CN107328426A - A kind of indoor positioning air navigation aid and system suitable for people with visual impairment - Google Patents
A kind of indoor positioning air navigation aid and system suitable for people with visual impairment Download PDFInfo
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- CN107328426A CN107328426A CN201710434231.7A CN201710434231A CN107328426A CN 107328426 A CN107328426 A CN 107328426A CN 201710434231 A CN201710434231 A CN 201710434231A CN 107328426 A CN107328426 A CN 107328426A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3605—Destination input or retrieval
- G01C21/3608—Destination input or retrieval using speech input, e.g. using speech recognition
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3629—Guidance using speech or audio output, e.g. text-to-speech
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- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
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- General Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
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Abstract
The invention provides a kind of indoor positioning air navigation aid and system suitable for people with visual impairment, user terminal performs following steps：Environmental data receiving step, for receiving the environmental data that environment probe unit is collected；Two dimensional topology figure asks forwarding step, sends and asks to server, and request provides the two dimensional topology figure of this building；Positioning step, the current location of user is calculated by two dimensional topology figure combination user's mobile data；Navigation step, federated user current location and destination, an optimal route is calculated using Route Planning Algorithm, and carry out Voice Navigation for user, during Voice Navigation, when environment detection unit detects barrier, receive the transmission of environment probe unit has barrier data message, and voice message user gets around barrier.The beneficial effects of the invention are as follows：The present invention is applied to all types of user crowd, especially has good booster action, the popularization and application of value to vision disorder crowd.
Description
Technical field
The present invention relates to indoor positioning and field of navigation technology, more particularly to a kind of interior suitable for people with visual impairment are fixed
Position air navigation aid and system.
Background technology
Current China vision disorder people person's quantity alreadys exceed 10,000,000, and also this growth of this numeral.Vision disorder
Person's quantity is so much, and that why sees in our daily lifes is seldomBecause they dare not really go out.It is almost all of
Communal facility, is all far from being friendly to people with visual impairment.It is unfriendly due to facility and traffic, if nobody accompanies, eyesight
It is difficult to move even one step that obstacle person can be described as.So, they go out, need people with.This adds many costs to going out, not only
It is monetary cost.We should not only require that government continues to put into effect more complete policy and regulation, or produce more
Be conducive to the product of people with visual impairment daily life.Vision disorder crowd is so huge, it should obtain personages of various circles of society's
Love and treatment.As ordinary people, we itself should also do a little things in power for disabled person.
How destination is smoothly run to, be a lead-pipe cinch feelings for ordinary people, but for eyesight
Obstacle person, is the significant problem that they face.Most of building of China all do not account for people with visual impairment this
Special colony and be designed.This causes them not live independently, even safely walks.Although current market has
Many products navigated for vision disorder crowd, but they have the shortcomings that very big, can not yet meet people with visual impairment daily
Life requirement.
The content of the invention
The invention provides a kind of indoor positioning air navigation aid suitable for people with visual impairment, user terminal performs following step
Suddenly：
Environmental data receiving step, for receiving the environmental data that environment probe unit is collected；
Two dimensional topology figure asks forwarding step, the corresponding one or more WIFI of detection building, and uses WIFI correspondences
The MAC Address of router send and ask to server, request provides the two dimensional topology figure of this building；
Positioning step, the two dimensional topology figure that the reception server is sent, passes through two dimensional topology figure combination user's mobile data meter
The current location of user, the present position of voice message user are calculated, and inquires the destination that user wants；
Navigation step, receives the destination phonetic order that user says, federated user current location and destination, uses road
Line planning algorithm calculates an optimal route, and carries out Voice Navigation for user, during Voice Navigation, when environment is visited
When survey unit detects barrier, receive the transmission of environment probe unit has barrier data message, and voice message user
Get around barrier.
As a further improvement on the present invention, in the positioning step, according to two dimensional topology figure and user's current environment
Information carries out preliminary indoor positioning information using SLAM location algorithms, then using WIFI and inertance element to preliminary interior
Location information is further calibrated, so as to obtain position of the user on two dimensional topology figure.
As a further improvement on the present invention, in the navigation step, calculated using Dijkstra Route Planning Algorithms
Go out an optimal route；In the navigation step, user according in given circuit walking process, according to inertance element and
Displacement of the user on map, calculates the average paces distance of user, so as to guide user to move ahead by step number.
As a further improvement on the present invention, the environment detection unit includes：
Laser radar unit, for detecting the environment around user；
Obstacle detection unit, for detecting in laser radar unit check frequency, the barrier in front of user.
As a further improvement on the present invention, portable equipment gathers constructure inner structure using transportable laser radar
Data, obtain the indoor two dimensional topology figure of the building, and be allowed to be associated with one using instant positioning with layout reconfiguration technique
Or the MAC Address of multiple WIFI routers, then the two dimensional topology diagram data and the MAC Address of association are uploaded and preserved to clothes
Business device.
Present invention also offers a kind of indoor positioning navigation system suitable for people with visual impairment, user terminal performs as follows
Module：
Environmental data receiving module, for receiving the environmental data that environment probe unit is collected；
Two dimensional topology figure request sending module, for detecting the corresponding one or more WIFI of building, and uses WIFI
The MAC Address of corresponding router sends to server and asked, and request provides the two dimensional topology figure of this building；
Locating module, the two dimensional topology figure sent for the reception server moves number by two dimensional topology figure combination user
According to the current location for calculating user, the present position of voice message user, and inquire the destination that user wants；
Navigation module, for receiving the destination phonetic order that user says, federated user current location and destination, makes
An optimal route is calculated with Route Planning Algorithm, and Voice Navigation is carried out for user, during Voice Navigation, works as ring
When border probe unit detects barrier, receive the transmission of environment probe unit has barrier data message, and voice message
User gets around barrier.
As a further improvement on the present invention, in the locating module, according to two dimensional topology figure and user's current environment
Information carries out preliminary indoor positioning information using SLAM location algorithms, then using WIFI and inertance element to preliminary interior
Location information is further calibrated, so as to obtain position of the user on two dimensional topology figure.
As a further improvement on the present invention, in the navigation module, calculated using Dijkstra Route Planning Algorithms
Go out an optimal route；In the navigation module, user according in given circuit walking process, according to inertance element and
Displacement of the user on map, calculates the average paces distance of user, so as to guide user to move ahead by step number.
As a further improvement on the present invention, the environment detection unit includes：
Laser radar unit, for detecting the environment around user；
Obstacle detection unit, for detecting in laser radar unit check frequency, the barrier in front of user.
As a further improvement on the present invention, portable equipment gathers constructure inner structure using transportable laser radar
Data, obtain the indoor two dimensional topology figure of the building, and be allowed to be associated with one using instant positioning with layout reconfiguration technique
Or the MAC Address of multiple WIFI routers, then the two dimensional topology diagram data and the MAC Address of association are uploaded and preserved to clothes
Business device.
The beneficial effects of the invention are as follows：The present invention is applied to all types of user crowd, especially has very to vision disorder crowd
Good booster action, the popularization and application of value.
Brief description of the drawings
Fig. 1 is the portable equipment structural representation of the present invention.
Fig. 2 is the use flow chart of the provider of the present invention.
Fig. 3 is the use flow chart of the general user of the present invention.
Embodiment
In the present invention, there are two classes for user：Provider and general user, general user include vision disorder use
Family.
Interior of building is scanned using portable equipment in provider, obtains the corresponding two dimensional topology figure of the building and makes
The MAC Address of one or more WIFI routers with the building associate, the portable equipment is then operated, by two
Dimension layout and the MAC Address of association are sent in Cloud Server by global network and saved.
As shown in figure 1, portable equipment includes transportable laser radar system, WIFI module and 4G mobile communication modules,
Portable equipment gathers constructure inner structure data using transportable laser radar, utilizes instant positioning and layout reconfiguration technique
The indoor two dimensional topology figure of the building is obtained, and is allowed to be associated with one or more WIFI router mac address, then should
Layout data and the MAC Address of association, which are uploaded, to be preserved to cloud server end.For the ease of indoor positioning and navigation Service
Provider is used, so being fabricated to the equipment of hand-held, some intelligence can be mounted to by being certainly also fabricated to portable equipment
Its upper side part, such as being mounted to telecar, unmanned plane.Consequently, it is possible to which implementer only needs hand-held equipment collection building
Thing internal structure data, or allow the smart machine of the carry part to go collection constructure inner structure data without implementing
Person goes in person.Because transportable laser radar system can collect constructure inner structure data, and average weight, therefore this reality
Apply example and use it.In addition, for the two dimensional topology figure collected, being associated with the MAC Address of the WIFI routers of the building
Get up, the present embodiment is the subsidiary WIFI module of this portable equipment.Why they are associated, be because when user enters
When entering a building, by detecting the MAC Address of WIFI routers in this building, then found according to this address
The corresponding two dimensional topology figure of the building.Amazon Cloud Server is just used in the present embodiment, without using home server.When
So, the cloud service that other Cloud Server providers can also be used to provide.In order to transmit data in Cloud Server, this implementation
Example is the subsidiary 4G mobile communication module of this portable equipment, it is utilized 4G mobile communication technologies and Cloud Server
Communication.Certainly, this equipment directly can also be communicated using can connect to the WIFI of public network with Cloud Server.
General user uses user terminal, and user terminal can be smart mobile phone, the flat board for being provided with application program
The electronic equipments such as computer.Environment detection unit includes laser radar unit and obstacle detection unit, and laser radar unit is worn over use
The shoulder at family, forms shoulder and wears formula equipment；Obstacle detection unit is worn over the shank position of user, forms shank and wears formula equipment.User
Take user terminal and carrying shoulder wears formula equipment and shank is worn formula equipment and stepped into building, user terminal can use voice message
User is the location of present, and then voice can be used to provide the destination thought for user, then user terminal can be carried with voice
Show how user walks to destination.After user has used this technology certain time, this technology can calculate one step of user
The size cut down, therefore when voice message user, paces can be used as the unit of distance.Consequently, it is possible to which voice is carried
Show for vision disorder user, can be more friendly.
Shoulder wears formula equipment and shank to wear formula equipment connected using the smart mobile phone of Bluetooth technology and user, to carry out
Data communication.This shoulder wears the environment that formula equipment utilization laser radar system scans user's surrounding, and by the environment detection of acquisition
Data are sent to user terminal.The scanning range of laser radar adopted here is a level, centered on its own
360 degree of planes.Because the neck of user can block the scanning of a part, thus its horizontal scan angle about in 180 degree and
In the range of 270 degree, without reaching 360 degree.But the angle that the SLAM algorithms taken in the present embodiment are not required for scanning reaches
To 360 degree.Shank wears formula equipment using the front of the depth camera detection user based on time-of-flight and positioned at shoulder
Wear the barrier in formula device scan blind area.When barrier in front of detection hinders user's walking, it can send out to user terminal
Warning information is sent, then user terminal issues the user with voice alarm.
The invention discloses a kind of indoor positioning air navigation aid suitable for people with visual impairment, user terminal performs following step
Suddenly：
Environmental data receiving step, for receiving the environmental data that environment probe unit is collected；
Two dimensional topology figure asks forwarding step, the corresponding one or more WIFI of detection building, and uses WIFI correspondences
The MAC Address of router send and ask to server, request provides the two dimensional topology figure of this building；
Positioning step, the two dimensional topology figure that the reception server is sent, passes through two dimensional topology figure combination user's mobile data meter
The current location of user, the present position of voice message user are calculated, and inquires the destination that user wants；
User's mobile data refers to the data that the usual unit in user terminal is gathered.
Navigation step, receives the destination phonetic order that user says, federated user current location and destination, uses road
Line planning algorithm calculates an optimal route, and carries out Voice Navigation for user, during Voice Navigation, when environment is visited
When survey unit detects barrier, receive the transmission of environment probe unit has barrier data message, and voice message user
Get around barrier.
In the positioning step, SLAM is used according to two dimensional topology figure and user's current context information
(Simultaneous Localization And Mapping) location algorithm carries out preliminary indoor positioning information, then adopts
Preliminary indoor positioning information is further calibrated with WIFI and inertance element, so as to obtain user on two dimensional topology figure
Position.Specifically, it is that user carries out preliminary interior that shoulder, which wears environment detection data that formula equipment gathered using SLAW algorithms,
Positioning, is then positioned into the further calibration of row, to improve positioning with inertance element indoor positioning technologies using WIFI to this
Precision.
In the navigation step, an optimal route is calculated using Dijkstra Route Planning Algorithms；Described
In navigation step, user is according in given circuit walking process, according to the displacement of inertance element and user on map, calculates
Go out the average paces distance of user, so as to guide user to move ahead by step number.
By change of the usual unit of user terminal in user's walking, user is distinguished within walking certain time
Paces number, at the same time, application program can record walking distance of the user within this time, and use is calculated then in conjunction with both
The average paces in family apart from size.
The use flow of general user is as follows：1. when user puts on and starts that shoulder wears formula and shank wears formula equipment, start this
After application program, the neighbouring equipment of this application scan simultaneously carries out bluetooth connection automatically, and then shoulder wears formula and shank wears formula equipment
The data each collected are constantly sent to smart mobile phone；2. application program receives these data, and detect building where user
The corresponding one or more WIFI of thing are built, and are sent out using the MAC Address of the corresponding routers of these WIFI to Cloud Server unit
Request is sent, request provides the two dimensional topology of this building；3. Cloud Server is received after this request, this MAC Address correspondence is returned
Two dimensional topology figure, this two dimensional topology figure is the two dimensional topology figure of this building；4. this application program receive this two
Tie up after layout, joint shoulder wears data and user's mobile data that formula equipment is collected, calculates the current location of user, then
The present position of voice message user, and inquire that user wants the destination gone to；5. user says the purpose for wanting to go to
Ground；6. this application program receives this order, federated user current location and destination, using Route Planning Algorithm, calculate
Go out an optimal route, and Voice Navigation is carried out for user.During Voice Navigation, wearing formula equipment due to shank can not
Break and detect in front of user and the barrier in formula device scan blind area is worn positioned at shoulder, when discovery barrier, this application program
Corresponding prompting can be provided；In addition application program can also calculate the size of the average paces of user.
Performed the invention also discloses a kind of indoor positioning navigation system suitable for people with visual impairment, including user terminal
Following module：
Environmental data receiving module, for receiving the environmental data that environment probe unit is collected；
Two dimensional topology figure request sending module, for detecting the corresponding one or more WIFI of building, and uses WIFI
The MAC Address of corresponding router sends to server and asked, and request provides the two dimensional topology figure of this building；
Locating module, the two dimensional topology figure sent for the reception server moves number by two dimensional topology figure combination user
According to the current location for calculating user, the present position of voice message user, and inquire the destination that user wants；
Locating module, the two dimensional topology figure sent for the reception server moves number by two dimensional topology figure combination user
According to the current location for calculating user, the present position of voice message user, and inquire the destination that user wants；
In the locating module, carried out according to two dimensional topology figure and user's current context information using SLAM location algorithms
Preliminary indoor positioning information, is then further calibrated using WIFI and inertance element to preliminary indoor positioning information,
So as to obtain position of the user on two dimensional topology figure.
In the navigation module, an optimal route is calculated using Dijkstra Route Planning Algorithms；Described
In navigation module, user is according in given circuit walking process, according to the displacement of inertance element and user on map, calculates
Go out the average paces distance of user, so as to guide user to move ahead by step number.
Indoor positioning navigation system includes：Portable equipment gathers constructure inner structure number using transportable laser radar
According to, obtain the indoor two dimensional topology figure of the building with layout reconfiguration technique using instant positioning, and be allowed to be associated with one or
The MAC Address of multiple WIFI routers, then the two dimensional topology diagram data and the MAC Address of association are uploaded preserve to cloud clothes
Business device.
The present invention is applied to all types of user crowd, especially have good booster action to vision disorder crowd, and value is pushed away
Wide application.
To sum up, in the present invention there is provided business (such as store) in advance using portable laser radar collection interior of building
Structured data, calculates the indoor two dimensional topology figure of the building using instant positioning with layout reconfiguration technique, and by the layout
Upload onto the server end (including home server or Cloud Server)；2. user environment probe unit and user terminal
(including smart machine), is detected and is perceived to the indoor environment that it is presently in, and obtains user's using smart machine
Mobile message, then uploads onto the server corresponding data end or the indoor arrangement that gets from server end residing building
Figure；3. environment detection data and user's mobile data that server or local intelligent equipment utilization user upload/got, are adopted
Even if current environment layout is calculated with instant positioning and map restructing algorithm, and the existing indoor two dimensional topology figure of combination is obtained and used
The current indoor location in family.Meanwhile, with reference to user's mobile data, further school is carried out to position by the way of closed loop feedback
Standard, to improve positioning precision；4. the destination locations provided according to user, optimal route, and profit are calculated using path planning algorithm
With interactive unit, guiding user moves towards destination, so as to complete navigation task.The existing indoor positioning of contrast and airmanship, this hair
It is bright to be combined inertial navigation technology with map reconfiguration technique with positioning immediately, the deficiency of existing indoor navigation technology is improved,
Improve the precision and reliability of navigation.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (10)
1. a kind of indoor positioning air navigation aid suitable for people with visual impairment, it is characterised in that user terminal performs following steps：
Environmental data receiving step, for receiving the environmental data that environment probe unit is collected；
Two dimensional topology figure asks forwarding step, the corresponding one or more WIFI of detection building, and uses the corresponding roads of WIFI
Send and ask from the MAC Address of device to server, request provides the two dimensional topology figure of this building；
Positioning step, the two dimensional topology figure that the reception server is sent, is calculated by two dimensional topology figure combination user's mobile data
The current location of user, the present position of voice message user, and inquire the destination that user wants；
Navigation step, is received the destination phonetic order that user says, federated user current location and destination, is advised using route
Method to one's profit calculates an optimal route, and carries out Voice Navigation for user, during Voice Navigation, when environment detection list
When member detects barrier, receive the transmission of environment probe unit has barrier data message, and voice message user gets around
Barrier.
2. indoor positioning air navigation aid according to claim 1, it is characterised in that in the positioning step, according to two
Tie up layout and user's current context information and preliminary indoor positioning information is carried out using SLAM location algorithms, then using WIFI
Preliminary indoor positioning information is further calibrated with inertance element, so as to obtain position of the user on two dimensional topology figure
Put.
3. indoor positioning air navigation aid according to claim 1, it is characterised in that in the navigation step, use
Dijkstra Route Planning Algorithms calculate an optimal route；In the navigation step, user is according to given circuit row
During walking, according to the displacement of inertance element and user on map, the average paces distance of user is calculated, so that logical
Step number guiding user is crossed to move ahead.
4. indoor positioning air navigation aid according to claim 1, it is characterised in that the environment detection unit includes：
Laser radar unit, for detecting the environment around user；
Obstacle detection unit, for detecting in laser radar unit check frequency, the barrier in front of user.
5. indoor positioning air navigation aid according to claim 1, it is characterised in that portable equipment uses mobile laser
Radar gathers constructure inner structure data, obtains the two-dimentional cloth in interior of the building with being laid out reconfiguration technique using instant positioning
Office's figure, and it is allowed to be associated with the MAC Address of one or more WIFI routers, then by the two dimensional topology diagram data and association
MAC Address upload and preserve to server.
6. a kind of indoor positioning navigation system suitable for people with visual impairment, it is characterised in that user terminal performs following module：
Environmental data receiving module, for receiving the environmental data that environment probe unit is collected；
Two dimensional topology figure request sending module, for detecting the corresponding one or more WIFI of building, and uses WIFI correspondences
The MAC Address of router send and ask to server, request provides the two dimensional topology figure of this building；
Locating module, the two dimensional topology figure sent for the reception server, passes through two dimensional topology figure combination user's mobile data meter
The current location of user, the present position of voice message user are calculated, and inquires the destination that user wants；
Navigation module, for receiving the destination phonetic order that user says, federated user current location and destination, uses road
Line planning algorithm calculates an optimal route, and carries out Voice Navigation for user, during Voice Navigation, when environment is visited
When survey unit detects barrier, receive the transmission of environment probe unit has barrier data message, and voice message user
Get around barrier.
7. indoor positioning navigation system according to claim 6, it is characterised in that in the locating module, according to two
Tie up layout and user's current context information and preliminary indoor positioning information is carried out using SLAM location algorithms, then using WIFI
Preliminary indoor positioning information is further calibrated with inertance element, so as to obtain position of the user on two dimensional topology figure
Put.
8. indoor positioning navigation system according to claim 6, it is characterised in that in the navigation module, use
Dijkstra Route Planning Algorithms calculate an optimal route；In the navigation module, user is according to given circuit row
During walking, according to the displacement of inertance element and user on map, the average paces distance of user is calculated, so that logical
Step number guiding user is crossed to move ahead.
9. indoor positioning navigation system according to claim 6, it is characterised in that the environment detection unit includes：
Laser radar unit, for detecting the environment around user；
Obstacle detection unit, for detecting in laser radar unit check frequency, the barrier in front of user.
10. indoor positioning navigation system according to claim 6, it is characterised in that portable equipment is swashed using portable
Optical radar gathers constructure inner structure data, and the interior two dimension of the building is obtained using instant positioning and layout reconfiguration technique
Layout, and it is allowed to be associated with the MAC Address of one or more WIFI routers, then by the two dimensional topology diagram data and pass
The MAC Address of connection, which is uploaded, to be preserved to server.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/092770 WO2018223490A1 (en) | 2017-05-23 | 2017-07-13 | Indoor positioning and navigating method and system suitable for person with visual impairment |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710370497 | 2017-05-23 | ||
| CN201710370497X | 2017-05-23 |
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| CN107328426A true CN107328426A (en) | 2017-11-07 |
| CN107328426B CN107328426B (en) | 2019-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710434231.7A Active CN107328426B (en) | 2017-05-23 | 2017-06-09 | A kind of indoor positioning navigation methods and systems suitable for people with visual impairment |
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| WO (1) | WO2018223490A1 (en) |
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| CN107976191A (en) * | 2017-11-10 | 2018-05-01 | 北京金坤科创技术有限公司 | A kind of indoor positioning navigation system and method towards visually impaired person |
| CN108095987A (en) * | 2017-12-06 | 2018-06-01 | 英业达科技有限公司 | Visually impaired navigation system and its method |
| CN112066995A (en) * | 2020-10-23 | 2020-12-11 | 合肥斌能信息科技有限公司 | Intelligent interactive indoor navigation system |
| CN112197777A (en) * | 2020-08-28 | 2021-01-08 | 星络智能科技有限公司 | Blind person navigation method, server and computer readable storage medium |
| CN112198810A (en) * | 2020-11-06 | 2021-01-08 | 青岛海尔空调器有限总公司 | Method and device for navigation control of intelligent household equipment and intelligent household equipment |
| CN113687810A (en) * | 2021-05-25 | 2021-11-23 | 青岛海尔科技有限公司 | Voice navigation method and device, storage medium and electronic equipment |
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| EP3851797A1 (en) | 2020-01-14 | 2021-07-21 | Tata Consultancy Services Limited | Systems and methods for performing inclusive indoor navigation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107976191A (en) * | 2017-11-10 | 2018-05-01 | 北京金坤科创技术有限公司 | A kind of indoor positioning navigation system and method towards visually impaired person |
| CN108095987A (en) * | 2017-12-06 | 2018-06-01 | 英业达科技有限公司 | Visually impaired navigation system and its method |
| CN112197777A (en) * | 2020-08-28 | 2021-01-08 | 星络智能科技有限公司 | Blind person navigation method, server and computer readable storage medium |
| CN112066995A (en) * | 2020-10-23 | 2020-12-11 | 合肥斌能信息科技有限公司 | Intelligent interactive indoor navigation system |
| CN112198810A (en) * | 2020-11-06 | 2021-01-08 | 青岛海尔空调器有限总公司 | Method and device for navigation control of intelligent household equipment and intelligent household equipment |
| WO2022095787A1 (en) * | 2020-11-06 | 2022-05-12 | 青岛海尔空调器有限总公司 | Method and apparatus for navigation control of smart home device, and smart home device |
| CN113687810A (en) * | 2021-05-25 | 2021-11-23 | 青岛海尔科技有限公司 | Voice navigation method and device, storage medium and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107328426B (en) | 2019-05-07 |
| WO2018223490A1 (en) | 2018-12-13 |
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