WO2020186856A1

WO2020186856A1 - Three-dimensional indoor navigation system and implementation method thereof

Info

Publication number: WO2020186856A1
Application number: PCT/CN2019/126955
Authority: WO
Inventors: 李新福
Original assignee: 广东康云科技有限公司
Priority date: 2019-03-15
Filing date: 2019-12-20
Publication date: 2020-09-24
Also published as: CN110044348A

Abstract

A three-dimensional indoor navigation system and an implementation method thereof. The three-dimensional indoor navigation system comprises a three-dimensional model establishment module (10), a data processing module (11), and a positioning and navigation module (12). By means of establishing a three-dimensional model of an indoor environment and mapping a reference object to the three-dimensional model, then processing information collected by the reference object in real time to obtain the relative position of an object relative to the reference object, and finally converting the relative position of the object relative to the reference object to the actual position of the object, the three-dimensional positioning of the object in space is realized, navigation services are provided for the object, solving the three-dimensional positioning and navigation problem in shopping center indoor, parking and arrival scenarios, trade exhibitions, tunnel cleaning and maintenance, airports, used car centers and other scenarios. The three-dimensional indoor navigation system and the implementation method thereof can be applied to the technical field of positioning and navigation.

Description

A three-dimensional indoor navigation system and its realization method

Technical field

The invention relates to the field of navigation and positioning, in particular to a three-dimensional indoor navigation system and an implementation method thereof.

Background technique

In the prior art, general positioning and navigation refers to positioning and navigation on the surface of the earth (longitude and latitude), that is, positioning and navigation on a two-dimensional plane, and cannot be positioned in space. That is, it is impossible to locate the specific three-dimensional (longitude, latitude, and altitude) position of the object in space, and perform three-dimensional navigation for the object. In the shopping mall indoor, parking and arrival scenes, trade fairs, tunnel cleaning and maintenance, airports, and second-hand car centers, the requirements for 3D positioning are relatively high. Existing technologies cannot meet their needs for 3D positioning in the scene. .

Summary of the invention

In order to solve the above technical problems, the purpose of the present invention is to provide a three-dimensional indoor navigation system that can realize three-dimensional positioning and navigation of objects in space and an implementation method thereof.

The first aspect of the technical solution of the present invention provides a three-dimensional indoor navigation system, including:

A three-dimensional model establishment module, which is used to establish a three-dimensional model of the indoor environment and map a reference object to the three-dimensional model, and the reference object collects position data of the object;

A data processing module for receiving and processing position data sent by the reference object to obtain a first position, where the first position is the relative position of the object with respect to the reference object;

The positioning and navigation module is used to locate the second position of the object according to the obtained first position and provide navigation services for the object, where the second position is the absolute position of the object.

As an improvement of the above technical solution, the three-dimensional model establishment module includes:

3D scanning device, used for scanning and uploading 3D data of monitoring indoor environment;

The first server is configured to generate a three-dimensional model of the indoor environment and a corresponding link according to the three-dimensional data uploaded by the 3D scanning device;

The reference object model mapping unit is used to map the reference object to the three-dimensional model.

As an improvement of the above technical solution, the reference object includes a positioning label, and the positioning label includes at least one of a photosensitive sensor, an acoustic sensor, a gas sensor, and a chemical sensor.

As an improvement of the above technical solution, the reference object includes a positioning node, the positioning node is arranged indoors, and the positioning node includes a plurality of positioning components.

As an improvement of the above technical solution, the device includes at least one of a BLE wristband, a WLAN device, a smart phone, and an ID card.

As an improvement of the above technical solution, the reference object includes a video stream collecting device.

As an improvement of the above technical solution, the data processing module includes:

The video stream capture unit is used to capture the real-time video stream of the surveillance environment;

The signal receiving unit is used to receive the signal sent by the positioning tag;

Position tracking platform, used to receive data sent by the positioning node;

The calculation unit is used to calculate the first position of the object relative to the reference object according to one of the real-time video stream, the signal sent by the positioning tag, and the data sent by the positioning node.

As an improvement of the above technical solution, the positioning and navigation module includes:

A positioning unit for positioning the second position of the object according to the first position;

The navigation unit is used to provide navigation services to the object according to the second location.

The second aspect of the technical solution of the present invention provides a method for implementing a three-dimensional indoor navigation system, which includes the following steps:

Establishing an indoor three-dimensional model and mapping the reference object to the three-dimensional model;

Receive and process the data sent by the reference object to obtain the position information of the reference object;

Locate the actual position of the object and provide navigation for the object according to the position information of the reference object.

As an improvement of the above technical solution, the establishing a three-dimensional model of the indoor environment and mapping a reference object to the three-dimensional model includes:

Scan and upload the three-dimensional data of the monitoring indoor environment;

Generate a three-dimensional model of the indoor environment and corresponding links according to the three-dimensional data uploaded by the 3D scanning device;

The reference object is mapped into the three-dimensional model.

The beneficial effects of the present invention are: the present invention provides a three-dimensional indoor navigation system and its implementation method, by establishing a three-dimensional model of the indoor environment, and mapping the reference object to the three-dimensional model, and then processing the information collected by the reference object in real time to Obtain the relative position of the object relative to the reference object, and finally convert the relative position of the object relative to the reference object into the actual position of the object's absolute position, so as to realize the three-dimensional positioning of the object in space and provide navigation services for the object. Carry out three-dimensional positioning and navigation problems in shopping mall indoor, parking and arrival scenarios, trade fairs, tunnel cleaning and maintenance, airports, and second-hand car centers.

Description of the drawings

Figure 1 is a structural block diagram of the three-dimensional indoor navigation system of the present invention;

2 is a structural block diagram of a preferred embodiment of the three-dimensional indoor navigation system of the present invention;

Fig. 3 is a flowchart of a preferred embodiment of the implementation method of the three-dimensional indoor navigation system of the present invention.

detailed description

In the following, the concept, specific structure and technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the drawings, so as to fully understand the objectives, solutions and effects of the present invention.

It should be noted that, unless otherwise specified, when a feature is called "fixed" or "connected" to another feature, it can be directly fixed and connected to another feature, or indirectly fixed or connected to another feature. One feature. In addition, the top, bottom, left, right and other descriptions used in the present disclosure are only relative to the mutual positional relationship of the components of the present disclosure in the drawings. The singular forms of "a", "said" and "the" used in the present disclosure are also intended to include plural forms, unless the context clearly indicates other meanings. In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments, not for limiting the present invention. The term "and/or" as used herein includes any combination of one or more related listed items.

It should be understood that, although the terms first, second, third, etc. may be used in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of the present disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element. The use of any and all examples or exemplary language ("such as", "such as", etc.) provided herein is only intended to better illustrate the embodiments of the present invention, and unless otherwise required, will not impose limitations on the scope of the present invention .

As shown in Figure 1, the present invention provides a three-dimensional indoor navigation system, which includes:

The three-dimensional model establishment module 10 is used to establish a three-dimensional model of the indoor environment and map a reference object to the three-dimensional model, and the reference object collects position data of the object;

The data processing module 11 is configured to receive and process the position data sent by the reference object to obtain a first position, where the first position is the relative position of the object relative to the reference object;

The positioning and navigation module 12 is configured to locate the second position of the object according to the obtained first position and provide navigation services for the object, where the second position is the absolute position of the object.

Specifically, the three-dimensional model establishment module 10 is used to first establish a three-dimensional model of the indoor environment, and then map the reference object and its position to the established three-dimensional model; the data processing module 11 is used to receive and process the data sent by the reference object, The first position is obtained, and the first position is the relative position of the object with respect to the reference object; the positioning and navigation module 12 is used to locate the second position of the object according to the obtained first position and provide navigation services for the object. The second position is the absolute position of the object, for example, it can be absolute coordinates or the actual position of the object.

As shown in FIG. 2, a preferred embodiment based on FIG. 1, wherein the three-dimensional model establishment module 10 includes:

The 3D scanning device 101 is used to scan and upload 3D data in the monitoring room;

The first server 102 is configured to generate a three-dimensional model of the indoor environment and a corresponding link according to the three-dimensional data uploaded by the 3D scanning device;

The reference object model mapping unit 103 is configured to map a reference object to the three-dimensional model. The reference object includes a camera, a positioning tag, and a positioning node. The camera is used to shoot a video of the indoor environment at the location in real time. Several cameras can be installed indoors. For example, in a shopping mall, one or several cameras are installed in each space on each floor. Since the range that each camera can shoot is fixed, the location and number of cameras should be considered to cover All areas to the room are standard.

Specifically, in an embodiment of the present invention, preferably, the 3D scanning device includes an indoor scanner for scanning three-dimensional data of an indoor environment and performing local preprocessing and uploading to the first server in the background.

In an embodiment of the present invention, preferably, the first server includes at least one of a first receiving unit, an access management unit, an intelligent processing unit, a link generation unit, a database, and a sending unit. Among them, the first receiving unit is used to receive the 3D data uploaded by the 3D scanning device; the access management unit is used to authorize the user corresponding access rights according to the user's valid login credentials; the intelligent processing unit is used to perform intelligence based on the 3D data uploaded by the 3D scanning device Processing to obtain a three-dimensional model of the monitoring environment. The intelligent processing includes model repair, editing, cropping, surface reduction, model reduction, compression, material processing, texture processing, lighting processing, and compression rendering; the link generation unit is used for The three-dimensional model generates the corresponding link; the database is used to store the three-dimensional model of the monitoring environment and the corresponding link; the sending unit is used to send the three-dimensional model of the monitoring environment and the corresponding link to the second server for display or storage.

Specifically, the user can register by inputting one or more personal details (such as name, age, location, gender, etc.) on the intelligent processing unit. The user can be any user who has valid login credentials, and valid login credentials can be obtained by paying the fees for corresponding permissions.

The intelligent processing unit integrates AI algorithms, which can automatically perform model repair, cropping, surface reduction, mold reduction, compression, material processing, texture processing, lighting processing, and compression rendering on the scanned 3D data, with a high degree of intelligence.

The intelligent processing unit may be an application program installed on a computing device. Preferably, the computing device may be, but not limited to, devices such as smart phones, tablet computers, notebook computers, smart watches, smart TVs, and computers.

In an embodiment of the present invention, preferably, the positioning tag may be a tag capable of identifying an object, and the object may be a person or other specific items. The location tag is set at a specific location indoors, so that it can easily identify objects in the area or space.

In an embodiment of the present invention, preferably, the positioning node is a positioning network including several hardware components, and each of the hardware components is used to collect information about objects in the region or space.

In an embodiment of the present invention, the reference object model mapping unit 103 maps the reference object in the three-dimensional model according to the actual position of the reference object. For example, in a commercial shopping mall, taking a camera as a reference object, manually or automatically measuring the actual location of the camera in the commercial shopping center, such as which floor, which area, etc., the reference object model mapping unit 103 will The actual specific location is mapped to the built 3D model.

In an embodiment of the present invention, preferably, the positioning tag includes at least one of a photosensitive sensor, an acoustic sensor, a gas sensor and a chemical sensor, and the positioning tag is used to collect indoor environmental information.

In an embodiment of the present invention, preferably, the positioning node is arranged in the entire indoor area, and the positioning node includes a number of hardware components for collecting signals from the device and sending data.

In an embodiment of the present invention, preferably, the device includes at least one of a BLE wristband, a WLAN device, a smart phone, and an ID card.

In a further preferred embodiment, the data processing module 11 includes:

The video stream capturing unit 1101 is used to capture the real-time video stream of the monitoring area of the monitoring environment;

The signal receiving unit 1102 is used to receive the signal sent by the positioning tag;

The location tracking platform 1103 is used to receive data sent by the positioning node;

The calculation unit 1104 is configured to calculate the first position of the object relative to the reference object according to one of the real-time video stream, the signal sent by the positioning tag, and the data sent by the positioning node.

Specifically, the calculation unit 1104 is configured to calculate the first position of at least one of the object relative to the camera, the object relative to the positioning label, and the object relative to the positioning node.

Specifically, the video stream capturing unit is set in the back-end server to obtain real-time video shot by a camera installed indoors. When there are more cameras installed, the video stream capture unit can also increase the capture channel or the video stream capture unit accordingly, so as to capture the video stream promptly, quickly, accurately and completely.

In an embodiment of the present invention, preferably, the signal receiving unit is provided in the server, and is used to receive the signal sent by the positioning tag according to a specific communication protocol, such as TCP/IP, IPX/SPX, NETBEUI, etc. .

In an embodiment of the present invention, preferably, the position tracking platform is used to receive data sent by the positioning node. For example, the location tracking platform receives data from BLE wristbands and smart phones collected by positioning nodes.

In an embodiment of the present invention, preferably, where the positioning node is used as an example, the calculation unit is set in the background server for calculating the first position of the BLE wristband or smart phone relative to the positioning node, The first position is the relative position of the BLE wristband or smart phone with respect to the positioning node.

In an embodiment of the present invention, preferably, taking the camera as the reference object as an example, the calculation unit is set in the background server and used to calculate the first position of the object relative to the camera, and the first position is the object With respect to the relative position of the camera, the object is a specific person or object.

In an embodiment of the present invention, preferably, where the positioning tag is used as an example, the computing unit is set in the background server and used to calculate the first position of the object relative to the positioning tag. It is the relative position of the object with respect to the positioning tag, where the object is a specific person or thing.

In a further embodiment, preferably, wherein the positioning and navigation module 12 includes:

The positioning unit 1201 is configured to locate the second position of the object according to the first position;

The navigation unit 1202 is used to provide navigation services to the object according to the second location.

Specifically, the positioning unit 1201 calculates the second position of the object according to the first position. For example, taking a camera as a reference object, since the camera has been determined or measured its actual position during installation, the positioning unit 1201 can calculate the second position of the object based on the obtained relative position of the object relative to the camera. , That is, the actual or absolute position of the object indoors. Next, the navigation unit 1202 provides navigation services to the object according to the actual position (absolute position) of the object.

In an embodiment of the present invention, preferably, where the positioning node is used as an example, the navigation unit 1201 combines GPS, Beidou navigation, and GLONASS according to the obtained actual position of the BLE wristband or smart phone. At least one of the navigation is to provide navigation services for people wearing BLE wristbands or carrying smart phones. For example, this kind of service can be embodied in providing objects such as indoor navigation in shopping centers, parking and arrival navigation, trade fair navigation, tunnel cleaning and maintenance navigation, airport navigation, and second-hand car center navigation.

Specifically, taking a person carrying a smart phone as an example, when he walks on the second floor of a shopping mall, a nearby location node can collect the Bluetooth signal sent by the smart phone, and the location node sends the collected information to the location tracking platform 1103. Then the calculation unit calculates the position of the smartphone that sends the Bluetooth signal relative to the positioning node, and the navigation unit calculates the actual position of the smartphone according to the relative position of the smartphone relative to the positioning node, that is, the absolute position of the smartphone, thereby determining the The location of the person and provide him with navigation services through any of GPS, Beidou navigation, and GLONASS navigation.

Taking airport navigation as an example, precise positioning can ensure a balanced aircraft maintenance operation. Use UWB-based indoor positioning technology to track each tool trolley, and display the location of the tool trolley on a digital map, so that each mechanic can be accessed through the terminal or mobile device application. Ultra-wideband (UWB)-based positioning and tracking solutions can provide accurate location data for the toolbox. This provides a central overview of the various toolbox locations. This tracking solution provides decisive auxiliary services for safe and efficient operations in the hangar and ensures the best utilization of equipment. At any time, you can load tool information in the location of the toolbox and the WEB interface of the relevant mechanism.

For another example, all the vehicles in the used car center have BLE beacons, which send Bluetooth signals to the LORA/BLE tags on the walls or lights. The LORA/BLE tag receives the Bluetooth signal from the above beacon and sends the data packet to the INFSOFT LOCAWARE platform. Employees and customers can access the data through the application or WEB interface and view the location of the vehicle on the map.

As shown in Figure 3, the present invention provides a method for implementing a three-dimensional indoor navigation system, which includes the following steps:

Establishing a three-dimensional model of the indoor environment and mapping a reference object to the three-dimensional model, the reference object collecting position data of the object;

Receiving and processing the position data sent by the reference object to obtain a first position, where the first position is the relative position of the object relative to the reference object;

The second position of the object is located according to the obtained first position and navigation service is provided for the object, and the second position is the absolute position of the object.

The contents of the above system embodiment are all applicable to this method embodiment. The specific function implemented by this method embodiment is the same as the above system embodiment, and the beneficial effects achieved are also the same as those achieved by the above system embodiment.

It should be realized that the embodiments of the present invention can be realized or implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer-readable memory. The method can be implemented in a computer program using standard programming techniques-including a non-transitory computer readable storage medium configured with a computer program, where the storage medium so configured allows the computer to operate in a specific and predefined manner-according to the specific The methods and drawings described in the examples. Each program can be implemented in a high-level process or object-oriented programming language to communicate with the computer system. However, if necessary, the program can be implemented in assembly or machine language. In any case, the language can be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.

In addition, the operations of the processes described herein may be performed in any suitable order, unless otherwise indicated herein or otherwise clearly contradictory to the context. The processes (or variants and/or combinations thereof) described herein can be executed under the control of one or more computer systems configured with executable instructions, and can be used as code (for example, , Executable instructions, one or more computer programs, or one or more applications), implemented by hardware or a combination thereof. The computer program includes a plurality of instructions executable by one or more processors.

Further, the method can be implemented in any type of computing platform that is operably connected to a suitable computing platform, including but not limited to a personal computer, a mini computer, a main frame, a workstation, a network or a distributed computing environment, a separate or integrated computer Platform, or communication with charged particle tools or other imaging devices, etc. Aspects of the present invention can be implemented by machine-readable codes stored on non-transitory storage media or devices, whether removable or integrated into a computing platform, such as hard disks, optical reading and/or writing storage media, RAM, ROM, etc., so that they can be read by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the processes described herein. In addition, the machine-readable code, or part thereof, can be transmitted through a wired or wireless network. When such media include instructions or programs that implement the steps described above in combination with a microprocessor or other data processors, the invention described herein includes these and other different types of non-transitory computer-readable storage media. When programming according to the methods and techniques described in the present invention, the present invention also includes the computer itself.

A computer program can be applied to input data to perform the functions described herein, thereby converting the input data to generate output data that is stored in non-volatile memory. The output information can also be applied to one or more output devices such as displays. In a preferred embodiment of the present invention, the converted data represents physical and tangible objects, including specific visual depictions of physical and tangible objects generated on the display.

The above are only preferred embodiments of the present invention. The present invention is not limited to the above-mentioned embodiments, as long as it achieves the technical effects of the present invention by the same means, everything is done within the spirit and principle of the present invention. Any modifications, equivalent replacements, improvements, etc., shall be included in the protection scope of the present invention. Within the protection scope of the present invention, its technical solutions and/or implementations can have various modifications and changes.

Claims

A three-dimensional indoor navigation system is characterized in that it includes:

A three-dimensional model establishment module, which is used to establish a three-dimensional model of the indoor environment and map a reference object to the three-dimensional model, and the reference object collects position data of the object;

A data processing module for receiving and processing position data sent by the reference object to obtain a first position, where the first position is the relative position of the object with respect to the reference object;

The positioning and navigation module is used to locate the second position of the object according to the obtained first position and provide navigation services for the object, where the second position is the absolute position of the object.
A three-dimensional indoor navigation system according to claim 1, wherein the three-dimensional model establishment module comprises:

3D scanning device, used for scanning and uploading 3D data of monitoring indoor environment;

The first server is configured to generate a three-dimensional model of the indoor environment and a corresponding link according to the three-dimensional data uploaded by the 3D scanning device;

The reference object model mapping unit is used to map the reference object to the three-dimensional model.
The three-dimensional indoor navigation system according to claim 2, wherein the reference object includes a positioning tag, and the positioning tag includes at least one of a photosensitive sensor, an acoustic sensor, a gas sensor, and a chemical sensor.
The three-dimensional indoor navigation system according to claim 2, wherein the reference object includes a positioning node, the positioning node is set indoors, and the positioning node includes a plurality of positioning components.
The three-dimensional indoor navigation system according to claim 4, further comprising a first device for sending a first signal to the positioning component, and the first device includes a BLE wristband, a WLAN At least one of a device, a smart phone, and an ID card.
A three-dimensional indoor navigation system according to claim 5, wherein the reference object comprises a video stream collecting device.
The three-dimensional indoor navigation system according to claim 6, wherein the data processing module comprises:

The video stream capture unit is used to capture the real-time video stream of the surveillance environment;

The signal receiving unit is used to receive the signal sent by the positioning tag;

Position tracking platform, used to receive data sent by the positioning node;

The calculation unit is used to calculate the first position of the object relative to the reference object according to one of the real-time video stream, the signal sent by the positioning tag, and the data sent by the positioning node.
The three-dimensional indoor navigation system according to claim 1, wherein the positioning and navigation module comprises:

A positioning unit for positioning the second position of the object according to the first position;

The navigation unit is used to provide navigation services to the object according to the second location.
A method for implementing a three-dimensional indoor navigation system is characterized in that it includes the following steps:

Establishing a three-dimensional model of the indoor environment and mapping the reference object to the three-dimensional model;

Receiving and processing the data sent by the reference object to obtain a first position, where the first position is the relative position of the object relative to the reference object;

The second position of the object is located according to the obtained first position and navigation service is provided for the object, and the second position is the absolute position of the object.
The method for implementing a three-dimensional indoor navigation system according to claim 9, wherein said establishing a three-dimensional model of the indoor environment and mapping a reference object to the three-dimensional model comprises:

Scan and upload the three-dimensional data of the monitoring indoor environment;

Generate a three-dimensional model of the indoor environment and corresponding links according to the three-dimensional data uploaded by the 3D scanning device;

The reference object is mapped into the three-dimensional model.