KR20210078124A - Method for indoor route planning and automatic marker making for indoor navigationg using markers - Google Patents

Abstract

The present invention relates to a method for planning an indoor path and automatically generating a marker, which comprises: a step of reading a first image with a true north direction indicated; a step of receiving a user input on an azimuth, and changing the direction of a variable-direction icon expressed on the screen based on the user input on the azimuth; a step of receiving a user input on the generation of nodes, and expressing two or more nodes on the screen based on the user input on the generation of nodes; a step of receiving a user input on the generation of links, and expressing a link connecting two selected nodes placed on the screen in a shape of an arrow on the screen based on the user input on the generation of links; a step of generating a table for two or more markers to be placed on an indoor floor expressed by the two or more nodes, and one or more markers to be placed on the indoor floor expressed by the link at preset intervals; and a step of outputting each marker in a shape of an image based on the information included in the table. The present invention aims to provide a method for planning an indoor path and automatically generating a marker, which is able to provide a tool to be executed in a computing apparatus for planning the indoor path.

Description

Method for indoor route planning and automatic generation of markers for indoor route guidance using markers, and an apparatus for the same

The present invention is a technology implemented using a server, in order to support a technology for guiding a person to a destination in a space where GPS does not operate, establishes a movement route plan indoors, and includes a marker to be attached to the movement route. It relates to technology that automatically generates information.

Navigation devices that operate outdoors operate using GPS signals from GPS satellites. However, it is difficult to apply a vehicle navigation program indoors because it is difficult for GPS signals to flow indoors. In order to overcome this problem, advanced technologies such as WiFi fingerprint and geomagnetic fingerprint have been introduced, but their implementation cost is very high and reliability is still low.

There are many indoor spaces, such as transit subways and complex shopping malls, that do not receive GPS signals but have complicated routes. In fact, in a building with a complex interior structure, there is a problem that passers-by, regardless of age or gender, cannot accurately find a moving route. In particular, in transit subways that require fast movement, the delay time required to search for such a movement route may cause personal or social loss.

In order to solve this problem, when a marker is installed on the floor of an indoor space, and the marker is photographed, an application program for a smartphone that informs the direction to move from the marker in order to go to the destination entered in advance may be provided.

The above-described application program is premised on the premise that an indoor movement path plan passing through the location where the marker is to be installed has been established in advance, and it is premised that the content to be included by many markers that can be installed indoors can be automatically generated. do it with

The development of a common automobile navigation program presupposes that information on roads already built on the ground is provided in advance. Development of a vehicle navigation program and urban planning or national land development plan such as road construction are completely different fields.

Similarly, in order to develop an indoor navigation technology using a marker, it is necessary to first establish a movement route plan indoors, and a tool executed in a computing device for establishing such a plan needs to be provided. In addition, there is a need for a tool capable of automatically generating many markers to be attached on such a movement path.

According to an aspect of the present invention, the method comprising: reading, by a computing device, a first image in which a true north direction is displayed and displaying the first image on a screen; receiving, by the computing device, a user input for the azimuth and changing the direction of the variable azimuth icon displayed on the screen based on the user input for the azimuth; receiving, by the computing device, a user input related to node generation and representing two or more nodes on the screen based on the user input related to node generation; Receiving, by the computing device, a user input related to link generation, and representing a link connecting two selected nodes disposed on the screen in the form of an arrow on the screen based on the user input related to link generation ; The computing device generates a table for two or more markers to be disposed on the indoor floor indicated by the two or more nodes, and one or more markers to be disposed at a preset interval on the indoor floor indicated by the link. generating; and outputting, by the computing device, each of the markers in the form of an image based on the information included in the table; including, indoor route planning and automatic generation of markers may be provided.

According to the present invention, a tool executed on a computing device for establishing a movement route plan indoors may be provided. In addition, it is possible to provide a tool capable of automatically generating many markers to be attached on such a movement path.

1 illustrates some information output on a screen of a computing device.
FIG. 2 illustrates a second image presented in the vicinity of the first image shown in FIG. 1 within the screen of the computing device.
FIG. 3 shows an example in which a total of two nodes are created and displayed on the screen by clicking 1 next to N shown in FIG. 2 and then performing two clicks in the first spatial information shown in FIG. 1 .
FIG. 4 shows that after clicking 1 next to L shown in FIG. 2, two nodes generated in the first spatial information shown in FIG. 3 are clicked in succession, thereby generating one directional link between the two nodes. exemplify that
5 is an unillustrated second node and the first node in which a first node is generated in front of the elevator on the first basement floor in the upper right part of the first spatial information shown in FIG. Indicates a state in which a second link connecting nodes is created.
FIG. 6 illustrates a third image presented in the vicinity of the first image shown in FIG. 1 in the screen of the computing device.
7 shows an example in which three drawings shown in FIG. 1 are generated for each layer.
8A and 8B show automatically generated information about an indoor route established by creating a node and a link as shown in FIG. 7 .
9 illustrates an example of an image of markers automatically generated by the computing device based on information included in the marker table shown in FIG. 8B .
10 is a flowchart illustrating a method for a computing device to establish an indoor route plan and automatically generate a marker according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be implemented in various other forms. The terminology used in this specification is intended to help the understanding of the embodiments, and is not intended to limit the scope of the present invention. Also, singular forms used hereinafter include plural forms unless the phrases clearly indicate the opposite.

1 illustrates some information output on a screen of a computing device.

In the center of FIG. 1 , for example, first spatial information on the first basement floor of a subway station is presented as a first image. The first image may be replaced by a user input. Rotation of the first image in the screen may be set to be impossible.

A first scale is presented in the upper right of FIG. 1 . The first scale may be changed by a user input.

A first variable orientation icon may be presented at the upper right of FIG. 1 . The first variable azimuth icon may indicate a direction indicated by the actual north of the indoor space displayed in the first image. By changing the user input within 360 degrees, the first variable orientation icon may be rotated. The user should know in advance which direction of the space indicated by the first image is north. Then, an appropriate value for rotating the first variable orientation icon can be finely adjusted within a range of 360 degrees, and input can be made in a trial and error method. The first variable orientation icon may be a separate object distinguished from the first image.

In the upper left of FIG. 1 , a first fixed orientation icon indicating a direction indicating north in the first image is presented. The first fixed orientation icon is not rotatable and is provided in a fixed form. The first fixed orientation icon may be an image included in the first image. The person who created the first image may include the first fixed azimuth icon in one image file together with the image displaying the first spatial information.

FIG. 2 illustrates a second image presented in the vicinity of the first image shown in FIG. 1 in the screen of the computing device.

In FIG. 2, N symbolizes nodes to be arranged in the portion indicating the first spatial information, and L indicates links to be arranged in the portion indicating the first spatial information.

The nodes may be divided into a plurality of types. Integers from 0 to 5 presented next to N indicate different types of nodes. For example, if you click and select 0 next to N with a mouse, a basic node without attributes is ready to be placed in the first spatial information, and if you click and select 1 next to N with a mouse, a node with gate attributes in the first spatial information is ready to be placed, and if you click and select 2 next to N with the mouse, you are ready to place a node with toilet properties in the first spatial information, and if you click and select 3 next to N with the mouse, the first spatial information You are ready to place a node with an information property in it, and if you click and select 4 next to N with a mouse, you are ready to place a node with an elevator property in the first spatial information, and click 5 next to N with a mouse. If selected, nodes with other PoI (Point of Interest) attributes are ready to be placed in the first spatial information.

FIG. 3 shows an example in which a total of two nodes are generated and displayed on the screen by clicking 1 next to N shown in FIG. 2 and then performing two clicks in the first spatial information shown in FIG. 1 . The generated node is represented by a red diamond.

Referring back to FIG. 2 , the links may be divided into a plurality of types. Natural numbers from 1 to 4 presented next to L indicate different kinds of links. For example, if 1 next to L is selected by clicking with the mouse, a link having the property of a walk way is ready to be placed in the first spatial information. The link with the property of stairs is ready to be placed, and by clicking and selecting 3 next to L with the mouse, it is ready to place the link with the property of elevator in the first spatial information, and clicking 4 next to L with the mouse When selected, the link with the escalator attribute is ready to be placed within the first geospatial information.

4 shows that after clicking 1 next to L shown in FIG. 2, two nodes generated in the first spatial information shown in FIG. 3 are clicked in succession, thereby generating one directional link between the two nodes. exemplify that

When one link is long enough, markers to be placed on the link may be automatically generated according to a preset interval.

Of course, one marker is created corresponding to each node created manually by directly pressing the number next to N above. Such markers can be considered to be created manually or semi-automatically.

FIG. 5 is an unillustrated second node and the first node in which a first node is generated in front of the elevator on the first basement floor in the upper right part of the first spatial information shown in FIG. 1, and an unmarked first floor above the ground is created in front of the elevator. Indicates a state in which a second link connecting nodes is created. Since the second node cannot be represented in the drawing shown in FIG. 5, the second link starts from the first node and extends, and ends in the air without being connected to another node in the first spatial information.

FIG. 6 illustrates a third image presented in the vicinity of the first image shown in FIG. 1 within the screen of the computing device.

The third image is automatically generated according to a 'description' input box in which the name of the area indicated by the first image can be entered, a 'floor' box in which the layer of the first image can be input, and one link is created. It includes a 'marker spacing' box indicating the spacing between markers, a 'scale' box for inputting the basic length of the scale, and a 'azimuth' box for inputting an azimuth. In these boxes, the user can directly input values.

7 shows an example in which three drawings shown in FIG. 1 are generated for each layer.

When the 'next' button in FIG. 7 is pressed, the information shown in FIG. 8 is generated and presented.

8A and 8B show automatically generated information about an indoor route established by creating a node and a link as shown in FIG. 7 .

The first table of FIG. 8A presents the names, nicknames, layers, automatic marker generation intervals, scales, vertical angles at which the north of the map is spaced apart from the up and down directions of the map, and the size of the map image of the three maps generated in FIG. 7 .

The second table of FIG. 8A shows the name, nickname, node type, ID of each node created, the layer on which each node is placed, pixel values indicating the location where the center of the node is located, and connection to the node. Shows the total number of links.

The third table of FIG. 8A shows the name of each link created, the type of link, the name of the map on which the link is placed, the number of floors where the link is placed, the coordinates of two nodes that the link connects, and the arrow head of the link is from the north direction. The separation angle, the ID of the node from which the link originates, and the ID of the node at which the link arrived are presented.

The table of FIG. 8B includes information on markers to be attached to the nodes manually created in FIG. 7 and markers automatically generated at regular intervals on the link.

Markers arranged on a node have 1:1 correspondence to the corresponding node.

However, markers automatically created at regular intervals on the link do not correspond to any created nodes. However, these markers correspond to links where the markers are to be located.

Any mark specifies a pixel location on the map where that mark should be placed.

In the table of FIG. 8B, the name of each marker is designated and displayed together with .jpg.

FIG. 9 shows an example of images of markers automatically generated by the computing device based on information included in the marker table shown in FIG. 8B . Although 12 markers are shown in FIG. 8B , only 8 markers are shown in FIG. 9 for convenience.

Each of the markers of FIG. 9 may be presented as a pixel image in the form of a 10*10 matrix. The borders are all green, and the 8*8 matrix in the middle is not used to provide identification information for markers. Of the 10*10 matrix, the bands in the remaining 1 column except for the 8*8 matrix part in the center and the outermost part contain the identification information of the marker.

The character string displayed at the lower part of each marker in FIG. 9 includes three pieces of information separated by two '/'s.

The first string is the name of the marker .jpg file.

The second string indicates the name of the node when the marker is placed on a manually placed node. If the second string is not null, the third string is given as null.

The second string indicates the name of the link when the marker is placed on a manually placed link. If the third string is not null, the second string is given as null.

The arrows indicated on the respective markers in FIG. 9 are, for example, arrows indicating the direction of true north. When attaching each of the markers shown in FIG. 9 to the floor, place a compass next to the marker, and then fix the marker to the floor while adjusting the posture of the marker so that the arrow displayed on the marker points to the true north direction of the compass. can

Now, when the marker installed on the floor is photographed using a smartphone installed with an app for performing indoor navigation, a guide arrow is displayed on the smartphone screen in a direction set along the links by a predetermined algorithm. It can be displayed by overlapping with . In this case, the direction of the guide arrow displayed on the screen may be presented based on the true north direction linked to the photographed marker.

The arrows and character strings displayed on the marker shown in FIG. 9 can be printed so small that only the person who actually puts the marker on the floor can barely recognize it.

10 is a flowchart illustrating a method for a computing device to establish an indoor route plan and automatically generate a marker according to an embodiment of the present invention.

In step S10 , the computing device may read the first image in which the true north direction is displayed and display it on the screen.

In step S20 , the computing device may receive a user input for the azimuth and change the direction of the variable azimuth icon displayed on the screen based on the user input for the azimuth.

In step S30 , the computing device may receive a user input related to node generation and display two or more nodes on the screen based on the user input related to node generation.

In step S40, the computing device receives a user input related to link generation, and based on the user input related to link generation, a link connecting two selected nodes disposed on the screen is displayed on the screen. It can be expressed in the form of an arrow.

In step S50, the computing device includes two or more markers to be placed on the indoor floor indicated by the two or more nodes, and one or more markers to be placed on the indoor floor indicated by the link at a preset interval. You can create a table for markers.

In step S60, the computing device may output the respective markers in the form of images based on the information included in the table.

By using the above-described embodiments of the present invention, those skilled in the art will be able to easily implement various changes and modifications within the scope without departing from the essential characteristics of the present invention. The content of each claim in the claims may be combined with other claims without reference within the scope that can be understood through this specification.

Claims (1)

reading, by the computing device, the first image in which the true north direction is displayed and displaying the first image on the screen;
receiving, by the computing device, a user input for the azimuth and changing the direction of the variable azimuth icon displayed on the screen based on the user input for the azimuth;
receiving, by the computing device, a user input related to node generation and representing two or more nodes on the screen based on the user input related to node generation;
receiving, by the computing device, a user input related to link generation, and representing a link connecting two selected nodes disposed on the screen in the form of an arrow on the screen based on the user input related to link generation ;
The computing device generates a table for two or more markers to be disposed on the indoor floor indicated by the two or more nodes, and one or more markers to be placed on the indoor floor indicated by the link at preset intervals. generating;
outputting, by the computing device, the respective markers in the form of images based on the information included in the table;
containing,
Indoor route planning and automatic creation of markers.

Images