CN107167138A - A kind of intelligent Way guidance system and method in library - Google Patents
A kind of intelligent Way guidance system and method in library Download PDFInfo
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- CN107167138A CN107167138A CN201710321786.0A CN201710321786A CN107167138A CN 107167138 A CN107167138 A CN 107167138A CN 201710321786 A CN201710321786 A CN 201710321786A CN 107167138 A CN107167138 A CN 107167138A
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Abstract
The invention discloses a kind of intelligent Way guidance system and method in library, the system includes host computer, mobile phone A PP, camera and intelligent glasses, and mobile phone A PP is used for and the person's of checking out man-machine interaction, acquisition books subscription information.The eyeglass of intelligent glasses also has path display screen on the basis of display outdoor scene, the Overlapping display Way guidance on the display screen of path, miniature is housed in temple, can be under the control of host computer by specific frequency or coding flicker, for the camera identification person of checking out position.Host computer is used to determine bookshelf information where books subscription, and cooks up optimal route, controls the path display screen and miniature of intelligent glasses, the person's of the checking out positional information determined by camera monitors and adjusts optimal route in time.The present invention can allow the person of checking out most easily to find required books, to user with the best experience that checks out.The invention is generally applicable to the occasion that each library or other needs intelligence are guided, with very high transplantability.
Description
Technical field
The invention belongs to automatic field, it is related to the skills such as mobile phone A PP designs, indoor positioning, path planning and augmented reality
Art, more particularly to a kind of intelligent Way guidance system and method in library.
Background technology
Way guidance system has been played as a kind of efficient automated system in automobile navigation and Military Application
Huge effect.Way guidance system is used for some interiors with a varied topography, such as megastore, library and underground parking
Deng can all bring very big facility to user.
Some are had at present to propose to be used for Way guidance system into indoor article, the indoor path such as based on iBeacon
Guidance system, accurately detects the moving direction of indoor user, and collect using the indoor route guidance system based on iBeacon
The context-aware of user's Move Mode collects user profile and passes through message there is provided accurate guided path, and by guidance information
The mode of push notifies user.
Indoor positioning and route guidance system based on iOS platforms, are to combine the room that inertial navigation principle design goes out
Interior positioning and route guidance system, and corresponding application APP is gone out based on iOS Development of Software Platform.The systematic realizing program
The middle hardware configuration and computing capability for having used iOS mobile devices iPhone.People is detected using iPhone accelerometer
The forward of member is walked about, and tries to achieve the forward distance walked about of personnel by corresponding integral operation.Then, using iPhone magnetic force
Measurement calculates the forward direction walked about of personnel.Knowing origin of walk and forward distance with the case of, drawing personnel
Forward displacement, and then personnel are positioned indoors.Finally, situation information personnel walked about with being deposited into advance
Routing information in iPhone compares, and comparison result can guide personnel to move ahead indoors on specified path.
On the whole, although proposing some design methods for being applied to indoor intelligent Way guidance system in recent years,
But there is no a set of complete ripe Way guidance system to be promoted in library field at present, and existing indoor road
Human-computer interaction function in the guidance system of footpath is not detailed specific enough.
The content of the invention
There is provided a kind of intelligent Way guidance system in library and side for deficiency of the invention for existing library guide mode
Method.
The purpose of the present invention is achieved through the following technical solutions：A kind of intelligent Way guidance system in library, including
Host computer, mobile phone A PP, camera and intelligent glasses, wherein：
Described mobile phone A PP is used for and the person's of checking out man-machine interaction, the acquisition person's of checking out books subscription information.
Described intelligent glasses have the function of augmented reality, and its eyeglass is aobvious also with path on the basis of display outdoor scene
Display screen, the Overlapping display Way guidance on the display screen of path, for guiding the person of checking out to find target bookshelf；Simultaneously in its temple
, can be under the control of host computer by specific frequency or coding flicker, for the camera identification person of checking out position equipped with miniature
And pass to host computer；Inside and outside two minisize pick-up heads and a laser pen are embedded with its picture frame simultaneously：Outside camera is used
In taking pictures and scan books Quick Response Code, inner side camera is used to recognizing the eye of user emotionally condition, and laser pen carries out target books
Instruction.
Described camera is arranged on the ceiling in library, is determined by recognizing the light source of specific frequency or coding
The real time position of the person of checking out.
Described host computer is used to communicate with mobile phone A PP, it is determined that bookshelf information where the person's of checking out books subscription, and cook up
Optimal route, controls the path display screen and miniature of intelligent glasses；Meanwhile, the person of checking out that host computer is determined by camera
Positional information monitors and adjusts optimal route in time.
Further, the planning of the optimal route considers the person's quantity that do not checked out on shortest path, and the path, keeps away
Exempt from congestion, while according to the person of checking out position real-time update.
Further, the described characteristic light flashed by specific frequency or coding, be specially：
(1) specific frequency：The frequency for the light that miniature is sent is different, such as the different colours of visible ray even can not
See light (though naked eyes be can't see, camera can be identified)；
(2) specific coding：The coding for the light that miniature is sent is different, such as characteristic light is dodged according to different light and shades interval
It is bright.
Further, camera can be according to the direction immediately ahead of the person of checking out and target books on the outside of described intelligent glasses
Deviation, guide the person of checking out to find up or down with laser pen, until finding the correct number of plies, complete coarse positioning；In the person of checking out
Find after the correct number of plies, the books side in the captured region of outside camera identification is encoded, and calculates the pass with target books position
System is in the left side, the right or just right, startup inner side camera.
Further, camera recognizes the person's of checking out eye emotionally condition, multilevel iudge direction of gaze on the inside of described intelligent glasses
With the left-right deviation orientation of target books, and control laser pen indicate arrive correct position, complete finely positioning.
Further, camera on the outside of described intelligent glasses, after barcode scanning is carried out to books, identifies the base of the books
This information, helps the person of checking out to determine whether the books for oneself wanting to borrow.
A kind of intelligent Way guidance method in library, this method comprises the following steps：
(1) books subscription：The person of checking out searches on mobile phone A PP to be borrowed the books taken needed for oneself and makes a reservation for.
(2) target bookshelf position is determined：The person of checking out determines after starting to check out that host computer passes through the person of checking out on mobile phone A PP
Subscription information in mobile phone A PP, the positional information of bookshelf where determining target books；
(3) optimal route is planned：Host computer is put according to the person of checking out current location and target location with reference to library bookshelf
Position, cooks up optimal path；
(4) route is guided in intelligent glasses display：The path for the intelligent glasses worn in the person of checking out shows screen display most
Shortest path is guided；
(5) route monitoring and real-time update：The characteristic light that camera is sent by the miniature of identification intelligent glasses is true
Surely do not check out and person's real time position and pass to host computer and detected, such as the person's of checking out deviation route, then host computer will send and instruct
The guide route upgraded in time on intelligent glasses screen.At the same time, host computer can also monitor existing subscriber and the position Added User
Put, real-time update optimal route, it is to avoid time-consuming or congestion；
(6) target books are positioned：After the person of checking out arrives at target bookshelf, the outside camera of intelligent glasses is according to the person of checking out
The direction in front and the deviation of target books, guide the person of checking out to find up or down, until finding correct layer with laser pen
Number, completes coarse positioning；After the person of checking out finds the correct number of plies, the books in region first captured by the outside camera identification of glasses
Side is encoded, and the relation calculated with target books position is in the left side, the right or just right, then startup inner side camera identification
Its eye emotionally condition, the direction of gaze of the multilevel iudge person of checking out and the left-right deviation orientation of target books, are guided with laser pen and checked out
Person searches out to the left or to the right, until finding correct position, and finally by outside camera barcode scanning, the person of checking out, which may determine that, is
The no books for wanting to borrow for him.
(7) intelligence is guided and terminated：Host computer will point out the person of checking out to have arrived at destination, the person of checking out on mobile phone A PP
Take book and give back and the success that checks out is confirmed after intelligent glasses, that is, terminate this guide.
Further, in described step 3, the planning of optimal route considers path length, turn number of times and the path
On do not check out person's quantity, it is to avoid congestion.It may be configured as the path that a paths are most short, turn is minimum.
Further, in described step 4, the intelligent glasses that the person of checking out is worn are by system point according to its subscription information
Match somebody with somebody, only show the optimal path of the person of checking out during use in the person of checking out and send characteristic light.
Further, in described step 5, it is a kind of three-dimensional indoor positioning side that camera carries out positioning by characteristic light
Method, process is as follows：
(1) three camera is one group, and the frequency or coding information of a certain characteristic light are only recognized during one works；
(2) position coordinates for setting three cameras is respectively A (x1,y1,z1)、B(x2,y2,z2)、C(x3,y3,z3), shooting
Head calculates the angle theta between feature light source O and camera line OA, OB, OC according to typical source positionAB、θBC、θCA, that is, it is characterized
Angle between light source and three cameras, uses the cosine law, can obtain respectively in 3 triangles：
AO2+BO2-AB2=2AO BO cos θAB,
BO2+CO2-BC2=2BO CO cos θBC,
CO2+AO2-CA2=2CO AO cos θCA.
In formula：
(3) solving equations can in the hope of AO, BO, CO numerical value, a total of 8 groups of solutions directly exclude complex root and anon-normal real
Several, remaining solution, in order to obtain the unique consequence of positioning, calls another group of camera to be positioned if difference, than
Compared with two groups of solutions, unique consequence is drawn.
(4) after AO, BO, CO numerical value has been obtained, if O is located in △ ABC planes, solves clearly unique, O can be obtained
The coordinate value of point；If O is not located in △ ABC planes, there are two groups of solutions in mirror position, but one of which can lead to
Cross light incident direction exclusion, can obtain the coordinate value of O points, that is, feature light source position, that is, realize the person's of checking out
Indoor three-dimensional localization.
Further, in described step 6, after the upper person of checking out completes Way guidance, host computer will control Brilliant Eyes
Mirror stops sending characteristic light, waits next person of checking out to use.
The beneficial effects of the invention are as follows：
(1) present system and method can allow the person of checking out most easily to find required books, be borrowed to user with best
The style of calligraphy is tested.
(2) present invention is simple in hardware aspect demand, it is only necessary to which intelligent glasses and live pick up head, software aspects are also only needed
Want the total processor of APP and library that checks out；
(3) system and method for the invention can be widely applied to each library or other occasions for needing intelligence to guide,
With very high transplantability.
Brief description of the drawings
Fig. 1 schemes for the system composition of the present invention.
Fig. 2 is flow chart of the method for the present invention.
Fig. 3 is indoor three-dimensional localization flow chart of the invention.
Fig. 4 is indoor three-dimensional localization schematic diagram 1 of the invention.
Fig. 5 is indoor three-dimensional localization schematic diagram 2 of the invention.
Fig. 6 is intelligent glasses workflow diagram of the invention.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of intelligent Way guidance system that the present invention is provided, including host computer, mobile phone A PP, camera
And intelligent glasses, wherein：
Described mobile phone A PP is used for and the person's of checking out man-machine interaction, the acquisition person's of checking out books subscription information.
Described intelligent glasses have the function of augmented reality, and its eyeglass is aobvious also with path on the basis of display outdoor scene
Display screen, the Overlapping display Way guidance on the display screen of path, for guiding the person of checking out to find target bookshelf；Simultaneously in its temple
, can be under the control of host computer by specific frequency or coding flicker, for the camera identification person of checking out position equipped with miniature
And pass to host computer；Inside and outside two minisize pick-up heads and a laser pen are embedded with its picture frame simultaneously：Outside camera is used
In taking pictures and scan books Quick Response Code, inner side camera is used to recognizing the eye of user emotionally condition, and laser pen carries out target books
Instruction.
Described camera is arranged on the ceiling in library, is determined by recognizing the light source of specific frequency or coding
The real time position of the person of checking out.
Described host computer is used to communicate with mobile phone A PP, it is determined that bookshelf information where the person's of checking out books subscription, and cook up
Optimal route, controls the path display screen and miniature of intelligent glasses；Meanwhile, the person of checking out that host computer is determined by camera
Positional information monitors and adjusts optimal route in time.
Further, the planning of the optimal route considers the person's quantity that do not checked out on shortest path, and the path, keeps away
Exempt from congestion, while according to the person of checking out position real-time update.
Further, the described characteristic light flashed by specific frequency or coding, be specially：
(1) specific frequency：The frequency for the light that miniature is sent is different, such as the different colours of visible ray even can not
See light (though naked eyes be can't see, camera can be identified)；
(2) specific coding：The coding for the light that miniature is sent is different, such as characteristic light is dodged according to different light and shades interval
It is bright.
Further, camera can be according to the direction immediately ahead of the person of checking out and target books on the outside of described intelligent glasses
Deviation, guide the person of checking out to find up or down with laser pen, until finding the correct number of plies, complete coarse positioning；In the person of checking out
Find after the correct number of plies, the books side in the captured region of outside camera identification is encoded, and calculates the pass with target books position
System is in the left side, the right or just right, startup inner side camera.
Further, camera recognizes the person's of checking out eye emotionally condition, multilevel iudge direction of gaze on the inside of described intelligent glasses
With the left-right deviation orientation of target books, and control laser pen indicate arrive correct position, complete finely positioning.
Further, camera on the outside of described intelligent glasses, can identify the books after barcode scanning is carried out to books
Essential information, the person of checking out can be helped to determine whether the books for oneself wanting to borrow.
As shown in Fig. 2 a kind of intelligent Way guidance method in library, this method comprises the following steps：
(1) books subscription：The person of checking out searches on mobile phone A PP to be borrowed the books taken needed for oneself and makes a reservation for.
(2) target bookshelf position is determined：The person of checking out determines after starting to check out that host computer passes through the person of checking out on mobile phone A PP
Subscription information in mobile phone A PP, the positional information of bookshelf where determining target books；
(3) optimal route is planned：Host computer is put according to the person of checking out current location and target location with reference to library bookshelf
Position, cooks up optimal path；
(4) route is guided in intelligent glasses display：The path for the intelligent glasses worn in the person of checking out shows screen display most
Shortest path is guided；
(5) route monitoring and real-time update：The characteristic light that camera is sent by the miniature of identification intelligent glasses is true
Surely do not check out and person's real time position and pass to host computer and detected, such as the person's of checking out deviation route, then host computer will send and instruct
The guide route upgraded in time on intelligent glasses screen.At the same time, host computer can also monitor existing subscriber and the position Added User
Put, real-time update optimal route, it is to avoid time-consuming or congestion；
(6) target books are positioned：After the person of checking out arrives at target bookshelf, the outside camera of intelligent glasses is according to the person of checking out
The direction in front and the deviation of target books, guide the person of checking out to find up or down, until finding correct layer with laser pen
Number, completes coarse positioning；After the person of checking out finds the correct number of plies, the books in region first captured by the outside camera identification of glasses
Side is encoded, and the relation calculated with target books position is in the left side, the right or just right, then startup inner side camera identification
Its eye emotionally condition, the direction of gaze of the multilevel iudge person of checking out and the left-right deviation orientation of target books, are guided with laser pen and checked out
Person searches out to the left or to the right, until finding correct position, and finally by outside camera barcode scanning, the person of checking out, which may determine that, is
The no books for wanting to borrow for him；
(7) intelligence is guided and terminated：After the person of checking out arrives at target bookshelf, host computer will point out this to check out on mobile phone A PP
Person has arrived at destination, and the person of checking out, which takes book and given back, confirms the success that checks out after intelligent glasses, that is, terminates this guide.
Further, in described step 3, the planning of optimal route considers path length, turn number of times and the path
On do not check out person's quantity, it is to avoid congestion.It may be configured as the path that a paths are most short, turn is minimum.
Further, in described step 4, the intelligent glasses that the person of checking out is worn are by system point according to its subscription information
Match somebody with somebody, only show the optimal path of the person of checking out during use in the person of checking out and send characteristic light.
Further, in described step 5, it is a kind of three-dimensional indoor positioning side that camera carries out positioning by characteristic light
Method, as in Figure 3-5, process are as follows：
(1) three camera is one group, and the frequency or coding information of a certain characteristic light are only recognized during one works；
(2) position coordinates for setting three cameras is respectively A (x1,y1,z1)、B(x2,y2,z2)、C(x3,y3,z3), shooting
Head calculates the angle theta between feature light source O and camera line OA, OB, OC according to typical source positionAB、θBC、θCA, that is, it is characterized
Angle between light source and three cameras, uses the cosine law, can obtain respectively in 3 triangles：
AO2+BO2-AB2=2AO BO cos θAB,
BO2+CO2-BC2=2BO CO cos θBC,
CO2+AO2-CA2=2CO AO cos θCA.
In formula：
(3) solving equations can in the hope of AO, BO, CO numerical value, a total of 8 groups of solutions directly exclude complex root and anon-normal real
Several, remaining solution, in order to obtain the unique consequence of positioning, calls another group of camera to be positioned if difference, than
Compared with two groups of solutions, unique consequence is drawn.
(4) after AO, BO, CO numerical value has been obtained, if O is located in △ ABC planes, solves clearly unique, O can be obtained
The coordinate value of point；If O is not located in △ ABC planes, there are two groups of solutions in mirror position, but one of which can lead to
Cross light incident direction exclusion, can obtain the coordinate value of O points, that is, feature light source position, that is, realize the person's of checking out
Indoor three-dimensional localization.
Further, in described step 6, after the upper person of checking out completes Way guidance, host computer will control Brilliant Eyes
Mirror stops sending characteristic light, waits next person of checking out to use.
Embodiment
Exemplified by wanting the student that checks out with one below, the intelligent Way guidance system in library of the present invention and side are illustrated
Method.
(1) books subscription：The student is before library is gone to or reaches behind library, first on the mobile phone A PP of oneself
It is predetermined to borrow books.
(2) target bookshelf position is determined：Host computer determines target bookshelf position according to the student's books subscription information received
Put and be sent on mobile phone A PP, the student can judge whether to find correct bookshelf according to this.
(3) optimal route is planned：The student determines to start to borrow in predetermined interface, passes information to host computer,
Host computer will cook up optimal path simultaneously, and control intelligent glasses to show paths information and to send characteristic light so that camera is fixed
Position.
(4) route is guided in intelligent glasses display：The student chooses corresponding intelligent glasses according to sequence number is borrowed, and cooks up and
Optimal path will be shown on the display screen of glasses, guide this student reach target bookshelf.
(5) route monitors and upgraded in time：If there is deviation, or front road in the track route and programme path of the student
Line has delay user to be likely to result in congestion, then host computer can in real time be adjusted according to the positioning of the student to route, but still protects
Original route is stayed to allow student's unrestricted choice.
(6) target books are positioned：After the student arrives at target bookshelf, the outside cameras of intelligent glasses according to he just before
The direction of side and he want the deviation of books borrowed, it is assumed that target books two layers of position thereunder, then laser pen will guide him
Find two layers downwards.After the student finds the correct number of plies, the books side in the captured region of identification was encoded on the outside of glasses before this,
Calculate and the relation of target book position is in Left or right or just right.Then now start inner side camera and recognize its eye
Emotionally condition, the left-right deviation orientation of his direction of gaze of multilevel iudge and target books, it is assumed that target books are five on the right side of it
The position of book, laser pen will indicate to indicate to the right to the position of the 5th book.Finally, the outside camera barcode scanning student is passed through
It can decide whether to want the books borrowed for him.
(7) intelligence is guided and terminated：After the student finds target bookshelf according to guide, with the bookshelf information provided on APP
It coincide, then returns to foreground and give back intelligent glasses, and progress confirms to complete this guide on APP in time.
Claims (10)
1. the intelligent Way guidance system in a kind of library, it is characterised in that including host computer, mobile phone A PP, camera and Brilliant Eyes
Mirror, wherein：
Described mobile phone A PP is used for and the person's of checking out man-machine interaction, the acquisition person's of checking out books subscription information.
Described intelligent glasses have the function of augmented reality, and its eyeglass also there is path to show on the basis of display outdoor scene
Screen, the Overlapping display Way guidance on the display screen of path, for guiding the person of checking out to find target bookshelf；Filled simultaneously in its temple
There is miniature, the person of checking out position can be recognized simultaneously for camera under the control of host computer by specific frequency or coding flicker
Pass to host computer；Inside and outside two minisize pick-up heads and a laser pen are embedded with its picture frame simultaneously：Outside camera is used for
Take pictures and scan books Quick Response Code, inner side camera is used to recognizing the eye of user emotionally condition, laser pen carries out target books
Indicate.
Described camera is arranged on the ceiling in library, determines that this is borrowed by recognizing the light source of specific frequency or coding
The real time position of book person.
Described host computer is used to communicate with mobile phone A PP, it is determined that bookshelf information where the person's of checking out books subscription, and cook up optimal
Route, controls the path display screen and miniature of intelligent glasses；Meanwhile, the person of the checking out position that host computer is determined by camera
Information monitoring simultaneously adjusts optimal route in time.
2. the intelligent Way guidance system in library according to claim 1, it is characterised in that the planning of the optimal route
The person's quantity that do not checked out on shortest path, and the path is considered, it is to avoid congestion, while according to the person of checking out position real-time update.
3. the intelligent Way guidance system in library according to claim 1, it is characterised in that it is described by specific frequency or
The characteristic light of flicker is encoded, is specially：
(1) specific frequency：The frequency for the light that miniature is sent is different, including different colors；
(2) specific coding：The coding for the light that miniature is sent is different, including is flashed according to different light and shades interval.
4. the intelligent Way guidance system in library according to claim 1, it is characterised in that described outside camera can
According to the direction immediately ahead of the person of checking out and the deviation of target books, to guide the person of checking out to find up or down with laser pen, directly
To the correct number of plies is found, coarse positioning is completed；After the person of checking out finds the correct number of plies, the figure in the captured region of outside camera identification
Book side is encoded, and the relation calculated with target books position is in the left side, the right or just right, startup inner side camera.Outside
Camera identifies the essential information of the books after barcode scanning is carried out to books, helps the person of checking out to determine whether oneself to want to borrow
The books read.
5. the intelligent Way guidance system in library according to claim 1, it is characterised in that on the inside of described intelligent glasses
The camera identification person of checking out eye emotionally condition, the left-right deviation orientation of multilevel iudge direction of gaze and target books, and control laser
Pen indicates to arrive correct position, completion finely positioning.
6. a kind of intelligent Way guidance method in library, it is characterised in that this method comprises the following steps：
(1) books subscription：The person of checking out searches on mobile phone A PP to be borrowed the books taken needed for oneself and makes a reservation for.
(2) target bookshelf position is determined：The person of checking out determines after starting to check out that host computer passes through the person's of checking out mobile phone on mobile phone A PP
Subscription information in APP, the positional information of bookshelf where determining target books；
(3) optimal route is planned：Host computer puts position according to the person of checking out current location and target location with reference to library bookshelf
Put, cook up optimal path；
(4) route is guided in intelligent glasses display：The path for the intelligent glasses worn in the person of checking out shows the optimal road of screen display
Footpath is guided；
(5) route monitoring and real-time update：The characteristic light that camera is sent by the miniature of identification intelligent glasses determines to borrow
Book person real time position simultaneously passes to host computer and detected, when the person's of checking out deviation route, then will to send instruction timely for host computer
Update the guide route on intelligent glasses screen.Meanwhile, host computer monitoring existing subscriber and the position Added User, real-time update is most
Major path, it is to avoid time-consuming or congestion；
(6) target books are positioned：After the person of checking out arrives at target bookshelf, the outside cameras of intelligent glasses according to the person of checking out just before
The direction of side and the deviation of target books, guide the person of checking out to find up or down with laser pen, complete until finding the correct number of plies
Into coarse positioning；After the person of checking out finds the correct number of plies, the books side in region first captured by the outside camera identification of glasses
Coding, calculate with the relation of target books position be on the left side, the right or just right, then start on the inside of camera recognize its eye
Emotionally condition, the direction of gaze of the multilevel iudge person of checking out and the left-right deviation orientation of target books, with laser pen guide the person of checking out to
It is left or search out to the right, until finding correct position, finally by outside camera barcode scanning, the person of checking out can decide whether for
He wants the books borrowed；
(7) intelligence is guided and terminated：Host computer will point out the person of checking out to have arrived at destination on mobile phone A PP, and the person of checking out takes
Book is simultaneously given back after intelligent glasses and confirms to check out success, that is, terminates this guide.
7. the intelligent Way guidance method in library according to claim 1, it is characterised in that optimal in described step 3
The planning of route considers the person's quantity that do not checked out on path length, turn number of times and the path, it is to avoid congestion.
8. the intelligent Way guidance method in library according to claim 1, it is characterised in that in described step 4, check out
The intelligent glasses that person is worn are distributed according to its subscription information by system, only show that this checks out during use in the person of checking out
The optimal path of person simultaneously sends characteristic light.
9. the intelligent Way guidance method in library according to claim 1, it is characterised in that in described step 5, shooting
It is a kind of three-dimensional indoor orientation method that head carries out positioning by characteristic light, and process is as follows：
(1) three camera is one group, and the frequency or coding information of a certain characteristic light are only recognized during one works；
(2) position coordinates for setting three cameras is respectively A (x1,y1,z1)、B(x2,y2,z2)、C(x3,y3,z3), camera root
The angle theta between feature light source O and camera line OA, OB, OC is calculated according to typical source positionAB、θBC、θCA, as feature light source
With the angle between three cameras, use the cosine law respectively in 3 triangles, can obtain：
AO2+BO2-AB2=2AO BO cos θAB,
BO2+CO2-BC2=2BO CO cos θBC,
CO2+AO2-CA2=2CO AO cos θCA.
In formula：
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(3) solving equations can in the hope of AO, BO, CO numerical value, a total of 8 groups of solutions directly exclude complex root and anon-normal Real Number Roots,
Remaining solution, in order to obtain the unique consequence of positioning, calls another group of camera to be positioned, compares two groups if difference
Solution, draws unique consequence.
(4) after AO, BO, CO numerical value has been obtained, if O is located in △ ABC planes, solves clearly unique, O points can be obtained
Coordinate value；If O is not located in △ ABC planes, there are two groups of solutions in mirror position, but one of which can pass through light
Line incident direction is excluded, and can obtain the coordinate value of O points, that is, feature light source position, that is, realize the interior for the person of checking out
Three-dimensional localization.
10. the intelligent Way guidance method in library according to claim 1, it is characterised in that in described step 6, when
The upper person of checking out is completed after Way guidance, and host computer will control intelligent glasses to stop sending characteristic light, wait next person of checking out
Use.
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