CN111210061A - Guidance method, apparatus, system, and computer-readable storage medium - Google Patents
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Abstract
The embodiment of the invention relates to the technical field of communication, and discloses a guiding method, equipment, a system and a computer readable storage medium. In the present invention, the above guidance method is applied to guidance apparatuses which are any one of a plurality of guidance apparatuses provided in a preset place, and the identification ranges of the plurality of guidance apparatuses are not completely the same, and the method includes: acquiring the characteristics of a guide object after detecting that the guide object enters the identification range of the guide device; inquiring target information bound with the characteristics; planning a travel route for the guide object according to the target information; the traveling route is used for guiding the guiding object to find the target, and the guiding object can conveniently and quickly find the required target.
Description
Technical Field
The embodiments of the present invention relate to the field of communications technologies, and in particular, to a guidance method, device, system, and computer-readable storage medium.
Background
At present, retail places such as markets or supermarkets and the like are generally characterized by various goods, large occupied area, limited number of business guide personnel and the like, and for people unfamiliar with the environment, the goods are not regularly arranged, and the goods which are wanted to be found are not easy to find. Therefore, the requirement of the customer for finding the goods is often difficult to achieve timely and conveniently, and in order to find the goods of the self-centering instrument in the environment of the type, the customer may need to walk a lot of unnecessary curves. In the related art, a common method for facilitating customers is: 1. the number of business personnel and shopping guide personnel is increased; 2. the classification and placement work of the displayed goods is improved, and the goods classification is further refined.
However, the inventors found that at least the following problems exist in the related art: 1. the increase in the number and quality of business and shopping guide personnel is difficult to meet the counseling needs of increasing passenger flow. 2. The classification and placement work of goods is complicated, and after the goods reach the ceiling, the convenience is hardly provided for customers.
Disclosure of Invention
The embodiment of the invention aims to provide a guiding method, a device, a system and a computer readable storage medium, so that a required target can be conveniently and quickly found by a guiding object without depending on manual work and complicated classification and placement work.
In order to solve the above technical problem, an embodiment of the present invention provides a guidance method applied to a guidance device, where the guidance device is any one of a plurality of guidance devices set in a preset location, and the identification ranges of the plurality of guidance devices are not completely the same, the method including: acquiring the characteristics of a guide object after detecting that the guide object enters the identification range of the guide device; inquiring target information bound with the characteristics; planning a travel route for the guide object according to the target information; wherein the travel route is used for guiding the guiding object to find a target.
Embodiments of the present invention also provide a guidance apparatus, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the above-described pointing method.
An embodiment of the present invention further provides a guidance system, including: the guidance devices are arranged in a preset place, and the identification ranges of the guidance devices are not completely the same.
Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which when executed by a processor implements the above-described pointing method.
Compared with the prior art, the embodiment of the invention has the advantages that the guiding device arranged at different positions in the preset place can acquire the characteristics of the guiding object and inquire the target information bound with the characteristics when the guiding object enters the identification range of one guiding device in the advancing process, and the guiding object is guided to find the target in the preset place by planning the passing route for the guiding object according to the target information. That is, when the guiding object meets a guiding device in the process of finding the target, the guiding device queries the bound target information based on the acquired characteristics of the guiding object, and plans a traveling route of the finding target for the guiding object according to the queried target information, so that the guiding object can be always guided in the traveling process. And the target can be conveniently guided to quickly find the required target under the guidance of a plurality of guiding devices with incompletely identical recognition ranges without depending on manual work and complicated classification and placement work.
In addition, the method further comprises: if target information inquired by the guide object is received, establishing a binding relationship between the target information and the characteristics; the target information bound with the query and the characteristics specifically comprises: and inquiring target information bound with the characteristics according to the binding relationship. That is, if the guiding device through which the guiding object passes receives the target information input by the guiding object, the guiding device will establish a binding relationship between the target information and the characteristics, and when the guiding object passes through other guiding devices in the process of traveling, the target information can be inquired through the binding relationship, so that the traveling route of the guiding object is planned, and the guiding object can conveniently find the target.
In addition, the binding relationship is stored in a server; the querying of the target information bound with the feature according to the binding relationship comprises: sending the characteristics to the server so that the server can inquire target information bound with the characteristics according to the binding relationship; and receiving the target information fed back by the server. The query mode is provided, so that when the guide object passes through different guide devices, the different guide devices can query the target information bound with the features in the server based on the acquired features.
In addition, the planning a travel route for the guidance target according to the target information includes: acquiring the position of the target according to the target information; planning a travel route for the guiding object according to the position of the target and the current position of the guiding object; displaying the travel route. The travel route required by the guiding object to reach the target position is displayed through the guiding device, the guiding object can conveniently check the travel route, and therefore the target can be quickly found along the travel route.
Additionally, the planning a route of travel for the directing object based on the location of the target and the current location of the directing object includes: dividing the preset place into virtual grids in advance; wherein each grid in the virtual grid has a marker comprising: walkable or non-walkable areas, with or without obstacles; mapping the position of the target and the current position of the guiding object in the virtual grid to obtain a grid where the position of the target and the current position of the guiding object are located; taking the grid where the current position of the guide object is as a starting point, taking the grid where the position of the target is as an end point, and obtaining the result according to A*A way-finding algorithm determines, with the markers of each grid, the shortest route of travel between the location of the target and the current location of the directing object. A planning mode of the shortest travel route between the position of a target and the current position of a guide object is provided, and is based on A*The shortest traveling route obtained by the routing algorithm and the marks of each grid considers whether the area corresponding to each grid can walk and whether barriers exist, and the shortest traveling route is planned for the guiding object and the guiding object can walk conveniently.
In addition, after the establishing the binding relationship between the target information and the feature, the method further includes: and if the preset unbinding triggering information is detected, the binding relationship is released. Namely, the guiding object can be unbound through any guiding device, so that the guiding object can be unbound at any time according to actual needs.
In addition, after the querying the target information bound with the feature, the method further comprises: tracking a real-time location of the directing object; and sending the real-time position and the target information to a robot so that the robot finds a target according to the target information and sends the target to the guiding object according to the real-time position. The robot sends the target to the guiding object according to the real-time position of the guiding object, so that the searching time of the guiding object is saved, and the guiding object can be conveniently and quickly found.
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One or more embodiments are illustrated by the corresponding figures in the drawings, which are not meant to be limiting.
Fig. 1 is a flowchart of a guidance method according to a first embodiment of the present invention;
fig. 2 is an interaction diagram of a guiding method applied to a supermarket according to a first embodiment of the present invention;
FIG. 3 is a flowchart of a direction method according to a second embodiment of the present invention;
fig. 4 is a schematic configuration diagram of a pointing device according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present invention, and the embodiments may be mutually incorporated and referred to without contradiction.
A first embodiment of the present invention relates to a guidance method applied to guidance apparatuses that are any one of a plurality of guidance apparatuses installed in a preset location, each guidance apparatus having a respective recognition range, and the recognition ranges of the guidance apparatuses being not completely the same. The size of the identification range can be set according to actual needs. For example, the identification range may be a circular area divided by taking the position of the pointing device as a center of a circle and taking a preset length as a radius, where the preset length may be set according to actual needs. The guiding device can be an intelligent device which can automatically move, such as an unmanned vehicle, a robot and the like, and can also be an intelligent device which is fixedly arranged at one position. The plurality of guidance devices in the preset place can be used for planning a traveling route for a guidance object which wants to find a target in the preset place, and helping the guidance object to quickly find the target. The preset places can be places such as supermarkets, shopping malls, bookstores, libraries and the like, and the corresponding targets can be commodities in the supermarkets, books in the bookstores and the like. The guidance object is an object that is to be targeted in a preset place and needs to be guided by a guidance device, and includes, but is not limited to, a natural person (hereinafter, referred to as a user) and may also be a robot. The application scenario of the embodiment in the supermarket can be understood as follows: guiding devices are arranged at different positions in the supermarket, and the identification ranges of the guiding devices can be completely the same or partially overlapped. For example, the areas with large pedestrian volume are provided with more guiding devices, the guiding devices can be close to each other, and the identification ranges can be partially overlapped. The guiding devices arranged in the areas with smaller pedestrian volume are fewer, the distances between the guiding devices can be longer, and the identification ranges can be completely different. It can be understood that, in the process of walking in the supermarket, each time the user passes through one guiding device, the guiding device executes the guiding method in the embodiment. The following describes the implementation details of the guidance method of the present embodiment in detail, and the following is only provided for the convenience of understanding and is not necessary for implementing the present embodiment.
The flowchart of the guidance method in this embodiment may be as shown in fig. 1, and specifically includes:
step 101: after detecting that the guide object enters the identification range of the guide device, the characteristics of the guide object are acquired.
Specifically, if the guiding device detects the outline of the guiding object in the identification range, it can be determined that the guiding object currently enters the identification range, and accordingly, the characteristics of the guiding object are acquired. Wherein, the characteristics of the directing object can include any one or combination of the following: facial features, iris features, appearance features, fingerprint features, and the like. The facial features, iris features and outline features can be obtained by directly shooting images of the guiding object by the guiding device after detecting that the guiding object enters the identification range of the guiding device and analyzing the images. The fingerprint feature may be that the guidance device prompts the guidance object to input a fingerprint after detecting that the guidance object enters the identification range of the guidance device, so as to acquire the fingerprint feature of the guidance object.
In one example, the guidance object is a user, the obtained features of the user are facial features, and the facial features can be obtained as follows:
firstly, a Multi-task convolutional neural network (MTCNN) is used for carrying out face detection on a shot user image to obtain whether the user image contains face information, the number of faces contained in the user image and the face position, and automatically labeling a face area.
And then, carrying out affine transformation on the marked human face by adopting a Procrustes algorithm, aligning the human face and correcting the human face deviation angle. Then, the processed user image is input into a Residual neural network (ResNet), so as to obtain a 128-dimensional facial feature vector extracted from the user face as the finally obtained facial feature of the user.
In one example, if the guiding device receives target information queried by the guiding object, a binding relationship between the target information and the feature is established. The target information of the query of the guiding object can be commodity names in supermarkets, book names in libraries and the like. For example, the directing device may have a query interface where the directing object may enter a name of a target that is desired to be queried. The guiding object takes a user as an example, the guiding device can also establish communication connection with terminal devices such as a mobile phone of the user, the user can input target information to be inquired through the mobile phone, and the mobile phone sends the target information to the guiding device. In a specific implementation, a user may input target information that the user wants to query when passing through any one of the guiding devices, and the guiding device that receives the input target information establishes a binding relationship between the received target information and the acquired features thereof.
In one example, after establishing the binding relationship, the pointing device may send the binding relationship to a server, and the server may store the binding relationship in a preset database. The server can be used for managing each guiding device arranged in a preset place and communicating with each guiding device.
In another example, the guidance device may share the binding relationship with other guidance devices in the preset location after establishing the binding relationship. For example, the guidance device that establishes the binding relationship may send the binding relationship to each of the other guidance devices in the preset location, so as to implement sharing of the binding relationship. Or, if no communication connection is established between the guiding devices, the guiding device establishing the binding relationship may send the binding relationship to the server, and the server distributes the binding relationship to the guiding devices, thereby implementing sharing of the binding relationship. Each pointing device may store the received binding information in a respective memory space.
In one example, after the binding relationship is established, if the preset unbinding trigger information is detected, the binding relationship is released. The preset unbinding triggering information can be any one of the following information: detecting that a guiding object inputs unbinding information, detecting that the guiding object finds a target, detecting that the establishment duration of the binding relationship exceeds preset duration and the like; the preset time length can be set according to actual needs, the duration for representing the establishment of the binding relationship is long, the guiding object is likely to leave the preset place, the guiding device can automatically unbind the binding object at the moment, and meanwhile the unbinding information is sent to the server or other guiding devices to inform the server or other guiding devices that the binding relationship is released. It is understood that the guidance subject may input unbinding information before any one guidance device passes by in the process of finding the target. Or if the guiding object establishes communication connection between the mobile phone and the guiding device when passing through the guiding device, the guiding object can send unbinding information to the guiding device through the mobile phone at any time according to needs.
Step 102: and inquiring target information bound with the characteristics.
Specifically, the guidance device may query the target information bound to the feature according to the binding relationship.
In one example, the binding relationship is stored at a server, and the directing device may send the obtained feature to the server. And after receiving the characteristics, the server inquires the target information bound with the characteristics according to the stored binding relationship and feeds the inquired target information back to the guiding equipment, so that the guiding equipment can receive the target information fed back by the server. In addition, if the server does not inquire the target information bound with the features, the server can also feed back the feedback information which is not inquired to the directing equipment.
In another example, the binding relationship is shared with each of the lead devices, i.e., stored in a memory space of the respective lead device. Therefore, after acquiring the features of the guidance object, the guidance device can query the target information bound with the features according to the binding information stored in the storage space of the guidance device.
Step 103: and planning a travel route for the guide object according to the target information.
If target information bound with the characteristics can be inquired, the target object has a target being searched, and the target information is already input in a guiding device. If the target information bound with the characteristics is not inquired, the user does not input the target information to be searched in any guiding device.
Specifically, if the target information is queried, a travel route can be planned for the guidance object according to the target information. First, the position of the target can be acquired based on the target information. For example, if the positions of different targets in a preset place are stored in the guidance device, the guidance device may directly obtain the positions by querying. Alternatively, the guidance device may send the target information to the server, and the server may return to the guidance device after querying the location of the target. Then, the guidance device may plan a travel route for the guidance object according to the position of the target and the current position of the guidance object; the current position of the directing object may be, among other things, the position of the directing device, i.e. the position of the directing device through which the directing object currently passes. Finally, the guiding device can also display a traveling route planned for the guiding object on a display screen of the guiding device so as to guide the guiding object to find the target in the preset place according to the traveling route. In particular implementations, the displayed travel route may include: the current direction of travel of the user and the shortest path for the user to reach the location of the destination.
In one example, the directing device may carry target information when displaying the travel route. For example, when the current traveling direction of the search target a is displayed, a pointing arrow is displayed, the pointing arrow may mark the target a, and when the current traveling direction of the search target B is displayed, the pointing arrow may mark the target B. By carrying the target information during display, when one guiding device guides the directions for a plurality of guiding objects at the same time, different advancing directions can be distinguished, and the plurality of guiding objects can conveniently see the current advancing directions corresponding to the targets which the guiding objects respectively want to find.
In one example, the manner in which the shortest path between the current location of the directing object and the location of the target may be determined may be as follows:
firstly, dividing a preset place into virtual grids in advance; wherein each grid in the virtual grid has a marker comprising: walkable or non-walkable areas, with or without obstacles. For example, for a supermarket, the area occupied by the supermarket can be pre-divided into n × m virtual grids, and each grid can be pre-marked with one of the following two types (1, 0) (X, Y). Where 1 indicates that the region corresponding to the lattice is a walkable region, and 0 indicates that the region corresponding to the lattice is a non-walkable region. X indicates that the region corresponding to the grid has no obstacle, and Y indicates that the region corresponding to the grid has an obstacle. The obstacle may be a shelf, a post, etc. in a supermarket.
Next, the position of the target and the current position of the guidance object are mapped on the virtual grid, and grids in which the position of the target and the current position of the guidance object are located are obtained. Then, the grid p in which the current position of the object is located is guidedusrAs a starting point, the grid p where the position of the target is locatedcomAs end point, according to A*The routing algorithm, along with the labels of each grid, determines the shortest path between the location of the target and the current location of the directing object. How to follow according to A*The way the routing algorithm and the labels of each grid determine the shortest path between the location of the target and the current location of the directing object is illustrated:
constructing an open list and a close list, wherein the open list stores all generated nodes which are not investigated, and the close list records accessed nodes; wherein the center point of each lattice may be referred to as a node. Defining: f ═ G + H; wherein G is from the starting point pusrMove cost to designated square, H ═ move from designated square to end point pcomThe estimated cost of (a). First, a starting point p is definedusrAdd open list, look at and start pusrExcluding the grids marked with 0 and/or Y from the 8 adjacent grids, adding the remaining grids to open list, and adding pusrSet as parent of these lattices and then pusrRemoved from openlist and added to close list to indicate that it has been accessed and is not concerned thereafter. And traversing the open list, selecting the lattice with the minimum F value as the lattice to be processed, looking up adjacent lattices aiming at the lattice to be processed, and if the adjacent lattices are unreachable at the end point, are already in the close list, or are marked with 0 and/or Y, ignoring. Otherwise, if the current is not in the open list, adding the current into the open list; if it is already in the open list, check if this path is more optimal, with the G value as a reference. Setting the grid currently processed as a parent node of the grid newly added in the open list, and setting the grid in the open list as a parent nodeRemoved and added to close list. The above process is repeated until the end point pcomAnd after adding the shortest path into the openlist, finishing path planning to obtain the shortest path.
For further convenience of understanding, the following is briefly described by taking a scenario in which a user (guidance object) shops in a supermarket (preset place) as an example, and an interaction relationship between the user, the guidance device, and the server may be as shown in fig. 2: the supermarket is provided with a directing device 1, 2 … … n. First, after entering the supermarket, the user inputs the information of the goods he wishes to find on any one of the guiding machines, such as '100 g of gaolujie toothpaste' on the guiding device 1. Then, the device 1 is directed to inquire the specific location information of the article required by the user and return the specific information to the user through the interface, such as '100 g of colgate toothpaste' in the third row 4 of the C area 2 cell. Next, the guidance device 1 calculates the shortest path between the user's current location and the merchandise location. Then, the directing device 1 presents the shortest path to the user and displays the current direction of travel of the user on the current pointing device 1. Meanwhile, the directing equipment 1 extracts the features of the face of the user to obtain the face features, and establishes a binding relationship between the face features and the commodity information and transmits the binding relationship to the server. In the advancing process of finding the commodities, no matter in a normal planned path or deviating from an original planned path, the indicating equipment extracts the facial features as long as the indicating equipment is placed along the way, then the facial features are transmitted to the server, and the server inquires out the commodities bound with the facial features and returns the commodities to the indicating equipment. As shown in fig. 2, when the user passes through the guidance device 2, the guidance device 2 extracts facial features and sends the facial features to the server, the server returns the commodity bound with the facial features to the guidance device 2, the guidance device 2 inquires the position of the commodity, plans the shortest route, and guides the user to move forward again. In addition, in the process of moving, the user can cancel the commodity to be searched before any guide device, and the binding relation between the commodity and the facial features is released.
The above examples in the present embodiment are only for convenience of understanding, and do not limit the technical aspects of the present invention.
Compared with the prior art, according to the embodiment, the guiding device arranged at different positions in the preset place enables the guiding device to obtain the characteristics of the guiding object when the guiding object passes through one guiding device in the advancing process, and plans the passing route for the guiding object according to the target information when the target information bound with the characteristics is inquired, so that the guiding object can find the target in the preset place. In other words, when the guiding object meets a guiding device in the process of finding the target, the guiding device queries the binding relationship based on the acquired characteristics of the user and plans a traveling route of the finding target for the guiding object according to the queried target information, so that the guiding object can be always guided in the traveling process, and the guiding object can conveniently and quickly find the required target.
A second embodiment of the present invention relates to a guidance method. The following describes the implementation details of the guidance method of the present embodiment in detail, and the following is only provided for the convenience of understanding and is not necessary for implementing the present embodiment.
The flowchart of the guidance method in this embodiment may be as shown in fig. 3, and specifically includes:
step 201: after detecting that the guide object enters the identification range of the guide device, the characteristics of the user are acquired.
Step 202: and inquiring target information bound with the characteristics.
Step 203: and planning a travel route for the guide object according to the target information.
Step 204: the real-time position of the guiding object is tracked, and the real-time position and the target information are sent to the robot.
In one example, the real-time location of the directing object is tracked jointly by a plurality of directing devices in a preset location. The guidance device that acquires the feature of the guidance object may determine that the current position of the guidance object is the position set by the guidance device. The guiding object passes through the guiding devices at different positions in the process of traveling, so that the traveling track of the guiding object can be tracked through the guiding devices arranged at different positions and the characteristics of the guiding object, namely the real-time position of the guiding object is tracked.
In another example, the real-time location of the directing object is tracked by a directing device in a preset location. The guiding object can establish communication connection between a portable mobile phone and other terminals and a passing guiding device, so that the real-time position of the guiding object is sent to the guiding device through the mobile phone in the advancing process, and the guiding device can track the real-time position of the guiding object.
The guiding device can send the real-time position of the guiding object and the target information to the robot so that the robot can find the target according to the target information and send the target to the guiding object according to the real-time position. Wherein, the robot can be understood as a robot which is provided in a preset place and is delivered by a special user. For example, after the user inputs a desired commodity on the pointing device in the supermarket, the user can continue to browse other commodities in the supermarket and wait for the robot to reach the desired commodity. The pointing device may refresh the user's real-time location to the robot until the robot hands the item to the user or the user cancels the search for the item.
In a specific implementation, the guiding object may select whether the robot is required to deliver the required target to its hand, and when it is determined that the robot is required to deliver the target, step 204 is performed. For example, a function button may be provided on the guidance device, and if the guidance device detects that the function button is clicked by the guidance object, it may be determined that the guidance object needs to be delivered by the robot. Or, if the guiding object establishes communication connection between the mobile phone and the guiding device, the position of the guiding object is selected to be reported in a consenting manner, so that the guiding device can track the advancing track of the guiding object through the mobile phone of the guiding object, and the delivery path is refreshed for the robot. In addition, generally, in order to ensure normal order, the number of delivery robots in a preset place is limited, when a guidance object is selected and determined to need to be delivered by the robots, the guidance device may first determine whether there is an idle robot at the current time, if there is no idle robot, the guidance object may be notified that the guidance object cannot be delivered by the robot, and if there is an idle robot, the guidance object may be notified that the guidance object can be delivered by the robot.
Compared with the prior art, the method and the device are provided. The robot sends the target to the guiding object according to the real-time position of the guiding object, so that the searching time of the guiding object is saved, and the guiding object can be conveniently and quickly found.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A third embodiment of the invention relates to a pointing device, as shown in fig. 4, comprising at least one processor 301; and a memory 302 communicatively coupled to the at least one processor 301; the memory 302 stores instructions executable by the at least one processor 301, and the instructions are executed by the at least one processor 301, so that the at least one processor 301 can execute the directing method of the first or second embodiment.
Where the memory 302 and the processor 301 are coupled in a bus, the bus may comprise any number of interconnected buses and bridges, the buses coupling one or more of the various circuits of the processor 301 and the memory 302. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 301 is transmitted over a wireless medium through an antenna, which further receives the data and transmits the data to the processor 301.
The processor 301 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 302 may be used to store data used by processor 301 in performing operations.
A fourth embodiment of the present invention relates to a guidance system including a plurality of guidance apparatuses according to the third embodiment, the plurality of guidance apparatuses being provided in a preset place, and the recognition ranges of the plurality of guidance apparatuses being not completely the same.
It should be understood that this embodiment is a system example corresponding to the first or second embodiment, and may be implemented in cooperation with the first or second embodiment. The related technical details and technical effects mentioned in the first or second embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first or second embodiment.
A fifth embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A guidance method is applied to guidance equipment which is any one of a plurality of guidance equipment arranged in a preset place, and the identification ranges of the plurality of guidance equipment are not completely the same, and the method comprises the following steps:
acquiring the characteristics of a guide object after detecting that the guide object enters the identification range of the guide device;
inquiring target information bound with the characteristics;
planning a travel route for the guide object according to the target information; wherein the travel route is used for guiding the guiding object to find a target.
2. The guidance method of claim 1, wherein the method further comprises:
if target information inquired by the guide object is received, establishing a binding relationship between the target information and the characteristics;
the target information bound with the query and the characteristics specifically comprises:
and inquiring target information bound with the characteristics according to the binding relationship.
3. The guidance method of claim 2, wherein the binding relationship is stored in a server; the querying of the target information bound with the feature according to the binding relationship comprises:
sending the characteristics to the server so that the server can inquire target information bound with the characteristics according to the binding relationship;
and receiving the target information fed back by the server.
4. The guidance method according to claim 1, wherein the planning a travel route for the guidance subject according to the target information includes:
acquiring the position of the target according to the target information;
planning a travel route for the guiding object according to the position of the target and the current position of the guiding object;
displaying the travel route.
5. The directing method according to claim 4, wherein the planning a travel route for the directing object based on the position of the target and the current position of the directing object comprises:
dividing the preset place into virtual grids in advance; wherein each grid in the virtual grid has a marker comprising: walkable or non-walkable areas, with or without obstacles;
mapping the position of the target and the current position of the guiding object in the virtual grid to respectively obtain grids where the position of the target and the current position of the guiding object are located;
taking the grid where the current position of the guide object is as a starting point, taking the grid where the position of the target is as an end point, and obtaining the result according to A*A way-finding algorithm and the labeling of each of the bins determines a shortest path between the location of the target and the current location of the directing object.
6. The guidance method of claim 2, wherein after the establishing of the binding relationship between the target information and the feature, further comprising:
and if the preset unbinding triggering information is detected, the binding relationship is released.
7. The direction method of claim 1, further comprising, after querying the target information bound to the feature:
tracking a real-time location of the directing object;
and sending the real-time position and the target information to a robot so that the robot finds a target according to the target information and sends the target to the guiding object according to the real-time position.
8. A pointing device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 7.
9. A guidance system, comprising: a plurality of guidance devices according to claim 8, the plurality of guidance devices being provided in a preset place, and the identification ranges of the plurality of guidance devices being not completely the same.
10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the guidance method of any one of claims 1 to 7.
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Application publication date: 20200529 |