TW202028699A - Indoor positioning and navigation system for mobile communication device including a navigation audio-visual control module and a navigation route control module - Google Patents

Abstract

An indoor positioning and navigation system for a mobile communication device has a navigation audio-visual control module and a navigation route control module. The navigation audio-visual control module can superimpose the navigation icon in an augmented reality method on the image of the front scene captured and displayed by the mobile communication device. The navigation route control module can analyze the spatial image feature points in the image of the front scene to locate the current position, and plan a navigation route from the current position to the target location and a navigation icon used to indicate the traveling direction of the navigation route in the image of the front scene. With the positioning method of analyzing the spatial image feature points of the image of the front scene, this invention can accurately locate the indoor location of the mobile communication device and accurately plan the navigation route, and accurately guide the user to walk indoors through the method of augmented reality real-time navigation. This invention is an innovative indoor navigation technology.

Description

Indoor positioning and navigation system for mobile communication device

The present invention relates to a navigation system, in particular to an indoor positioning and navigation system for mobile communication devices.

Common outdoor navigation is mainly through satellite positioning system, through pre-established map data and satellite positioning data, you can navigate to a specific location. Since the satellite fixed object signal will be blocked by buildings, it is not suitable for navigation in indoor spaces.

Traditional indoor navigation mainly uses multiple communication nodes in the indoor space, and analyzes the strength of the communication signal between the electronic device and the communication nodes, so that the electronic device can locate its position in the space and then It displays the current location on a spatial plane map, and the icon shows a guide icon on the spatial plane to facilitate the user's viewing, and changes the display content of the spatial plane map as the current position changes to achieve The purpose of navigation. However, this method of positioning and navigating through the spatial flat map, in addition to the large positioning error, is still easy to go wrong for those who do not know the map or have a poor spatial concept.

Although some companies are currently trying to use Augmented Reality (AR) technology to superimpose navigation indicators directly on the scene images captured by the electronic device held by the user, so as to improve the navigation problems of traditional spatial planar maps. However, the positioning of this type of AR navigation is based on the communication signals between the electronic device and the positioning nodes, and there is still a problem of large positioning errors.

Therefore, the object of the present invention is to provide an indoor positioning and navigation system for mobile communication devices that can improve at least one of the disadvantages of the prior art.

Therefore, the present invention is used in the indoor positioning and navigation system for mobile communication devices, and is suitable for navigating indoor spaces. The indoor positioning and navigation system includes a navigation audio-visual control module built on a mobile communication device, and a navigation route control module built on a cloud host. The navigation audio-visual control module includes an image control unit capable of driving the mobile communication device to capture and display an image of a front scene, and a navigation activation unit capable of setting at least one target location to issue a navigation request, the image control unit At least one navigation icon can be overlapped and displayed in the front scene image in an augmented reality manner, and the navigation activation unit can control the mobile communication device to wirelessly transmit the navigation request. The navigation route control module can control the cloud host to wirelessly receive the navigation request, and includes a spatial positioning unit and a navigation control unit. The spatial positioning unit stores a spatial map corresponding to the indoor space and a plurality of corresponding respectively. The spatial model of multiple spatial locations in the spatial map, each spatial model has multiple spatial image feature points, and the spatial positioning unit analyzes the space where the front scene image exists based on the spatial image feature points of the spatial models Image feature points, and locate the current spatial position of the mobile communication device to obtain a current position. The spatial positioning unit can also compare the spatial position corresponding to the at least one target location required by the navigation, and the navigation control unit stores There are multiple navigation icons, and a navigation route from the current location to the at least one target location is planned according to the spatial map, and the at least one navigation route is used to guide the direction of the navigation route in the front scene image Icon and control the cloud host to transmit the at least one navigation icon to the mobile communication device.

The effect of the present invention is that by analyzing the spatial image feature points in the front scene image captured by the mobile communication device through the navigation route control module for positioning, the indoor location of the mobile communication device can be accurately located. The navigation route is accurately planned, and the augmented reality real-time navigation method that can display the navigation icon on the front scene image can accurately guide the user to walk in the indoor space. It is an innovative indoor navigation technology.

The present invention will be further described with respect to the following embodiments, but it should be understood that this embodiment is only for illustrative purposes and should not be interpreted as a limitation on the implementation of the present invention, and similar elements are the same The number to indicate.

Referring to Figures 1, 2, and 3, the embodiment of the indoor positioning and navigation system for mobile communication devices of the present invention is suitable for implementation in a mobile communication device 800 and a cloud host 900, and can be used indoors in a building In the space 700, spatial positioning and indoor navigation of the mobile communication device 800 are performed. The mobile communication device 800 may be a mobile phone, a tablet computer, smart glasses, a smart watch, or other devices that have the function of capturing and displaying images and can communicate with the cloud host 900 wirelessly. The wireless communication between the mobile communication device 800 and the cloud host 900 can be through common wireless network communication technology or mobile phone communication technology.

The indoor positioning and navigation system includes a navigation audio-visual control module 33 implemented in the mobile communication device 800 and a navigation route control module 4 implemented in the cloud host 900. The navigation audio-visual control module 33 and the navigation route control module 4 can be implemented in the mobile communication device 800 and the cloud host 900 through electronic circuits and/or software programs, respectively.

The navigation audio-visual control module 33 includes an image control unit 31, a voice control unit 32, and a navigation activation unit 33. The image control unit 31 can control the mobile communication device 800 to capture an image of the scene in front of its lens (not shown) to obtain a front scene image 310, and drive the mobile communication device 800 to display the front scene image 310, and Through Augmented Reality (AR) technology, a navigation icon 431 received from the cloud host 900 via the mobile communication device 800 can be superimposed and displayed in the front scene image 310. Since there are many augmented reality technologies and they are not the focus of the present invention, they will not be described in detail.

The voice control unit 32 can control the mobile communication device 800 to play a navigation voice received from the cloud host 900 for the user 600 of the mobile communication device 800 to listen to.

The navigation activation unit 33 can be operated to activate the positioning function, and the mobile communication device 800 is driven to send a positioning request with the front scene image 310 to the cloud host 900, so that the navigation route control module 4 will respond to the positioning request The front scene image 310 in the figure locates the current position of the mobile communication device 800.

The navigation activation unit 33 stores multiple location options corresponding to multiple spatial locations of the indoor space 700, and can be operated to set a location option as a target location to establish and issue a navigation request, and can be used in a navigation Set multiple target locations in the request. Each location option is set to identify the location and floor data of each spatial location in the spatial map, but when implemented, the content of the location option is not limited to this.

In addition, the navigation activation unit 33 is also built in an automatic planning mode and a manual planning mode that can be selected and activated when the navigation request is established. The navigation activation unit 33 will drive the mobile communication device 800 to directly transmit the navigation request to the cloud host 900 when the automatic planning mode is selected to be activated, and continue to transmit the currently captured front scene image 310 to the cloud host 900 for the navigation route control module 4 to plan a navigation route according to the navigation requirement. When the manual planning mode is selected and activated, the navigation activation unit 33 can be operated to arrange the order of the target locations in the navigation request to set an arrival sequence, and transmit the navigation request with the arrival sequence set To the cloud host 900, and continuously transmit the currently captured front scene image 310 to the cloud host 900 for the navigation route control module 4 to plan a navigation route according to the navigation request.

The navigation route control module 4 includes a spatial positioning unit 41, a walkway recognition unit 42, a navigation control unit 43, a moving speed judgment unit 44, an obstacle recognition unit 45, and a model correction unit 46.

The space positioning unit 41 has a built-in space map corresponding to the indoor space 700 of the building, and a plurality of space models corresponding to the space positions in the space map. Each spatial model has a plurality of spatial image feature points for identifying corresponding spatial positions. In this embodiment, the method of establishing the characteristic points of the characteristic images is to use an image capturing device (not shown) to photograph the surrounding environment at the corresponding spatial position to obtain one or more images, and then to Perform image analysis on the image or the content of the images, such as analyzing and obtaining road signs, signs, house plates and doors fixed on the wall, or wall textures and patterns, wall corner structure, or index symbols set on the ground, Guide the image features of the image of objects such as lines and floor tiles to create the spatial image feature points. However, in implementation, there are many ways to create the spatial image feature points of a spatial location, so the implementation is not limited to this . The spatial positioning unit 41 is triggered by the positioning request, and obtains the spatial image feature points existing in the front scene image 310 received by the cloud host 900 according to the spatial model analysis, so as to identify the front scene image 310 corresponding to , And get a current position. In addition, the spatial positioning unit 41 also compares the corresponding spatial position according to the coordinate data of each target location in the navigation request received by the cloud host 900.

The walkway recognition unit 42 has built-in walkway image feature points of various walkway images in the indoor space 700, and can analyze the front scene image 310 according to the walkway image feature points to identify the walkway area in the front scene image 310 311, and the distribution position of the walkway area 311, to obtain a walkway space data corresponding to the front scene image 310.

Since there are many ways to use image feature points for image recognition, and they are not the focus of the present invention, they will not be described in detail.

The navigation control unit 43 has a plurality of navigation icons 431 built in, and a plurality of navigation voices corresponding to the navigation icons 431 respectively. Each navigation icon 431 is a line image, an arrow image, and/or a text symbol image that can be used to guide the traveling direction, and each navigation voice is a voice description data corresponding to the traveling direction represented by the navigation icon 431.

When the navigation control unit 43 receives the navigation request by the cloud host 900, if the navigation request is not set in the arrival sequence, that is, the navigation activation unit 33 is activated in the automatic planning mode, the navigation control unit 43 will According to the spatial map, the spatial positioning unit 41 analyzes the current position determined by the front scene image 310, and the spatial positioning unit 41 analyzes the spatial positions identified by the target locations, and automatically plans a line from the The navigation route from the current location to the target locations, and each spatial location passed along the navigation route will be further analyzed, and the spatial locations passed by the navigation route will be compared with the corresponding target locations A spatial model, and a plurality of navigation icons 431 respectively used to guide the navigation route when passing through the spatial positions and the target locations, and the comparison of each navigation icon 431 corresponding to the Navigation voice.

In this embodiment, the navigation route established by the navigation control unit 43 in the automatic planning mode is the route with the shortest walking distance in the process of reaching the target locations from the current position. In another embodiment of the invention, the navigation route can also be the route with the best walking convenience. Since there are many planning methods for the navigation route and are not the focus of the present invention, the detailed description is omitted.

When the navigation request has the arrival sequence set, the navigation control unit 43 will plan the navigation route from the current location through the target locations in sequence according to the arrival sequence of the target locations, and compare them at the same time. The spatial models, the navigation icons 431, and the navigation voices corresponding to the spatial locations and the target locations along the navigation route.

The moving speed determining unit 44 analyzes the appearance, movement, and/or disappearance of multiple image feature points successively located by the spatial positioning unit 41 over a period of time to determine that the mobile communication device 800 is within the period of time When the moving speed is less than or equal to a speed threshold, the navigation control unit 43 is triggered to re-plan and provide another navigation route for the user 600 to choose.

Referring to FIGS. 3 and 4, the obstacle recognition unit 45 is built with a plurality of obstacle image feature points that respectively represent a plurality of obstacles 701 that will be installed in the indoor space 700 to restrict passage, and the obstacle recognition unit 45 analyzes whether there are the obstacle image feature points in the front scene image 310 to determine whether the obstacle 701 exists in the front scene image 310. And when it is determined that there are one or more obstacles 701 in the direction of travel of the navigation route in the front scene image 310, the navigation control unit 43 is triggered to re-plan and provide another obstacle 701 that can avoid the obstacle 701 to go to the targets The navigation route of the location.

When the navigation control unit 43 re-plans the other navigation route, it will drive the mobile communication device 800 to display a route change inquiry message corresponding to the other navigation route, and the mobile communication device 800 is operated to respond to the route change When the inquiry message responds to a confirmation change message, the original navigation route is replaced by the other navigation route.

The model modification unit 46 will be triggered to start during the navigation control unit 43 is navigating according to a navigation route, and the spatial image feature points compared by the spatial positioning unit 41 according to the front scene image 310 will be compared with the When there is a difference in the spatial image feature points of the spatial model at a spatial location that the navigation route is currently scheduled to arrive at, such as an obstacle image feature point that does not exist originally, or one or more image feature points that should originally exist are missing At this time, the original spatial image characteristic points of the spatial model are replaced by the correction of the spatial image characteristic points existing in the front scene image.

Referring to Figures 1, 2, and 3, when the indoor positioning navigation system of the present invention is used, if the user 600 wants to locate the current spatial location, the navigation activation unit 33 of the navigation audio-visual control module 33 can be operated to activate the positioning function. Then the mobile communication device 800 is placed in an angle and posture that can capture the image of the scene in front of its traveling direction. The navigation audio-visual control module 33 will drive the mobile communication device 800 to capture and display the image of the front scene 310, and send it The positioning request with the front scene image 310 is sent to the cloud host 900. The spatial positioning unit 41 of the navigation route control module 4 analyzes the spatial image feature points of the front scene image 310 in the positioning request according to the spatial models, and locates the space corresponding to the front scene image 310 Position, and then obtain the current position, and drive the cloud host 900 to return the located spatial position to the mobile communication device 800 that issued the positioning request, and the navigation audio-visual control module 33 will record the current position of the mobile communication device 800 And drive the mobile communication device 800 to display the relevant data of the currently located spatial position for viewing.

After completing the positioning of the current location of the mobile communication device 800, the user 600 can operate the navigation activation unit 33 of the navigation audio-visual control module 33 to activate the navigation function, and issue a navigation request for a target location or multiple target locations , To drive the mobile communication device 800 to transmit the navigation request to the cloud host 900. When the navigation requires the setting of multiple target locations, the automatic planning mode can be selected, or the manual planning mode can be activated to sort the target locations and set the arrival sequence. The navigation control unit 43 plans the navigation route from the current location to the target locations according to the spatial map, and analyzes the spatial positions distributed along the direction of travel of the navigation route, as well as the spatial positions and the The space models corresponding to the target location, the navigation icons 431 and the navigation voices.

While the indoor positioning and navigation system is navigating the navigation route, the user 600 needs to maintain the mobile communication device 800 in an angular posture that can capture the image of the scene in front of its traveling direction, and the mobile communication device 800 captures the current The foreground object image will change with the movement of the mobile communication device 800 held by the user 600, the navigation audio-visual control module 33 will continue to control the mobile communication device 800 to capture and transmit the front scene image 310 to the cloud host 900 for the navigation route control module 4 to locate the current position in real time.

The spatial positioning unit 41 of the navigation route control module 4 will analyze the current front scene image 310 in real time according to the spatial models of the spatial positions that the navigation route will pass subsequently to locate the corresponding At the same time, the aisle recognition unit 42 analyzes the front scene image 310 to obtain the aisle space data, and the navigation control unit 43 compares the navigation icon 431 and the navigation voice corresponding to the current position, and The cloud host 900 is driven to instantly transmit the compared navigation icon 431, the navigation voice, and the aisle space data to the mobile communication device 800, so that the navigation audio-visual control module 33 can be displayed on the mobile communication device 800. The aisle area 311 in the front scene image 310 instantly displays the navigation icon 431, and simultaneously drives the mobile communication device 800 to broadcast the navigation voice. Therefore, the user 600 can clearly know which direction to go forward by watching the guidance direction of the navigation icon 431 in the front scene image 310 displayed by the mobile communication device 800 and listening to the navigation voice content. Achieve the purpose of real-time augmented reality navigation for indoor space 700.

In this embodiment, the navigation route control module 4 uses the spatial model corresponding to the spatial position that the navigation route will arrive next to analyze the currently received front scene image 310 to determine the mobile communication Whether the device 800 has moved to the predetermined space position. However, in implementation, the spatial models of the multiple spatial locations that the navigation route will arrive soon after can also be used to analyze the currently received front scene image 310 to determine whether the mobile communication device 800 has moved to the predetermined spatial location. Since there are many modes of analyzing the front scene image to locate the current position through the spatial models, the implementation is not limited to the above two methods.

When the navigation route control module 4 cannot analyze the front scene image 310 with the spatial models of the spatial positions that the navigation route is about to reach to locate the current position, it means that the user 600 may have moved away from the navigation Route. At this time, the navigation route control module 4 analyzes the current front scene image 310 with the spatial models distributed around the current position previously located, thereby relocating The current location where the mobile communication device 800 is located, and then another navigation route to other target locations is re-planned based on the current location currently located.

In addition, during the navigation of the indoor positioning and navigation system for mobile communication devices, the navigation route control module 4 will continue to analyze the appearance and movement of multiple image feature points compared by the spatial positioning unit 34 over a period of time. And/or disappearing changes to obtain the moving speed of the mobile device 800 during the period of time, and when it is judged that the moving speed of the mobile communication device 800 is less than the speed threshold, the current position and the not yet located Re-plan a new navigation route for the remaining destinations upon arrival, and will drive the cloud host 900 to send a route change inquiry message to the mobile communication device 800, and the navigation activation unit 33 of the navigation audio-visual control module 33 will drive the The mobile communication device 800 displays the route change inquiry message for the user 600 to operate to select whether to accept the change of the navigation route.

The navigation activation unit 33 will correspondingly return a confirmation change message to the cloud host 900 via the mobile communication device 800 when the user 600 chooses to accept the change of the navigation route, and the navigation route control module 4 will use the newly planned navigation route The navigation route replaces the original navigation route, and navigates according to the new navigation route. When the user 600 chooses not to accept the operation, the navigation audio-visual control module 33 will correspondingly return a non-accepting message to the cloud host 900 via the mobile communication device 800, and the navigation route control module 4 will continue to use the original This navigation route performs navigation operations.

Referring to Figures 2, 3, and 4, the navigation route control module 4 will continue to analyze whether there are obstacle image feature points in the front scene image 310 corresponding to the current position during the navigation process to determine the Determine whether there is an obstacle 701 on the navigation route in the scene image 310 ahead, and when it is judged that there is an obstacle 701 on the navigation route, as shown in Figure 4(A), replan a navigation route that can avoid the obstacle 701 , And compare the navigation icon 431 and the navigation voice corresponding to the current location according to the new navigation route, and then drive the cloud host 900 to transmit the navigation icon 431 and the navigation voice after the navigation route is changed to the mobile communication device 800 , Make the navigation audio-visual control module 33 drive the mobile communication device 800 to display the navigation icon 431 of the new navigation route, as shown in FIG. 4(B), and play the navigation voice synchronously to guide the user 600 to avoid Travel in the direction of the obstacle 701.

In addition, during the navigation process, the model correction unit 46 compares the spatial image feature points by the spatial positioning unit 41 according to the front scene image, and the spatial location of a spatial location currently scheduled to arrive by the navigation route. When there are some differences between the spatial image feature points of the model, for example, there is a 20% difference, and it does not correspond to the spatial model of any spatial location around the navigation route, the spatial location that the navigation route is currently scheduled to arrive at will be determined The spatial image feature points of has been changed, and the spatial image feature points existing in the front scene image will be used to modify the original spatial image feature points of the spatial model at the spatial location currently scheduled to arrive.

In this embodiment, the navigation audio-visual control module 33 uses the augmented reality technology to superimpose the navigation icon 431 on the aisle area 311 of the front scene image 310. However, when implemented, in another implementation of the present invention In the aspect, the navigation icon 431 is not limited to being displayed in the walkway area 311 of the front scene image 310, and can be displayed in other parts of the front scene image 310, and can also achieve the function of guiding the direction of travel.

In summary, the navigation route control module 4 analyzes the spatial image feature points in the front scene image 310 currently captured by the mobile communication device 800 for positioning, and can accurately locate the mobile communication device 800 It is located at which spatial location of the indoor space 700, and can accurately plan the navigation route from the current location to the target locations, and can transmit the navigation icon 431 and the navigation voice corresponding to the current location to the The mobile communication device 800 superimposes the navigation icon 431 on the front scene image 310 through the navigation audio-visual control module 33 in an augmented reality method, thereby clearly and clearly indicating which direction to go forward It is an innovative indoor navigation technology that can guide the user 600 to walk in the indoor space 700 to reach a predetermined target location by means of augmented reality real-time navigation. Therefore, the objective of the present invention can indeed be achieved.

However, the above are only examples of the present invention. When the scope of implementation of the present invention cannot be limited by this, all simple equivalent changes and modifications made in accordance with the scope of the patent application of the present invention and the content of the patent specification still belong to Within the scope of the patent for the present invention.

3: Navigation audio and video control module 31: image control unit 310: Front view image 311: Walkway Area 32: Voice control unit 33: Navigation start unit 4: Navigation route control module 41: Spatial positioning unit 42: Walkway recognition unit 43: Navigation control unit 431: Navigation icon 44: Moving speed judgment unit 45: Obstacle recognition unit 46: Model correction unit 600: user 700: indoor space 701: Obstacle 800: mobile communication device 900: Cloud host

Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, in which: Figure 1 is a schematic diagram of the architecture of an embodiment of the indoor positioning and navigation system for mobile communication devices according to the present invention; FIG. 2 is a schematic diagram of a navigation audio-visual control module of this embodiment displaying a navigation icon in a scene before being displayed on a mobile communication device; Figure 3 is a functional block diagram of this embodiment; and Figure 4 is a view similar to Figure 2, in which (A) schematically illustrates the situation when an obstacle appears in the direction of travel indicated by a navigation icon; (B) schematically illustrates the embodiment after replanning the navigation route to avoid the obstacle , Corresponding to the situation of changing the navigation icon displayed in the front scene image.

3: Navigation audio and video control module

31: image control unit

32: Voice control unit

33: Navigation start unit

4: Navigation route control module

41: Spatial positioning unit

42: Walkway recognition unit

43: Navigation control unit

44: Moving speed judgment unit

45: Obstacle recognition unit

46: Model correction unit

800: mobile communication device

900: Cloud host

Claims (10)

An indoor positioning and navigation system for mobile communication devices, suitable for navigation in indoor spaces, including a navigation audio-visual control module built on a mobile communication device, and a navigation route control built on a cloud host Module, where: The navigation audio-visual control module includes an image control unit capable of driving the mobile communication device to capture and display an image of a front scene, and a navigation activation unit capable of setting at least one target location to issue a navigation request, the image control unit A navigation icon received by the mobile communication device can be superimposed and displayed in the front scene image in an augmented reality mode, and the navigation activation unit can control the mobile communication device to wirelessly transmit the navigation request; The navigation route control module can control the cloud host to wirelessly receive the navigation request, and includes a spatial positioning unit and a navigation control unit. The spatial positioning unit stores a spatial map corresponding to the indoor space and a plurality of corresponding respectively. The spatial model of multiple spatial locations in the spatial map, each spatial model has multiple spatial image feature points, and the spatial positioning unit analyzes the forward scene image requested by the navigation based on the spatial image feature points of the spatial models Existing spatial image feature points, locate the current spatial position of the mobile communication device to obtain a current position, and compare the spatial position corresponding to the at least one target location required by the navigation, and the navigation control unit stores There are multiple navigation icons, and a navigation route from the current location to the at least one target location is planned according to the spatial map, and a navigation route is compared to guide the direction of the navigation route in the front scene image And control the cloud host to transmit the navigation icon to the mobile communication device. The indoor positioning and navigation system for a mobile communication device according to claim 1, wherein the navigation control unit also analyzes a plurality of spatial positions distributed along the navigation route according to the spatial map, and compares a plurality of respective Corresponding to the spatial models of the spatial positions, and a plurality of navigation icons corresponding to the spatial positions, the spatial positioning unit analyzes the front scene image according to the spatial models compared by the navigation control unit to locate the current Position, and compare the navigation icon corresponding to the current location, and control the cloud host to transmit the compared navigation icon to the mobile communication device. The indoor positioning and navigation system for a mobile communication device according to claim 2, wherein the navigation route control module further includes an aisle recognition unit, and the aisle recognition unit analyzes and recognizes the aisle area in the front scene image to obtain An aisle space data, the navigation control unit will drive the cloud host to send the aisle space data and the currently compared navigation icon to the mobile communication device, the image control unit will be based on the aisle space data, The navigation icon is overlapped and displayed in the area corresponding to the aisle space in the front scene image. The indoor positioning and navigation system for a mobile communication device according to claim 2, wherein the navigation route control module further includes a model correction unit that compares the spatial positioning unit with the image of the front scene When there is a difference between the feature points of the spatial image and the feature points of the spatial image of the spatial model at a spatial position that the navigation route is currently scheduled to arrive at, use the feature points of the spatial image in the front image The correction replaces the original spatial image feature points of the spatial model. The indoor positioning and navigation system for mobile communication devices as described in 2, 3 or 4, wherein the navigation control unit also stores a plurality of navigation voices corresponding to the navigation icons, and will compare the navigation voices according to the current comparison. The navigation icon compares the corresponding navigation voice, and drives the cloud host to transmit the compared navigation icon and the navigation voice to the mobile communication device. The navigation audio-visual control module also includes a voice control unit, The voice control unit controls the mobile communication device to play and output the navigation voice it receives. The indoor positioning and navigation system for mobile communication devices as described in 2, 3, or 4, wherein the navigation route control module further includes a moving speed judging unit, and the moving speed judging unit will analyze that the spatial positioning unit has been The changes in the appearance, movement, and/or disappearance of multiple compared image feature points are used to obtain the moving speed of the mobile communication device during the period of time, and when the moving speed is less than or equal to a speed threshold, Trigger the navigation control unit to re-plan and provide another navigation route. The indoor positioning and navigation system for a mobile communication device according to claim 6, wherein the navigation control unit will drive the cloud host to send a corresponding to the mobile communication device when planning to provide the other navigation route A navigation route change route inquiry message, the navigation audio-visual control module will drive the mobile communication device to receive and display the route change inquiry message, and can be operated to drive the mobile communication device to return a corresponding route change to the cloud host For the confirmation change message of the inquiry message, the navigation control unit will replace the original navigation route with the other navigation route when the cloud host receives the confirmation change message. The indoor positioning and navigation system for mobile communication devices as described in 2, 3 or 4, wherein the navigation route control module further includes an obstacle recognition unit, and the obstacle recognition unit is built with a plurality of respective representatives to be set Obstacle image feature points of a plurality of obstacles restricting passage in the indoor space, the obstacle recognition unit analyzes whether there are the obstacle image feature points in the front scene image to determine whether the obstacle exists, and then When it is determined that there is an obstacle in the direction of travel of the navigation route in the front scene image, the navigation control unit is triggered to re-plan and provide another navigation route that can avoid the obstacle to reach the at least one target location, and the navigation control The unit compares the navigation icon for guiding the direction of the other navigation route at the current location, and controls the cloud host to transmit the navigation icon corresponding to the other navigation route to the mobile communication device. The indoor positioning and navigation system for mobile communication devices as described in 2, 3 or 4, wherein the navigation activation unit can be used to set multiple target locations to issue the navigation request, and the navigation control unit will plan out the navigation request according to the spatial map. The navigation route from the current location to the target locations. The indoor positioning and navigation system for a mobile communication device according to claim 9, wherein the navigation activation unit is built with an automatic planning mode and a manual planning mode that can be selected to be activated, and the navigation activation unit will operate in the automatic When the planning mode is activated, the mobile communication device is driven to transmit the target locations to the cloud host, the navigation control unit will automatically plan the navigation route from the current location to the target locations according to the spatial map, and the navigation is activated When the manual planning mode is activated, the unit can be operated to arrange the target locations to set an arrival sequence, and control the mobile communication device to transmit the target locations and the arrival sequence to the cloud host, and the navigation control unit will According to the spatial map and the arrival sequence, the navigation route from the current location to the target locations is planned in sequence.

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