance in the theme space.

Here, the moving object service determines whether the position of the moving object on the track and the coordinate position of the augmented element match when providing a track on which the moving object can move in the theme space using an image, and if they match, the augmenting 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. In a situation, it may be provided by changing a movement path for at least one or more moving objects.

Of course, the present invention is not limited to providing an image to the track of the moving object, but 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 an indoor space and an outdoor space, a track can be formed using an image in the indoor space, and an actual track is formed in the outdoor space. It can also be formed. Of course, in the case of an outdoor track, since the moving object moves on a certain track, position positioning using a detection sensor can be used rather than real-time position positioning by image processing.

In the case of using the fingerprint map in the present invention, the fingerprint map is applied to preset positions after projecting a pattern of a certain shape, for example, a grid image, in a theme space, for example, an indoor space. By measuring coordinate information, it can be created. Of course, if the coordinate information needs to be corrected when generating the fingerprint map, the final fingerprint map for the theme space can be generated after the coordinate information is corrected. Since it is a technical matter that can be known to those skilled in the art, a detailed description of this part will be omitted.

Further, the present invention can also locate the real-time position of the moving object using all of the wireless signal transmitted from the RTLS UWB module, sensing information by a detection sensor, coordinate information scanned by a laser scanner, and real-time tracking of the moving object using an RGB camera. have.

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

1A, the indoor positioning system 100 is a system for real-time positioning of the moving object 120 moving in a predetermined space (or positioning space or theme space), for example, an indoor space and an outdoor space. As a result, the position of the mobile body 120 can be calculated in a first time period using a plurality of receivers 140 that receive a radio signal transmitted from the mobile body 120 in a first time period, as shown in FIG. 1B. , The moving path through which the moving object 120 moves, for example, the detection sensor 150 installed in a preset position of the track, for example, the pressure sensor, the detection information received from the 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 positioned in real time.

At this time, the mobile body 120 includes at least one 130 of an RTLS UWB module, a beacon, and an RFID, so that a radio signal for calculating the position of the first time period can be broadcast to receivers provided in a predetermined space. In addition, it is possible to calculate the position of the moving object in a certain space by using the radio signals received from each of the receivers. Of course, a method of calculating the location of a moving object in a certain space using a radio signal received from each of the receivers may include a Time Of Arrival (TOA) method, a Time Difference Of Arrival (TDOA) method, and the like. The description thereof will be omitted because it is obvious to those skilled in the art.

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 radio signals transmitted from at least one or more mobile objects moving in a predetermined space, and coordinate information of each of the mobile objects is received. Calculate (S210).

Here, in step S210, a plurality of receivers receive a radio signal transmitted in a first time period, for example, 100 [ms], from a real-time location positioning module, for example, an RTLS UWB module equipped with a moving object, and receive the received radio signal. Calculate (or track) the position of the moving object in a first time period, for example, 100 [ms] using a signal, and send the identification information (ID) and calculated position (or coordinates) information of the moving object to the server in the first time period. Can be provided as. Of course, the first time period in the present invention is not limited to the above 100 [ms], and the first time period may vary according to circumstances.

In order to improve the accuracy of the position of each moving object calculated in the first time period by step S210, the moving path or track in 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 the moving object passes, the position of each moving object is positioned in real time using the identification information of the moving object and the location information of the corresponding detection sensor where the detection information is generated (S220).

Here, the number of detection sensors installed for real-time location positioning of a moving object moving in a first time period may vary, and the number and installation locations of such detection sensors may be determined by a provider providing the technology of the present invention. Of course, when the moving path of a moving object formed in a certain space is formed using an image, detection sensors can be installed in all areas within a certain space, and the moving path provided as an image can be constant. It is also possible to install detection sensors in some areas off the path.

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

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

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

Although the detection sensor is described as being installed on the moving track in FIG. 2, the present invention 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. In addition, when a certain space is divided into a plurality of areas under various themes, a moving track moving within the plurality of areas and a detection sensor are installed at the boundary between the areas, so that the moving object moves from which area to which area. It may be known through detection information of a detection sensor installed in the boundary area, or various information such as theme information about the area and obtainable item information may be provided to a moving object that has moved the area through the detection information. That is, in the present invention, the detection sensor may be installed for various purposes, and based on the detection information of the installed detection sensor, not only real-time positioning of the moving object but also the service provided in the moving area through the moving direction of the moving object may be notified to the user. .

Further, in step S230, when the coordinate position of the augmented element preset and the position of the moving object coincide through real-time positioning, by controlling at least one of the speed and direction of the moving object to correspond to the augmenting element or providing an additional enhancement effect, the moving object You can also provide services.

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

For example, as shown in Figure 3, the indoor positioning module 130 provided in the mobile body 120, for example, a radio signal transmitted in a first time period, for example, 100 [ms] period from the RTLS UWB module Is received by a plurality of receivers 140, and 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 calculated location (or coordinates) information are provided in a first time period.

At this time, the wireless signal broadcast from the RTLS UWB module 130 to the indoor space may include user identification information or identification information of a moving object, and the system extracts identification information included in the wireless signal and stores the identification information. The identification information of the moving object can be known by searching for the identification information in the database being used. 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.

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

And, the position of the moving object is located in real time using coordinate information (or location 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, and the coordinate information scanned in the second time period is used. Accordingly, the coordinate information calculated in the first time period for the moving object is corrected, and the position information on the sensing information of the detection sensor is reflected, so that the position of each of the moving objects can be positioned in real time.

Furthermore, according to the present invention, when a plurality of moving objects cross each other, a case in which the scanned coordinate information is the coordinate information for which moving object may not be known may occur, so a process of mapping the scanning information and the moving object may be added. have. For example, a history of coordinate information calculated in a first time period for a moving object, for example, based on the moving direction, moving speed, track direction, etc. of the moving object, confirming (or obtaining) scanning coordinate information of the moving object, and obtained coordinates By correcting the calculated coordinate information of the moving object using the information, the position of the moving object can be positioned in real time. Correcting the coordinate information in the present invention compares the coordinate information calculated in real time with the scanned coordinate information for each moving object, and if 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 100[ms] cycles, moving objects such as racing carts have a high moving speed and thus cause a lot of errors, so the coordinate information scanned at 20[ms] for position information between 100[ms] cycles is stored. By using the correction and reflecting the detection information of the detection sensor installed in the preset position here, the position of the moving object can be positioned in real time.

As another example, as shown in FIG. 4, the identification information attached to each of the moving objects is photographed using an image camera 110, for example, an RGB image camera, in order to identify each of the moving objects 120, and the image camera Real-time tracking of identification information through real-time image processing of the image captured by 110, a fingerprint map created in advance for a certain space, and real-time location of each of the moving objects using the detection information of the 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 a first time period when the location positioning module 120 provided in the mobile body 120, for example, an RTLS UWB module is provided. By doing so, it is possible to calculate the location of each of the bumper cars at a certain period of time, and correct the real-time location of each of the bumper cars using real-time image processing and fingerprint maps for real-time images captured using at least one RGB image camera 110. And, by reflecting the location information on the detection information of the detection sensor, it is possible to locate each location of the moving object in real time. For example, a plurality of receivers receive a radio signal transmitted in a first time period, for example, 100 [ms] period, from the RTLS UWB module provided in the mobile body, and use the received radio signal for a first time period, e.g., , The position of the moving object is calculated (or tracked) in a period of 100 [ms], and identification information (ID) and the calculated position (or coordinate) information of the moving object are provided in a first time period.

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

In addition, the coordinate information of the bumper car moving in the indoor space can be tracked in real time in a second time period, for example, 20 [ms], using image processing and fingerprint maps of images captured by at least one RGB video camera. have. 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, 20 [ms], and the ID and coordinates of the corresponding bumper car are tracked. Thereafter, the bumper car position can be located in real time using 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. The coordinate information calculated at the first time period for the moving bumper car is corrected by using the coordinate information, and by reflecting the location information of the detection information of the detection sensor, each location of the 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 ( Based on identification information of each of the moving objects tracked in real time by 110) and detection information of the detection sensor, the position of each of the moving objects may be positioned in real time.

That is, by using a plurality of receivers 140 that receive a radio signal transmitted at a predetermined time period, for example, 100 [ms] time period from the RTLS UWB module 130 provided in the mobile body 120, the mobile body at a predetermined time period. Each position can be calculated, and real-time image processing on images 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 Each real-time position is corrected, and the position information of the sensing information of the detection sensor is reflected therein, so that the position of each moving object can be positioned in real time.

Here, the real-time image processing is also performed in a certain time period, for example, 20 [ms] time period, and the real-time scanning by the laser scanner is also performed in a certain time period, such as 10 to 20 [ms] time period, so that 100 [ms] ] By correcting the position of each of the moving objects to be positioned in a time period with the coordinate information tracked in real time in a 20[ms] time period and a 10~20[ms] time period, and reflecting the location information on the detection information of the detection sensor, each moving object You can locate the location of the device in real time.

In this case, the present invention is based on coordinate information calculated in a 20[ms] time period by image processing using an RGB image camera and 100[ms] based on coordinate information calculated in a 10-20[ms] time period by scanning using a laser scanner. ms] It is possible to correct the position of each of the moving objects positioned in a time period, and the coordinate information calculated in a 20[ms] time period and the coordinate information calculated in a 10~20[ms] time period are the average of the two coordinate information considering the time period. It may be calculated by assigning 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.

In this way, the mobile service method according to the present invention calculates coordinate information using a wireless signal received from a real-time location positioning module, for example, a UWB module, provided in a mobile object that moves indoors or outdoors set as a theme space. , By using the calculated coordinate information and a detection sensor installed on the floor of the movement path, for example, a loop coil sensor, the position of the moving object moving in the theme space is located in real time, thereby providing a moving object service through real-time position positioning. Can provide.

In addition, since the method according to the present invention is capable of real-time position positioning, the position of a moving object having a high moving speed, for example, a bumper car or a cart, can also be positioned in real time, and the position of the moving object moving in augmented reality or virtual reality is positioned. can do. Accordingly, such a real-time location positioning method may be applied to a virtual reality game, an augmented reality game, as well as a game in which an augmented reality game and an actual game are combined, so that the position of a moving object can be located in real time.

In addition, the method according to the present invention can locate the exact position of the moving object in real time by using a detection sensor installed at a preset position of the moving path that the moving object moves in the theme space, and detects the moving object passing through the detection sensor. By providing items, messages, and contents corresponding to the sensor, for example, game items, congratulatory messages, warning messages, graphic effects, audio effects, etc., it is possible to give fun to a bumper car or a cart game.

In addition, the method according to the present invention may position the moving object in the outdoor space in real time when the detection sensor is installed in an outdoor space or when the theme space is divided into a plurality of areas and installed between a plurality of areas, Movement between a plurality of areas can also be detected, and through this, items, messages, and contents can be changed or provided according to the movement of the location to the corresponding area. For example, the present invention solves a problem that is not easy to track using an RGB image camera outdoors depending on ambient light, weather, etc., by using a detection sensor, for example, a pressure sensor or a loop sensor, and thereby real-time location of a moving object outdoors. Can be positioned with.

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

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

In order to provide such a moving object service of the present invention, a table for coordinate information for a certain space, an image map for a virtual image, and user registration using a moving object service when registering user information, for storing information on a 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 as needed.

For example, as shown in FIG. 6, an image providing means 510 for providing a virtual image of a track for moving a moving object and an augmented element on the floor of a certain space, that is, a theme space, should be provided. Of course, when there are multiple image providing means, the image may be provided in synchronization 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, a 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 location positioning system 640. ) And an image providing means (650).

The database server 610 is a server that stores all data related to a moving object 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 who uses the mobile service, service information provided by the mobile service, and information on augmentation elements related to the provided service. Of course, the database server is not limited to the above-described data.

When user information is stored in the database server 610, the stored user information is the user information registered by the user who uses the service (for example, name, gender, age, height, weight, style, etc.), and the membership level of the mobile service. , If necessary, information such as character, service usage history, and reward information (eg, time addition, bonus usage rights provision, coupon provision, etc.) may be included.

Of course, the database server 610 may include all information on a program related to a service provided in the present invention, data related to this, as well as information on a moving object.

The 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, for example, a projector, to the theme space. In consideration of information on the moving object (or user), for example, identification information of the moving object, current location, movement direction, etc., an augmentation element or augmentation effect for the moving object service provided in the theme space is provided to a specific location through an image providing means. to provide.

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

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

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

In addition, the image map providing server 620 may control the image providing means 650 to synchronize an image map provided as a track map layer of a theme space and provide an image map for this as a 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 object to the system through interworking between the mobile object and the system. It is received and provided to a database server or a video map providing server.

For example, the server 2 630 receives real-time location information for each moving object positioned on a bumper car moving in a theme space from a real-time indoor location positioning system, and receives real-time positioning information for each bumper car as an image map providing server 620 ) Or the database server 610.

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

As described above, the real-time positioning system 640 locates the positions of each of the moving objects of the moving object layer in the theme space in real time, and provides real-time coordinate information for each of the positioned moving objects to the server 2 630 and an image providing means (or server 1 ) Can be provided as 650.

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

In addition, the theme space according to the present invention may include a moving object layer for providing/acquiring coordinates and enhancement elements for a moving object, and a track map layer for providing movement of the moving object and providing an image map. Although, for convenience of explanation, the theme space is classified into two layers, a moving object layer and a track map layer, it is not limited thereto and may be combined into one layer depending on the situation. It can also be classified. In addition, the functions performed by each layer are not limited to the above description, and depending on the situation, an enhancement element and an enhancement effect may be provided through a track map layer.

In addition, the system according to the present invention may include means for capturing an image of a 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 the revisiting of a user who uses the service using the above-described servers, and automatically monitors the moving object of the visitor by checking the battery status of the mobile object by the management server. Functions such as designation function, automatic designation using visitor name or nickname (LED Display) function, automatic ordering of visitor waiting order (automatic visitor assignment and application of circulation), and content provision using real-time positioning technology and image processing technology. You can also do it.

In addition, the mobile service system according to the present invention may include a real-time board for guaranteeing real-time data and an operation board for real-time (several tens of ms) processing of data in order to provide a mobile service. Algorithm for correcting the flawlessness and identification of the object, a location tracking algorithm for predicting and moving distance of an object, virtual reality (VR), augmented reality (AR), and mixed reality (MR; Mixed Reality), etc., calculation techniques for calculating and correcting the actual size can 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 (for example, PWM control, start, stop), linkage with the service, It can also be linked with sensor-based coordinate linkage technology. Of course, it is obvious that the moving object includes configuration means that can be basically configured in the moving object, for example, user input/output means, moving object control means, and the like. Here, the moving object may be controlled by a control signal transmitted to the system through linkage with the system. For example, if the moving object is located uphill as an enhancement element, the system transmits a control signal to slow down the moving object to control the speed of the moving object slowly, and the moving object is positioned on the downhill as an enhancement element. In this case, the system can quickly control the speed of the moving object by transmitting a control signal that speeds up 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, such as markers, infrared rays, motion tracking, etc. The MR game service can also be provided by the audience in the spectator seat without equipment using a mobile device. For example, in a racing game in which the audience in the audience can control the virtual moving object, the real moving object appears in the mobile game in real time using the location information obtained through RGB images, so that the audience and the moving object driver can enjoy racing together. MR game services that can be provided.

By providing such MR game service, the audience can move away from passive viewing and actively interact with the real mobile driver, so from a business point of view, a paid gaming service can be provided to the audience who use it for free, and the role of the audience. By expanding the mobile object's role as a virtual driver, as well as a supporter role (healer) and a blocker role (game obstacles, monsters, monster bosses), the unexpectedness is reinforced by humans, not by simple patterns calculated by algorithms. It can also provide a game service.

That is, a plurality of drivers and a plurality of spectators can directly control various elements included in one racing game to allow the game to be operated.

8 illustrates a conceptual configuration of a mobile service system according to an embodiment of the present invention, and illustrates a conceptual configuration of a system 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 calculation unit 810 receives radio signals transmitted from at least one or more mobile objects moving in a predetermined space by a plurality of receivers and calculates coordinate information of each of the mobile objects.

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

At this time, when the positioning unit 820 is provided with a scanning unit that scans coordinate information of each moving object in real time in a laser scanner installed in a certain space, the calculated coordinate information, the scanned coordinate information, and the detection information of the detection sensor are Based on this, the position of each of the moving objects can be positioned in real time.

At this time, the positioning unit 820 is provided with a processing unit that photographs identification information attached to each of the moving objects using an image camera, and tracks identification information through real-time image processing of the image captured by the image camera. If so, the position of each of the moving objects may be located in real time based on the calculated coordinate information of each of the moving objects, the real-time tracked 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 using a display means at a 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, message, and content corresponding to the detection sensor to the moving object, and the detection sensor includes a predetermined space in a plurality of areas. When divided into, it may be installed at the boundary of the moving path and areas in which the moving object moves in a certain space.

Further, the providing unit 840 controls at least one of the speed and direction of the moving object so as to correspond to the augmented element when the coordinate position of the preset augmented element and the position of the moving object coincide through real-time position positioning or provide an additional augmentation effect. By doing so, it is also possible to provide a mobile service.

Furthermore, the method and system according to an embodiment of the present invention may provide a service combining a mobile service and a specific game. For example, as shown in FIG. 9, in order to increase personal fun and immersion of the game, in addition to acquiring items when the user moves outside on a moving object, for example, a cart, a gun is mounted on the cart. When targets and items are hit, a method in which the score is reflected in the game can 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 targets and guns are implemented digitally, they can be implemented as monitors and laser guns, and if they are implemented in an analog way, actual targets and guns with projectiles such as dart guns or non-grenade guns, or guns that fire lasers. It can also 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 the contents of FIGS. 1 to 7 described above.

The system or device described above may be implemented as a hardware component, a software component, and/or a combination of a hardware component and a software component. For example, the systems, devices, and components described in the embodiments are, 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. The processing device may execute an operating system (OS) and one or more software applications executed on the operating system. Further, the processing device may access, store, manipulate, process, and generate data in response to the execution of software. For the convenience of understanding, although it is sometimes described that one processing device is used, one of ordinary skill in the art, the processing device is a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that it may include. For example, the processing device may include a plurality of processors or one processor and one controller. In addition, other processing configurations are possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of these, configuring the processing unit to operate as desired or processed independently or collectively. You can command the device. Software and/or data may be interpreted by a processing device or, to provide instructions or data to a processing device, of any type of machine, component, physical device, virtual equipment, computer storage medium or device. , Or may be permanently or temporarily embodyed 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 on one or more computer-readable recording media.

Although the embodiments have been described by the limited embodiments and drawings as described above, various modifications and variations can be made from the above description to those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as systems, structures, devices, circuits, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and those equivalent to the claims also fall within the scope of the claims to be described later.

Claims (14)

Receiving radio signals transmitted from at least one or more mobile objects moving in a predetermined space by a plurality of receivers and calculating coordinate information of each of the mobile objects;
Positioning the position of each of the moving objects in real time based on the calculated coordinate information of each of the moving objects and detection information of at least one detection sensor installed at a preset position in the predetermined space; And
Providing a moving object service in the predetermined space through real-time positioning of each of the moving objects
Mobile service method comprising a.
The method of claim 1,
Scanning coordinate information of each of the moving objects in real time by a laser scanner installed in the predetermined space
Including more,
The positioning step
And positioning the position of each of the moving objects in real time based on the calculated coordinate information of each of the moving objects, the scanned coordinate information, and the sensing information.
The method of claim 1,
Taking the identification information attached to each of the moving objects using an image camera, and real-time tracking the identification information through real-time image processing of the image captured by the image camera
Including more,
The positioning step
And positioning 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.
The method of claim 1,
Displaying an item corresponding to the location of the detection sensor using a display means at the location where the detection sensor is installed
Mobile service method comprising a further.
The method of claim 1,
The providing step is
When the moving object passes through the sensing sensor, at least one of an item, a message, and content corresponding to the sensing sensor is provided to the moving object.
The method of claim 1,
The detection sensor is
When the predetermined space is divided into a plurality of areas, a moving object in the predetermined space is installed at a boundary between the moving path and the areas.
The method of claim 1,
The providing step is
When the coordinate position of the augmented element preset through the real-time positioning and the position of the moving object coincide, the moving object service is provided by controlling at least one of the speed and direction of the moving object to correspond to the augmenting element or providing an additional augmentation effect A mobile service method, characterized in that it provides a.
A calculator configured to receive radio signals transmitted from at least one or more mobile objects moving in a predetermined space by a plurality of receivers and calculate coordinate information of each of the mobile objects;
A positioning unit for real-time positioning of each of the moving objects based on the calculated coordinate information of each of the moving objects and detection information of at least one detection sensor installed at a preset position in the predetermined space; And
A providing unit that provides a moving object service in the predetermined space through real-time positioning of each of the moving objects
Mobile service system comprising a.
The method of claim 8,
A scanning unit that scans coordinate information of each of the moving objects in real time by a laser scanner installed in the predetermined space
Including more,
The positioning part
A moving object service system, characterized in that, based on the calculated coordinate information of each of the moving objects, the scanned coordinate information, and the sensing information, the position of each of the moving objects is located in real time.
The method of claim 8,
A processing unit that photographs the identification information attached to each of the moving objects using an image camera, and tracks the identification information in real time through real-time image processing of the image captured by the image camera
Including more,
The positioning part
A moving object service system, characterized in that the position of each of the moving objects is located 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.
The method of claim 8,
A display unit that displays an item corresponding to the location of the detection sensor using a display means at the location where the detection sensor is installed
Mobile service system comprising a further.
The method of claim 8,
The providing unit
When the moving object passes through the sensing sensor, at least one of an item, a message, and content corresponding to the sensing sensor is provided to the moving object.
The method of claim 8,
The detection sensor is
When the predetermined space is divided into a plurality of areas, the moving object service system is installed at a boundary between the moving path and the areas in which the moving object moves in the predetermined space.
The method of claim 8,
The providing unit
When the coordinate position of the augmented element preset through the real-time positioning and the position of the moving object coincide, the moving object service is provided by controlling at least one of the speed and direction of the moving object to correspond to the augmenting element or providing an additional augmentation effect A mobile service system, characterized in that it provides a.

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