KR20230118328A - Apparatus and method for indoor route navigation - Google Patents

Abstract

An indoor route search device and method are disclosed. The indoor route search method includes the steps of receiving indoor map data in which a plurality of cells representing an indoor wall, empty space, and the back of the wall are two-dimensionally arranged, and generating a plurality of corner nodes among the cells of the wall from the input indoor map data. Step , generating an indoor topology map by connecting a plurality of generated corner nodes, and using the generated indoor topology map, searching for a route according to set starting and ending points.

Description

Indoor route navigation apparatus and method {Apparatus and method for indoor route navigation}

The present invention relates to an indoor route search device and method.

In general, map data is generated so that points of interest (POIs) and traffic guide signs around roads can be displayed on a screen. Navigation using such map data can output related information along with current location information of the vehicle on the screen when the vehicle drives on the road, but when entering a building structure or indoor space such as an underground space, GPS Positioning System) There is a problem that the current position information cannot be obtained because it is difficult to receive the signal.

In order to compensate for this problem, conventionally, a 2D or 3D navigation screen based on indoor map data constructed using a CAD drawing of a building has been provided to the user. However, in order to build indoor map data in this way, data such as CAD drawings related to the design of the building must be used, so it is difficult to create an indoor map for a building that does not have a CAD drawing. Moreover, since the CAD drawings contain details of the building structure, there is a limitation that the building owner does not easily disclose them to the outside, so it is practically impossible to utilize the CAD drawings of the building to create an indoor map in reality.

Accordingly, recently, a technology in which a person directly scans an indoor area using a device equipped with LiDAR (Light Detection and Ranging) to create an indoor map has been used.

LiDAR (Light Detection and Ranging) is a sensor that uses light to measure distance and detect objects. It was first developed for weather observation in the 1930s, and began to be used in earnest in the 1960s when laser technology appeared. At that time, it was mainly applied to aviation and satellites, but later it was applied to the earth environment, exploration, automobiles, and robots by expanding its scope. LIDAR has a similar principle to radar. Radar emits electromagnetic waves to the outside and checks distance and direction with electromagnetic waves that are re-received. On the other hand, lidar has a difference in that it uses a pulsed laser. By using a laser with a short wavelength, LIDAR has a feature that increases precision and resolution and enables three-dimensional identification according to objects.

Although various technologies for creating indoor maps using lidar have been developed and used, the technology for utilizing the created indoor map data is still at an insignificant level.

Accordingly, there is a need to develop a technology for providing an indoor navigation service using indoor map data.

Republic of Korea Patent Registration No. 10-1983785 (2019.05.23)

The present invention creates an indoor topology map by generating a corner node from 2D indoor map data, searches an indoor route using the generated topology map, and searches an indoor route that creates an indoor location information node for indoor location identification. It is to provide an apparatus and method.

According to one aspect of the present invention, an indoor route search method performed by an indoor route search device is disclosed.

An indoor route search method according to an embodiment of the present invention includes the steps of receiving indoor map data in which a plurality of cells representing an indoor wall, an empty space, and the back of a wall are two-dimensionally arranged; Generating a plurality of corner nodes among the cells, generating an indoor topology map by connecting the plurality of corner nodes, and determining a route according to the starting point and the destination point using the generated indoor topology map. It includes an exploration step.

In the step of generating a plurality of corner nodes, a pointer having a size and shape corresponding to one cell is created in the input indoor map data, a starting point is set in an arbitrary cell of the wall, and the generated advancing the pointer along the wall in units of cells from the starting point, searching whether the next cell is the wall, the empty space, or behind the wall; if the next cell is the empty space, the pointer A step of setting the current cell located as a corner node and a step of switching the direction of movement of the pointer toward a wall located on the left or right side based on the direction of movement.

The generating of the plurality of corner nodes may include, when the next cell is behind the wall, switching the direction of movement of the pointer toward the wall without creating a corner node; and when the next cell is the wall, the pointer Further comprising advancing along the wall.

The generating of the plurality of corner nodes may include determining that the wall has a diagonal shape when the next cell in the forward direction is behind the wall and the empty space exists on the left or right side, and the diagonal wall is Setting a starting cell as a corner node, moving the pointer along the diagonal wall, and setting a cell where the diagonal wall ends as a corner node.

The generating of the indoor topology map may include selecting an arbitrary corner node from among the plurality of generated corner nodes, checking whether or not the selected corner node and other corner nodes are connectable, and as a result of the checking, the selected corner node. and connecting the corner node to another connectable corner node, and calculating a distance between the selected corner node and another corner node.

In the step of checking whether connection is possible, when there is a back wall in the middle of the connection between corner nodes and when a plurality of empty spaces and a plurality of walls exist in the middle of the connection between corner nodes, a connection failure situation is checked.

The indoor route search method further includes generating an indoor location information node for indoor location identification using the plurality of corner nodes generated.

According to another aspect of the present invention, an indoor route search device is disclosed.

An indoor path search apparatus according to an embodiment of the present invention includes a memory for storing commands and a processor for executing the commands, wherein the commands are used to 2-dimensionally display a plurality of cells representing an indoor wall, an empty space, and the back of a wall. Receiving arrayed indoor map data, generating a plurality of corner nodes among the cells of the wall from the input indoor map data, generating an indoor topology map by connecting the generated plurality of corner nodes, and Using the generated indoor topology map, an indoor route search method including the step of searching for a route according to the set starting and ending points is performed.

An indoor route search apparatus and method according to an embodiment of the present invention generates an indoor topology map by generating a corner node from 2D indoor map data, searches an indoor route using the generated topology map, and performs indoor location identification. By creating an indoor location information node for indoor location information, it provides an indoor route search function easily without using machine learning, does not require GPU (Graphics Processing Unit) acceleration, and can be used even with relatively low computing power.

1 is a flowchart schematically illustrating an indoor route search method performed by an indoor route search apparatus according to an embodiment of the present invention.
Figure 2 is a flow chart showing the detailed steps of step S100 of Figure 1;
3 to 9 are diagrams for explaining detailed steps of step S100 of FIG. 1;
10 is a flowchart showing detailed steps of step S200 of FIG. 1;
11 to 14 are views for explaining detailed steps of step S200 of FIG. 1;
15 is a flowchart showing detailed steps of step S400.
16 to 18 are diagrams for explaining detailed steps of step S400 of FIG. 1;

Singular expressions used herein include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "consisting of" or "comprising" should not be construed as necessarily including all of the various components or steps described in the specification, and some of the components or some of the steps It should be construed that it may not be included, or may further include additional components or steps. In addition, terms such as "...unit" and "module" described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software. .

Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a flowchart schematically illustrating an indoor route search method performed by an indoor route search apparatus according to an embodiment of the present invention, and FIG. 2 is a flowchart showing detailed steps of step S100 in FIG. 1, and FIGS. 9 is a diagram for explaining detailed steps of step S100 in FIG. 1, FIG. 10 is a flowchart showing detailed steps of step S200 in FIG. 1, and FIGS. 11 to 14 are for explaining detailed steps of step S200 in FIG. FIG. 15 is a flowchart showing detailed steps of step S400, and FIGS. 16 to 18 are diagrams for explaining detailed steps of step S400 of FIG. 1. Hereinafter, an indoor route search method according to an embodiment of the present invention will be described with reference to FIG. 1, but reference will be made to FIGS. 2 to 18.

In step S100, the indoor path search apparatus generates a plurality of corner nodes from indoor map data in which a plurality of cells are arranged in two dimensions.

Hereinafter, detailed steps of step S100 will be described with reference to FIG. 2 .

In step S110, the indoor route search device receives indoor map data in which a plurality of cells are arranged in two dimensions.

That is, 2D indoor map data as shown in FIG. 3 may be input. Referring to FIG. 3 , indoor map data may be configured by arranging a plurality of cells indicating a wall, an empty space, and a wall behind. And, the wall has a closed loop shape that is seamlessly connected.

In step S120, the indoor route search device generates a pointer having a size and shape corresponding to one cell in the input indoor map data, sets a starting point in a cell of the wall, and sets the pointer as the starting point. proceed along the wall cell by cell. Here, the moving direction of the pointer may be arbitrarily set.

That is, as shown in FIG. 4 , the indoor route search device may create a pointer and move it along the wall from a starting point.

In step S130, the indoor path search apparatus determines whether the next cell to which the pointer proceeds is an empty space.

In step S140, the indoor route search apparatus sets the current cell where the pointer is currently located as a corner node when the next cell is an empty space as a result of the determination, and creates a corner node.

That is, as shown in FIG. 5 , the indoor path search apparatus may set the current cell as a corner node when the next cell is an empty space.

In step S150, the indoor route search device switches the moving direction of the pointer toward the wall located on the left or right side based on the moving direction according to the empty space in the next cell.

In step S160, the indoor route search apparatus determines whether the next cell is behind a wall when the next cell is not an empty space as a result of the determination in step S130.

As a result of the determination, if the next cell is behind the wall, step S150 is entered.

That is, as shown in FIG. 5, the indoor path search device can switch the moving direction of the pointer to the wall located on the right after the corner node is created, and as shown in FIG. 6, when the next cell is behind the wall, You can change the direction of the pointer toward the wall without creating a corner node.

Meanwhile, when the wall and the empty space have diagonal shapes, the indoor path search apparatus sets the starting cell and the ending cell of the diagonal wall as corner nodes.

That is, referring to FIGS. 7 and 8 , the indoor path search apparatus may determine that the wall has a diagonal shape when the next cell in the forward direction is behind the wall and there is an empty space on the left or right side, If you find a wall of the shape, you can set the direction of travel to be between the search directions so that the pointer travels diagonally. That is, the forwarding direction may be set between the searched next cell and the left cell, which is an empty space. Then, as a result of searching for the next cell, if a non-diagonal continuous wall is met again, it is determined that the current cell has a diagonal shape and the current cell can be set as a corner node.

In step S160, the indoor route search device determines whether the pointer in progress has reached the starting point.

As a result of the determination, if the pointer reaches the starting point, it ends.

That is, as shown in FIG. 9, the indoor path search device searches for the next cell to proceed while moving the pointer cell by cell from the starting point, sets a corner node in the target cell, and ends when the pointer meets the cell at the starting point. .

In step S200, the indoor route search apparatus creates an indoor topology map by connecting the generated corner node to the indoor map data.

Hereinafter, detailed steps of step S200 will be described with reference to FIG. 10 .

In step S210, the indoor path search apparatus selects a random corner node from among the plurality of corner nodes generated.

In step S220, the indoor route search device checks whether the selected corner node and other corner nodes are connectable.

In step S230, the indoor route search device connects the selected corner node with other connectable corner nodes as a result of the check, and calculates the distance between the selected corner node and the other corner nodes.

For example, referring to FIG. 11 , the selected corner node No. 1 and corner nodes No. 2 to 5 are both connectable, so that they are all connected and a distance value can be calculated. The distance value may be calculated using the Euclidean distance formula. The calculated distance value and connection information between corner nodes may be stored for each corner node.

Next, when connecting the selected corner node 2 and corner node 5, the connection line goes beyond the wall and passes behind the wall, so the selected corner node 2 and corner node 5 are not connected. That is, referring to FIG. 12, when there is a back wall in the middle of the connection between corner nodes as shown in FIG. 12 (a) and a plurality of empty spaces and a plurality of walls in the middle of the connection between corner nodes as shown in FIG. If exists, it is not possible to connect between corner nodes.

In step S240, the indoor path search apparatus determines whether or not the process has been performed for all corner nodes that have been created.

As a result of the determination, if the execution of all the generated corner nodes is completed, it is terminated. If not, the step S210 is entered again and a corner node is randomly selected from among the corner nodes that have not been selected.

At this time, an indoor topology map may be generated as the execution of all corner nodes is completed.

For example, as shown in FIG. 13 , the indoor route search apparatus may select a corner node 1 to corner node 5 one by one and calculate a distance value while connecting the selected corner node to another corner node.

In step S300, the indoor route search device searches for a route according to the starting point and the destination point set by using the generated indoor topology map.

That is, as shown in FIG. 14 , the indoor route search device may search for the shortest path from the starting point to the arriving point in the indoor topology map generated in step S200.

For example, an A* algorithm may be used to calculate the shortest distance, and the A* algorithm is a graph search algorithm that finds the shortest path from a given starting vertex to a target vertex.

In step S400, the indoor path search apparatus creates an indoor location information node for indoor location identification using the generated plurality of corner nodes.

Hereinafter, detailed steps of step S400 will be described with reference to FIG. 15 .

In step S410, the indoor path search apparatus selects a random corner node from among the plurality of corner nodes generated.

In step S420, the indoor path search device searches the empty space from the selected corner node in cell units until a wall or other corner node is reached, selects another searched corner node, searches the wall, selects the corner node, and searches the selected corner node. Creates an area that includes the other corner node, the wall cell searched from the selected corner node, and the wall cell searched from the other searched corner node.

In step S430, the indoor route search apparatus creates an indoor location information node by setting a cell in the center of the created area as an indoor location information node. That is, in the center of the generated area, a cell of an empty space adjacent to the selected corner node and the searched corner node may be set as an indoor location information node.

For example, referring to FIG. 16 , the 4th corner node may be searched from the 1st corner node, and the wall cells may be searched from the 1st corner node and the 4th corner node, respectively. A region including the first corner node, the fourth corner node, the wall cell discovered from the first corner node, and the wall cell found from the fourth corner node can be created.

In step S440, the indoor path search apparatus determines whether or not the process has been performed for all generated corner nodes.

As a result of the determination, if the execution of all the generated corner nodes is completed, it is terminated. If not, the step S410 is entered again and a corner node is randomly selected from among the corner nodes that have not been selected.

For example, referring to FIG. 17 , the indoor path search apparatus may sequentially select all corner nodes to generate indoor location information nodes.

As shown in FIG. 18, the indoor location information node generated in this way can be used to display a disaster area and create an evacuation route indoors in an indoor disaster situation such as a fire. Through this, effective firefighting personnel input and safe evacuation of refugees may be possible.

19 is a diagram schematically illustrating the configuration of an indoor route search device according to an embodiment of the present invention.

Referring to FIG. 19 , an indoor path search device according to an embodiment of the present invention includes a processor 10, a memory 20, a communication unit 30, and an interface unit 40.

The processor 10 may be a CPU or a semiconductor device that executes processing instructions stored in the memory 20 .

Memory 20 may include various types of volatile or non-volatile storage media. For example, memory 20 may include ROM, RAM, and the like.

For example, the memory 20 may store instructions for performing an indoor path search method according to an embodiment of the present invention.

The communication unit 30 is a means for transmitting and receiving data with other devices through a communication network.

The interface unit 40 may include a network interface and a user interface for accessing a network.

On the other hand, the components of the above-described embodiment can be easily grasped from a process point of view. That is, each component can be identified as each process. In addition, the process of the above-described embodiment can be easily grasped from the viewpoint of components of the device.

In addition, the technical contents described above may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer readable medium. The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. Program commands recorded on the medium may be specially designed and configured for the embodiments or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. - includes hardware devices specially configured to store and execute program instructions, such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter, as well as machine language codes such as those produced by a compiler. A hardware device may be configured to act as one or more software modules to perform the operations of the embodiments and vice versa.

The embodiments of the present invention described above have been disclosed for illustrative purposes, and those skilled in the art having ordinary knowledge of the present invention will be able to make various modifications, changes, and additions within the spirit and scope of the present invention, and such modifications, changes, and additions will be considered to fall within the scope of the following claims.

10: Processor
20: memory
30: Ministry of Communications
40: interface unit

Claims (8)

In the indoor route search method performed by the indoor route search device,
receiving indoor map data in which a plurality of cells indicating an indoor wall, an empty space, and a back of a wall are two-dimensionally arranged;
generating a plurality of corner nodes among cells of the wall from the input indoor map data;
generating an indoor topology map by connecting the plurality of corner nodes; and
An indoor route search method comprising the step of searching for a route according to set starting and ending points using the generated indoor topology map.
According to claim 1,
The step of generating the plurality of corner nodes,
A pointer having a size and shape corresponding to one cell is created in the input indoor map data, a starting point is set in an arbitrary cell of the wall, and the created pointer is moved to the wall in units of cells from the starting point. Proceeding along;
searching whether the next cell is behind the wall, the empty space, or the wall;
setting a current cell where the pointer is positioned as a corner node when the next cell is the empty space; and
An indoor route search method comprising the step of switching the direction of movement of the pointer toward a wall located on the left or right side based on the direction of movement.
According to claim 2,
The step of generating the plurality of corner nodes,
if the next cell is behind the wall, converting the moving direction of the pointer toward the wall without creating a corner node; and
When the next cell is the wall, the indoor path search method further comprising the step of advancing the pointer along the wall.
According to claim 2,
The step of generating the plurality of corner nodes,
determining that the wall has a diagonal shape when the next cell in the traveling direction is behind the wall and the empty space exists on the left or right side;
setting a cell where the diagonal wall starts as a corner node;
advancing the pointer along the diagonal wall; and
and setting a cell where the diagonal wall ends as a corner node.
According to claim 1,
The step of generating the indoor topology map,
selecting an arbitrary corner node from among the plurality of corner nodes generated;
checking whether the selected corner node and other corner nodes can be connected; and
and connecting the selected corner node to another connectable corner node as a result of the check, and calculating a distance between the selected corner node and another corner node.
According to claim 5,
The step of checking whether the connection is possible,
An indoor path search method characterized in that it checks a connection impossible situation when there is a back wall in the middle of the connection between corner nodes and when a plurality of empty spaces and a plurality of walls exist in the middle of the connection between corner nodes.
According to claim 1,
The indoor route search method,
The indoor route search method further comprising generating an indoor location information node for indoor location identification using the plurality of corner nodes.
In the indoor route search device,
memory for storing instructions; and
Including a processor that executes the instructions,
The command is
receiving indoor map data in which a plurality of cells indicating an indoor wall, an empty space, and a back of a wall are two-dimensionally arranged;
generating a plurality of corner nodes among cells of the wall from the input indoor map data;
generating an indoor topology map by connecting the plurality of corner nodes; and
An indoor route search device characterized by performing an indoor route search method comprising the step of searching for a route according to the set starting point and destination point using the generated indoor topology map.

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