CN105469166A - Supermarket shopping guide system based on wifi indoor positioning technology - Google Patents

Supermarket shopping guide system based on wifi indoor positioning technology Download PDF

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Publication number
CN105469166A
CN105469166A CN201511022881.8A CN201511022881A CN105469166A CN 105469166 A CN105469166 A CN 105469166A CN 201511022881 A CN201511022881 A CN 201511022881A CN 105469166 A CN105469166 A CN 105469166A
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China
Prior art keywords
supermarket
user
shopping guide
commodity
radio node
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CN201511022881.8A
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Chinese (zh)
Inventor
缪亚林
张洁
郝璐军
赵立怡
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Xian University of Technology
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Xian University of Technology
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Priority to CN201511022881.8A priority Critical patent/CN105469166A/en
Publication of CN105469166A publication Critical patent/CN105469166A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06QINFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00Commerce
    • G06Q30/02Marketing; Price estimation or determination; Fundraising
    • G06Q30/0281Customer communication at a business location, e.g. providing product or service information, consulting
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06QINFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00Administration; Management
    • G06Q10/04Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047Optimisation of routes or paths, e.g. travelling salesman problem
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

The invention discloses a supermarket shopping guide system based on wifi indoor positioning technology. The system is characterized by comprises a wireless node, a mobile intelligent terminal, a server and a database, wherein the wireless node is used for positioning and communication; the mobile intelligent terminal is used for completing drawing of a supermarket plane map, a positioning request and display, supermarket shopping guide and quick navigation; the server is used for responding to the user request to complete each function, complete positioning through operation on the database and return the result; and the database mainly stores the goods information, the goods positions, and the supermarket position fingerprint information. According to the supermarket shopping guide system based on wifi indoor positioning technology, real-time positioning can be provided for the user, the best path planning or the quick navigation for a common position can be carried out for the user, and the user can quickly find out the goods or the common position in the supermarket.

Description

A kind of Supermarket shopping guide system based on wifi indoor positioning technologies
Technical field
The invention belongs to indoor positioning field of navigation technology, be specifically related to a kind of Supermarket shopping guide system based on wifi indoor positioning technologies.
Background technology
In present life, the current consumption place that people often go is exactly supermarket.But along with the progress of economic society and the raising day by day of development and living standards of the people, the scale in supermarket is also increasing, product of its display may be thousands of, also bring many inconvenience while type of merchandize various brings more choice to client.
One be exactly when people gone one be not the supermarket known, non-Changshu or supermarket larger time, often its layout and goods are put and do not understand, be difficult to find the required commodity bought fast, cause the waste of consumer's plenty of time and energy.Because a large amount of consumer stays in supermarket to find commodity, also may cause blocking up of supermarket, the achievement in unfavorable raising supermarket.It two is when user needs to buy multiple commodity, owing to not knowing the particular location of commodity, may walk a lot of road of repeating, reduce the purchase experiences of consumer.For this reason, some supermarkets can arrange some shoppers' guides or certain position againsts supermarket planimetric map in supermarket, but due to some daily changes of commodity upper in supermarket, shoppers' guide in most cases also can not tell the particular location of certain commodity of consumer accurately, and consumer can not just see this planimetric map when needs at any time, therefore these methods also can not solve current existing problems, use too much shoppers' guide can increase the cost in supermarket, can't effectively improve service quality.
In recent years along with the develop rapidly of wifi technology, the public place in city is as all widespread deployment wifi such as large supermarket market, school, enterprise.There is a lot of representative achievement in research in wifi indoor positioning technologies, as indoor locating systems such as RADAR system, Nibble system, Weyes systems.Google introduces wifi indoor positioning and indoor map in Google Maps, and Baidu, Gao De, the four-dimension, wisdom Tu Deng company are also at research and development wifi indoor positioning product.Due to popularizing of wifi network, wifi positioning precision can reach meter level, and location cost is low, and positioning signal transceiving range is large, and applicability is strong, can by penetration and promotion.
For this reason, the indoor positioning technologies how combined based on wifi solves consumer's determining fast and arrive the optimum path planning of these commodity and complete whole shopping fast and leave supermarket and become key issue required purchase product locations when the assurance of supermarket integral layout, shopping.
Summary of the invention
The object of this invention is to provide a kind of Supermarket shopping guide system based on wifi indoor positioning technologies, solve consumer and find commodity when supermarket shopping slowly, and easily walk the problem on the road of repetition.
The technical solution adopted in the present invention is, a kind of Supermarket shopping guide system based on wifi indoor positioning technologies, comprises radio node, mobile intelligent terminal, server and database;
Wherein, radio node is used for location and communicates;
Mobile intelligent terminal has been used for supermarket plane map drafting, Location Request and display, supermarket shopping guide and shortcut navigation;
Server is used for responding user and has asked each function, and locates by completing the operation of database and return results;
Merchandise news and position thereof and supermarket location fingerprint information is mainly deposited in database.
Feature of the present invention is also,
Supermarket plane map is drawn has needed the layout of radio node in whole supermarket and the foundation of database merchandise news and positional information table thereof.
Supermarket plane map energy mitigation and amplification.
In supermarket, the arrangement of radio node is specially: according to supermarket size and layout, in the supermarket of being placed by radio node according to certain rule, forms a WLAN (wireless local area network), for the location of indoor occupant and the shopping guide of supermarket commodity;
When layout radio node, first consider that the radio node of boundary is placed, facilitate the drafting of supermarket map; Secondly, the position of some terrestrial references comprises cashier, outlet and toilet areas and also will place a certain amount of radio node; Finally, again according to the freight classification in supermarket and floor area thereof, the layout of radio node is carried out in suitable region of putting each classification commodity, is namely exactly by node binding zonule, can be obtained the position of commodity in this zonule by the position of this node.
Radio node is arranged on supermarket shelves top, if in noncommodity region, then installs on the ceiling, avoids the interference because goods and people cause wireless signal; The wireless signal that at least can search more than 4 in any position in region, whole supermarket will be ensured simultaneously.
Database contains merchandise news table, positional information table and location fingerprint table;
Wherein, merchandise news table comprises merchandise classification numbering, merchandise classification title, trade name, is mainly used in searching of commodity;
Positional information table comprises the MAC Address of radio node, ground level coordinate x, y of this radio node of merchandise classification numbering, the binding of such commodity region, is mainly used in determination and the path planning of product locations;
Location fingerprint table comprises the node R SSI information and MAC Address thereof that coordinate x, y of reference position and this reference position collect, and is mainly used in locating in real time in user supermarket.
User supermarket inner position and display adopt based on RSSI location fingerprint method, are divided into and set up fingerprint database and user locates in real time;
Wherein, set up fingerprint database, suitable position reference point is chosen according to the layout of radio node in supermarket and the layout in supermarket, scan the wireless signal at each reference point place with the mobile intelligent terminal being in wifi opening and its intensity according to signal is sorted, then input the position coordinates of this reference point and uploaded onto the server, by this record data inserting storehouse, above-mentioned steps is repeated at each reference point place, location fingerprint information all data inserting storehouses of all reference point, namely complete the foundation of fingerprint database;
User locates in real time: user opens the supermarket plane map of mobile intelligent terminal in supermarket, scan the wireless signal of current location and send it to server, server is to this Data Analysis, and search the record mated most with this signal in a database, then this position coordinates returned to user and mark on map.
When user locates in real time, the intelligent movable mobile phone of user, by scanning the Quick Response Code puted up in supermarket, enters into plane map interface, supermarket.
Supermarket shopping guide be specially: on the supermarket plane map of mobile intelligent terminal, user by text or phonetic entry key word as trade name, select search, server receives this information, search the class number of these commodity, obtain its position coordinates, this coordinate figure is turned back to mobile intelligent terminal, and show its position in the supermarket plane map of mobile intelligent terminal; And according to commodity and user's relative position, complete the mark in path, simultaneously for user draws out the route from current point to required purchase commodity; If user have selected multiple commodity, obtain the position of multiple commodity respectively, calculate the possible path from current location according to each coordinate, choose optimal path and be supplied to user, guide user to complete shopping fast; Consider that when planning user path user buys after commodity complete and need cashier and outlet, cashier and outlet are directly planned in the paths.
Shortcut navigation is specially: mobile intelligent terminal provides conventional position as the shortcut navigation in cashier, outlet, lavatory, and without the need to search, only need user to select your destination at shortcut navigation interface, mobile intelligent terminal directly guides user to arrive destination.
The invention has the beneficial effects as follows: a kind of Supermarket shopping guide system based on wifi indoor positioning technologies of the present invention, can supermarket planimetric map be provided for user and locate in real time, carry out optimum path planning for user or arrive the shortcut navigation of conventional position, make user understand rapidly supermarket integral layout and the position of grasp in real time oneself in supermarket, commodity or conventional position can also be found fast in supermarket.
Accompanying drawing explanation
Fig. 1 is the structural representation of Supermarket shopping guide system of the present invention;
Fig. 2 is the functional schematic of mobile intelligent terminal in Supermarket shopping guide system of the present invention;
Fig. 3 is the real-time positioning principle figure of user in Supermarket shopping guide system of the present invention;
Fig. 4 locates realization flow figure in Supermarket shopping guide system of the present invention;
Fig. 5 is the process flow diagram of supermarket shopping guide and shortcut navigation in Supermarket shopping guide system of the present invention.
In figure, 1. radio node, 2. mobile intelligent terminal, 3. server, 4. database.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
A kind of Supermarket shopping guide system based on wifi indoor positioning technologies of the present invention, structure as shown in Figure 1, comprises radio node 1, mobile intelligent terminal 2, server 3 and database 4.
Wherein, radio node 1 is for locating and communicating; Mobile intelligent terminal 2 is for completing supermarket plane map drafting, Location Request and display, supermarket shopping guide and shortcut navigation; Server 3 is used for responding user and has asked each function, and locates by completing the operation of database 4 and return results; Merchandise news and position thereof and supermarket location fingerprint information is mainly deposited in database 4.
As shown in Figure 2, be divided into supermarket plane map module, the real-time locating module of user, supermarket shopping guide's module, shortcut navigation module, the concrete methods of realizing of its modules is as follows for mobile intelligent terminal 2:
1. supermarket plane map module
Supermarket plane map module contains mark and the Scalable of key position in the drafting of plane map, map.The layout of radio node 1 in whole supermarket and the foundation of database 4 merchandise news and positional information table thereof are needed.According to position coordinates and the spacing of each node, according to certain ratio, first draw the simple and easy profile in supermarket; Again according to the commodity area size that each node comprises, map carries out region differentiation with different colours to it; Special marking is carried out to each conventional position simultaneously, as: the positions such as cashier, outlet, lavatory; Also can realize the mitigation and amplification of map, be user-friendly to.
Wherein, in supermarket, the arrangement of radio node 1 is specially: according to supermarket size and layout, in the supermarket of being placed by radio node 1 (AP) according to certain rule, form a WLAN (wireless local area network), for the location of indoor occupant and the shopping guide of supermarket commodity.
When layout radio node 1, first consider that the radio node 1 of boundary is placed, facilitate the drafting of supermarket map; Secondly, the position of some terrestrial references comprises cashier, outlet and toilet areas and also will place a certain amount of radio node 1; Finally, again according to the freight classification in supermarket and floor area thereof, the layout of radio node 1 is carried out in suitable region of putting each classification commodity, is namely exactly by node binding zonule, can be obtained the position of commodity in this zonule by the position of this node.Radio node 1 is arranged on supermarket shelves top, if in noncommodity region, then installs on the ceiling, avoids the interference because goods and people cause wireless signal; The wireless signal that at least can search more than 4 in any position in region, whole supermarket will be ensured simultaneously.Radio node 1 can select the mini wireless router of TL-WR702N150Mbps, compatible good.
2. the real-time locating module of user
As shown in Figure 3, system adopts the indoor positioning technologies based on wifi to complete supermarket user and locates in real time the real-time locating module schematic diagram of user, and location algorithm is selected based on RSSI location fingerprint method.
Location is mainly divided into fingerprint database collection (namely setting up fingerprint database) and user to locate in real time, as shown in Figure 4.
Before user can use, need staff to complete the collection of fingerprint database, staff uses the information acquisition module of system, gather the wireless signal strength of each reference point, and its coordinate and wireless signal information are stored in a database, as a location fingerprint record.Specific implementation process is: in the supermarket arranging radio node 1, suitable position reference point is chosen according to the layout in supermarket, suggestion is all passage places in supermarket, a reference point is chosen at interval of one meter, then the data acquisition module that system provides is opened, guarantee that mobile phone wifi is opening simultaneously, scan the wireless signal at each reference point place and its intensity according to signal is sorted, then input the position coordinates of this reference point and position coordinates and maximum 4 wireless signal information of intensity are uploaded onto the server 3, by this record data inserting storehouse 4, above-mentioned steps is repeated at each reference point place, location fingerprint information all data inserting storehouses 4 of all reference point, namely the foundation of fingerprint database 4 is completed.
The database 4 set up contains merchandise news table, positional information table and location fingerprint table;
Wherein, merchandise news table comprises merchandise classification numbering, merchandise classification title, trade name, is mainly used in searching of commodity;
Positional information table comprises the MAC Address of radio node 1, ground level coordinate x, y of this radio node 1 of merchandise classification numbering, the binding of such commodity region, is mainly used in determination and the path planning of product locations;
Location fingerprint table comprises the node R SSI information and MAC Address thereof that coordinate x, y of reference position and this reference position collect, and is mainly used in locating in real time in user supermarket.
User is in the real-time location in supermarket: user enters supermarket, user can with the intelligent movable mobile phone of oneself (and without the need to being mobile phone dedicated or terminal, only need guarantee that mobile phone wifi function is opened) scan the Quick Response Code being posted in supermarket, the form of web webpage is adopted to enter the webpage (and without the need to download client) of system, namely plane map interface, supermarket is entered, the wireless signal of scanning input current location also sends it to server 3, server 3 is to this Data Analysis, and in database 4, search the record mated most with this signal, then this position coordinates returned to user and mark on map.
3. supermarket shopping guide module
As shown in Figure 5, user is after completing location, can on the plane map of supermarket by text or phonetic entry key word as trade name etc., select search, server 3 receives this information, searches the class number of these commodity, obtains its position coordinates, this coordinate figure is turned back to mobile intelligent terminal 2, and show its position in the supermarket plane map of mobile intelligent terminal 2; And according to commodity and user's relative position, complete the mark in path, simultaneously for user draws out the route from current point to required purchase commodity; If user have selected multiple commodity, obtain the position of multiple commodity respectively, calculate the possible path from current location according to each coordinate, choose optimal path and be supplied to user, guide user to complete shopping fast; Consider that when planning user path user buys after commodity complete and need cashier and outlet, cashier and outlet are directly planned in the paths.
4. shortcut navigation module
As shown in Figure 5, mobile intelligent terminal 2 provides conventional position as the shortcut navigation in cashier, outlet, lavatory, without the need to search, only needs user to select your destination at shortcut navigation interface, and mobile intelligent terminal 2 directly guides user to arrive destination.
A kind of Supermarket shopping guide system based on wifi indoor positioning technologies of the present invention, uses flow process:
When user needs in supermarket to carry out supermarket shopping guide, with the Quick Response Code in mobile phone (i.e. mobile intelligent terminal 2) scanning supermarket, this system of direct access, then sent request to server 3 by this system, mobile phone can show the plane map in supermarket, contain the profile in supermarket and the sign of layout and gateway, user utilizes locating module in map, show the current location of user in real time, now, voice or text event detection trade name can be utilized, supermarket shopping guide's module shows the position of these commodity and is the route of user planning department from the current location of user to required purchase commodity on map, when user needs to buy multiple commodity, can input multiple key word, system can divide other position according to the current position of user and multiple commodity, for user cooks up an optimal path, guides user the shortest time to complete shopping, when buying one or more commodity to user, cashier and exporting also can be planned in the paths while having carried out the path of user and commodity by system, when user needs to navigate conventional position and cashier, outlet or lavatory etc., user can use shortcut navigation module, and without the need to search, convenient and swift, in above-mentioned whole shopping guide's process, map all can mitigation and amplification, facilitates user to consult a map.
Supermarket shopping guide system of the present invention, the indoor positioning technologies that make use of fully based on wifi achieves supermarket shopping guide, and wifi node cost is low, communication capacity strong, be easy to installation; The layout of radio node 1 completes according to the border in supermarket and layout, and is placed in above supermarket shelves or ceiling, and shelf or people can be prevented the interference of signal; The essential function of wifi network is exactly data transmission in fact, in the use of system, need not involve operator, avoid the waste of customer flow.
System may operate at the self-contained intelligent terminal of consumer, does not need to provide extra equipment, reduces cost; Use web mode to realize this system, namely user be may have access to by browser, avoids download and the installation of APP; This network address is supplied to user in the mode of Quick Response Code, in entrance and supermarket, each visibility point all againsts this Quick Response Code, user was directly scanned Quick Response Code and is used this purchase guiding system before entering supermarket, inputted network address without user, easy to use.
By the binding positions of commodity and radio node 1, when product locations in supermarket is daily put change time, directly the node location of its correspondence is changed, does not need arrangement personnel again to carry out change record etc. to product locations, be convenient to the operation and maintenance in later stage.
System can realize the drafting of supermarket plane map; In map, the positions such as each large class commodity in supermarket, cashier, outlet and lavatory are marked; Map can mitigation and amplification, and the user that is more convenient for checks and uses;
User can use text and voice two kinds of modes to complete the input of key word; Solve the orientation problem of commodity in supermarket, consumer can be assisted to find certain commodity fast; Complete buy multiple commodity optimum path planning and map on path display, by lines and arrow drawn path; Achieve user's whole shopping planning in supermarket, comprise the path planning of cashier and outlet when do shopping and its display on map, directly go checkout when facilitating user to do shopping and leave, avoiding the jam situation generation in supermarket simultaneously; System also added quick search, mainly to the shortcut navigation in cashier, outlet and lavatory etc.

Claims (10)

1. based on a Supermarket shopping guide system for wifi indoor positioning technologies, it is characterized in that, comprise radio node (1), mobile intelligent terminal (2), server (3) and database (4);
Wherein, radio node (1) is for locating and communicating;
Mobile intelligent terminal (2) is for completing supermarket plane map drafting, Location Request and display, supermarket shopping guide and shortcut navigation;
Server (3) is used for responding user and has asked each function, and locates by completing the operation of database (4) and return results;
Merchandise news and position thereof and supermarket location fingerprint information is mainly deposited in database (4).
2. a kind of Supermarket shopping guide system based on wifi indoor positioning technologies according to claim 1, it is characterized in that, described supermarket plane map is drawn has needed the layout of radio node (1) in whole supermarket and the foundation of database (4) merchandise news and positional information table thereof.
3. a kind of Supermarket shopping guide system based on wifi indoor positioning technologies according to claim 2, is characterized in that, described supermarket plane map energy mitigation and amplification.
4. a kind of Supermarket shopping guide system based on wifi indoor positioning technologies according to claim 2, it is characterized in that, in described supermarket, the arrangement of radio node (1) is specially: according to supermarket size and layout, in the supermarket of radio node (1) being placed according to certain rule, form a WLAN (wireless local area network), for the location of indoor occupant and the shopping guide of supermarket commodity;
When layout radio node (1), first consider that the radio node (1) of boundary is placed, facilitate the drafting of supermarket map; Secondly, the position of some terrestrial references comprises cashier, outlet and toilet areas and also will place a certain amount of radio node (1); Finally, again according to the freight classification in supermarket and floor area thereof, the layout of radio node (1) is carried out in suitable region of putting each classification commodity, is namely exactly by node binding zonule, can be obtained the position of commodity in this zonule by the position of this node.
5. a kind of Supermarket shopping guide system based on wifi indoor positioning technologies according to claim 4, it is characterized in that, described radio node (1) is arranged on supermarket shelves top, if in noncommodity region, then install on the ceiling, avoid the interference because goods and people cause wireless signal; The wireless signal that at least can search more than 4 in any position in region, whole supermarket will be ensured simultaneously.
6. a kind of Supermarket shopping guide system based on wifi indoor positioning technologies according to claim 4, is characterized in that, described database (4) contains merchandise news table, positional information table and location fingerprint table;
Wherein, merchandise news table comprises merchandise classification numbering, merchandise classification title, trade name, is mainly used in searching of commodity;
Positional information table comprises the MAC Address of radio node (1), ground level coordinate x, y of this radio node (1) of merchandise classification numbering, the binding of such commodity region, is mainly used in determination and the path planning of product locations;
Location fingerprint table comprises the node R SSI information and MAC Address thereof that coordinate x, y of reference position and this reference position collect, and is mainly used in locating in real time in user supermarket.
7. a kind of Supermarket shopping guide system based on wifi indoor positioning technologies according to claim 6, it is characterized in that, described user supermarket inner position and display adopt based on RSSI location fingerprint method, are divided into and set up fingerprint database (4) and user locates in real time;
Wherein, set up fingerprint database (4), suitable position reference point is chosen according to the layout of radio node in supermarket (1) and the layout in supermarket, scan the wireless signal at each reference point place with the mobile intelligent terminal (2) being in wifi opening and its intensity according to signal is sorted, then the position coordinates of this reference point is inputted and uploaded onto the server (3), by this record data inserting storehouse (4), above-mentioned steps is repeated at each reference point place, the location fingerprint information of all reference point all data inserting storehouse (4), namely the foundation of fingerprint database (4) is completed,
User locates in real time: user opens the supermarket plane map of mobile intelligent terminal (2) in supermarket, scan the wireless signal of current location and send it to server (3), server (3) is to this Data Analysis, and the record mated most with this signal is searched in database (4), then this position coordinates returned to user and mark on map.
8. a kind of Supermarket shopping guide system based on wifi indoor positioning technologies according to claim 7, is characterized in that, when described user locates in real time, the intelligent movable mobile phone of user, by scanning the Quick Response Code puted up in supermarket, enters into plane map interface, supermarket.
9. a kind of Supermarket shopping guide system based on wifi indoor positioning technologies according to claim 7, it is characterized in that, described supermarket shopping guide is specially: on the supermarket plane map of mobile intelligent terminal (2), user by text or phonetic entry key word as trade name, select search, server (3) receives this information, search the class number of these commodity, obtain its position coordinates, this coordinate figure is turned back to mobile intelligent terminal (2), and show its position in the supermarket plane map of mobile intelligent terminal (2); And according to commodity and user's relative position, complete the mark in path, simultaneously for user draws out the route from current point to required purchase commodity; If user have selected multiple commodity, obtain the position of multiple commodity respectively, calculate the possible path from current location according to each coordinate, choose optimal path and be supplied to user, guide user to complete shopping fast; Consider that when planning user path user buys after commodity complete and need cashier and outlet, cashier and outlet are directly planned in the paths.
10. a kind of Supermarket shopping guide system based on wifi indoor positioning technologies according to claim 9, it is characterized in that, described shortcut navigation is specially: mobile intelligent terminal (2) provides conventional position as the shortcut navigation in cashier, outlet, lavatory, without the need to search, only need user to select your destination at shortcut navigation interface, mobile intelligent terminal (2) directly guides user to arrive destination.
CN201511022881.8A 2015-12-30 2015-12-30 Supermarket shopping guide system based on wifi indoor positioning technology Pending CN105469166A (en)

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Application publication date: 20160406