CN107820562A - A kind of air navigation aid, device and electronic equipment - Google Patents
A kind of air navigation aid, device and electronic equipment Download PDFInfo
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- CN107820562A CN107820562A CN201780001818.7A CN201780001818A CN107820562A CN 107820562 A CN107820562 A CN 107820562A CN 201780001818 A CN201780001818 A CN 201780001818A CN 107820562 A CN107820562 A CN 107820562A
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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
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Abstract
The present invention relates to field of navigation technology, discloses a kind of air navigation aid, device and electronic equipment.The air navigation aid includes：In navigation procedure, monitor whether the object being navigated is located at complex region；If the object is not located at the complex region, navigated using default first navigation pattern；If the object is located at the complex region, navigated using default second navigation pattern；Wherein, the navigation accuracy of the second navigation pattern is more than the navigation accuracy of the described first navigation pattern.The embodiment can switch to its corresponding navigation pattern according to specific application scenarios, enrich air navigation aid, improve the accuracy of navigation, it is ensured that be navigated the security of object.
Description
【Technical field】
The present invention relates to field of navigation technology, more particularly to a kind of air navigation aid, device and electronic equipment.
【Background technology】
With the development of electronic technology and the popularization of airmanship, various navigation terminal equipment are widely used, such as specially
The GPS navigation mobile phone designed for visually impaired people, it can provide current positional information to user by voice mode.
The various guiders used at present are typically all to use fixed navigation pattern, such as, in navigation procedure always
Using it is a kind of or always use identical type navigation mode.
However, if same or identical type navigation mode is used always, it is impossible to adapt to different applied fields
Scape, and if using high-precision navigation mode always, electricity and network traffics can be caused to produce unnecessary waste.
【The content of the invention】
The embodiment of the present invention solves mainly solving the technical problems that providing a kind of air navigation aid, device and electronic equipment
The problem of navigation mode switches can not be carried out in correlation technique according to different application scenarios.
In order to solve the above technical problems, the technical scheme that the embodiment of the present invention uses is：A kind of air navigation aid is provided,
This method includes：
In navigation procedure, monitor whether the object being navigated is located at complex region；
If the object is not located at the complex region, navigated using default first navigation pattern；
If the object is located at the complex region, navigated using default second navigation pattern；Wherein, it is described
The navigation accuracy of second navigation pattern is more than the navigation accuracy of the described first navigation pattern.
Alternatively, the air navigation aid is specifically used for guide.
Alternatively, if the object is located at the complex region, led using default second navigation pattern
Boat, including：
Obtain map corresponding to the complex region；
According to the map, the sub- guidance path of the complex region is obtained；
Based on the sub- guidance path, by the way of vision positioning navigation, either the mode of bluetooth location navigation or
The mode of UWB location navigations is navigated.
Alternatively, it is described to be navigated or entered using default second navigation pattern using default first navigation pattern
Row navigation, including：
Obtain current guidance path；
Path trace is carried out to electronic equipment based on the current guidance path, to prompt the side that the object advances
To.
Alternatively, it is described that path trace is carried out to electronic equipment based on the current guidance path, it is described right to prompt
As the direction of advance, including：
Gather the image of scene of the electronic equipment when advancing on the guidance path in preset range；
Described image is analyzed, calculates the position and attitude of the relatively described guidance path of the object；
According to the position and attitude calculated, the prompt message of the direction of advance of the object is exported.
In order to solve the above technical problems, another technical scheme that the embodiment of the present invention uses is：A kind of navigation dress is provided
Put, including：
Monitoring modular, in navigation procedure, monitoring whether the object being navigated is located at complex region；
First navigation module, if not being located at the complex region for the object, using the default first navigation mould
Formula is navigated；
Second navigation module, if being located at the complex region for the object, using the default second navigation pattern
Navigated；Wherein, the navigation accuracy of the second navigation pattern is more than the navigation accuracy of the described first navigation pattern.
Alternatively, the guider is specifically used for guide.
Alternatively, second navigation module includes：
First acquisition unit, for obtaining map corresponding to the complex region；
Second acquisition unit, for according to the map, obtaining the sub- guidance path of the complex region；
Navigation elements, for based on the sub- guidance path, by the way of vision positioning navigation, or bluetooth positioning to be led
The mode of boat, or the mode of UWB location navigations are navigated.
Alternatively, first navigation module or second navigation module include：3rd acquiring unit and tracking are single
Member,
3rd acquiring unit is used to obtain current guidance path；
The tracking cell is used to carry out path trace to electronic equipment based on the current guidance path, to prompt
State the direction of object advance.
Alternatively, the tracking cell includes：
Subelement is gathered, for gathering scene of the electronic equipment when advancing on the guidance path in preset range
Image；
Computation subunit, for analyzing described image, calculate the position and attitude of the relatively described guidance path of the object；
Subelement is exported, for according to the position and attitude calculated, exporting the prompting of the direction of advance of the object
Information.
In order to solve the above technical problems, another technical scheme that the embodiment of the present invention uses is：A kind of electronics is provided to set
It is standby, including：At least one processor；And the memory being connected with least one processor communication；Wherein, it is described to deposit
Reservoir is stored with can be by the instruction repertorie of at least one computing device, and the instruction repertorie is by least one processing
Device performs, so that at least one computing device method as described above.
In order to solve the above technical problems, another technical scheme that the embodiment of the present invention uses is：There is provided a kind of non-volatile
Property computer-readable recording medium, the non-volatile computer readable storage medium storing program for executing are stored with computer executable instructions, institute
Computer executable instructions are stated to be used to make computer perform method as described above.
In order to solve the above technical problems, the also technical scheme that the embodiment of the present invention uses is：A kind of computer is provided
Program product, the computer program product include：Non-volatile computer readable storage medium storing program for executing and be embedded in it is described it is non-easily
The computer program instructions of the property lost computer-readable recording medium；The computer program instructions are included to make computing device
The instruction of method as described above.
In embodiments of the present invention, by being monitored to the object being navigated, judge whether it is located at complex region,
Navigated when it is not located at complex region using the first navigation pattern, when it is located at complex region using the second navigation pattern
Navigated, the switching of two kinds of navigation patterns is carried out according to the currently located scene of the object.The embodiment being capable of basis
Specific application scenarios switch to its corresponding navigation pattern, not only enrich air navigation aid, and improve the accurate of navigation
Property and be navigated the security of object.
【Brief description of the drawings】
One or more embodiments are illustrative by the picture in corresponding accompanying drawing, these exemplary theorys
The bright restriction not formed to embodiment, the element for having same reference numbers label in accompanying drawing are expressed as similar element, removed
Non- have a special statement, and composition does not limit the figure in accompanying drawing.
Fig. 1 is a kind of schematic flow sheet of air navigation aid provided in an embodiment of the present invention；
Fig. 2 is to be navigated in a kind of air navigation aid provided in an embodiment of the present invention using default first navigation pattern
The schematic flow sheet of method；
Fig. 3 be in a kind of air navigation aid provided in an embodiment of the present invention it is a kind of based on current guidance path to electronic equipment
Path trace is carried out, to prompt the schematic flow sheet of the method in the direction of object advance；
Fig. 4 is that another kind is set based on current guidance path to electronics in a kind of air navigation aid provided in an embodiment of the present invention
It is standby to carry out path trace, to prompt the schematic flow sheet of the method in the direction of object advance；
Fig. 5 is to be navigated in a kind of air navigation aid provided in an embodiment of the present invention using default second navigation pattern
The schematic flow sheet of method；
Fig. 6 is a kind of schematic diagram of guidance path in a kind of air navigation aid provided in an embodiment of the present invention；
Fig. 7 is a kind of structural representation of guider provided in an embodiment of the present invention；
Fig. 8 is the hardware architecture diagram of the electronic equipment of execution air navigation aid provided in an embodiment of the present invention.
【Embodiment】
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
If it should be noted that not conflicting, each feature in the embodiment of the present invention and embodiment can be tied mutually
Close, within protection scope of the present invention.In addition, though logical order is shown in flow charts, but in some situations
Under, can be with the step shown or described by being performed different from order herein.In addition, " first " " second " employed herein
Data and execution order are not defined Deng printed words, are only that function and the essentially identical identical entry of effect or similar item are entered
Row is distinguished.
The embodiments of the invention provide a kind of air navigation aid, this method go for portable equipment, Wearable,
The electronic equipments such as blind-guidance robot, pilotless automobile, wherein, the portable equipment includes smart mobile phone, tablet personal computer, portable
Formula computer etc., the Wearable include Intelligent bracelet, intelligent glasses etc..Wherein, methods described can be with smart mobile phone
Or the APP modes run on tablet personal computer realize or portable computer in the software installed, can also be described
System software functional mode in blind-guidance robot, pilotless automobile, Intelligent bracelet or intelligent glasses is realized.Such as Fig. 1 institutes
Show, the air navigation aid includes：
Step 11, in navigation procedure, monitor whether the object being navigated is located at complex region.
Wherein, the object being navigated can be natural person or pilotless automobile, can also be other electronics
Equipment.The complex region refers to the complicated region in geographical position, its whether be complex region can by user or system from
Definition, for example it is complex region to set crossroad, the junction of three roads, overline bridge, underpass etc..Can also according to flow of the people or
Vehicle flowrate determines complex region, if a certain region flow of the people or vehicle flowrate are very big, defines the area as complex region.Also
Complex region can be defined by other means.
In the present embodiment, global path planning, i.e., the destination inputted according to user, it is determined that navigation can be carried out first
Path.The guidance path is whole roads from the current position of the object to the destination, and the complex region is
Some of complex section on the guidance path.
In navigation procedure, based on the guidance path, judge whether the object is currently located at the complex region, have
Body judge method can obtain the provincial characteristics that the object is presently in region, by the provincial characteristics with it is default multiple
The provincial characteristics in miscellaneous region is matched, consistent if there is at least one characteristic matching, it is determined that the object is currently located at
Complex region.Judge whether the object is currently located at the complex region, the method specifically judged is also possible that acquisition is current
The image in region, judge whether the region is complex region by image procossing and image recognition.Its other party can also be passed through
Formula judges whether the object is located at complex region.
If step 12, the object are not located at the complex region, navigated using default first navigation pattern.
In the present embodiment, when the current scene of the object is not any one in above-mentioned complex region, according to
Default first navigation pattern is navigated.
The first navigation pattern can use the navigation mode based on GPS ripe at present, such as by with accessing Baidu
The interface of the open systems such as figure, Google Maps, high moral map obtains location information, so as to realizing the first navigation pattern；
Or the location information that is provided according to GPS positioning system built-in in intelligent terminal realizes the first navigation pattern；Or
The location information provided according to external positioner realizes the first navigation pattern.
In the present embodiment, during being navigated using the first navigation pattern, can use path trace module with
The path of track object, prompting is sent to the object that deviate from guidance path in time, avoid going to the wrong way or surprisingly occur.Specifically,
As shown in Fig. 2 carrying out navigation using default first navigation pattern includes：
Step 201, obtain current guidance path；
Step 202, based on the current guidance path to electronic equipment carry out path trace, before prompting the object
The direction entered.
Wherein, the current guidance path is the guidance path under the first navigation pattern, and the guidance path does not wrap
Containing above-mentioned complex region.Path trace is carried out to electronic equipment on the guidance path, the electronic equipment is to perform the navigation
The electronic equipment of method, and the change in location situation of the electronic equipment is synchronous with the change in location situation of the object and phase
Together, therefore, the action path of electronic equipment in itself is tracked and that is to say to object progress path trace.
In the present embodiment, as shown in figure 3, it is described based on the current guidance path to electronic equipment carry out path with
Track, to prompt the direction that the object advances, including：
The image of the scene of step 301, the collection electronic equipment when advancing on the guidance path in preset range.
The electronic equipment can be gathered by the camera set on the electronic equipment to go forward in the guidance path
The image of scene when entering.
Step 302, analysis described image, calculate the position and attitude of the relatively described guidance path of the object.
The orientation and 3 d pose of the relatively described guidance path of the object are the important of the reflection object walking states
Index, therefore, the bearing data and 3 d pose data for obtaining object Relative Navigation path can accurately judge that the object is
It is no to deviate predetermined route.Wherein, the position and attitude in object Relative Navigation path is calculated, that is, calculates object Relative Navigation path
Orientation and 3 d pose, judge the specific direct of travel of the object by the orientation and 3 d pose data.
In the present embodiment, passage zone can be partitioned into, and then calculate and be somebody's turn to do according to the feature in region on the guidance path
The position and attitude at the relatively described passage zone center of object.The position and attitude can also be obtained by predetermined algorithm, to sentence
Break the direction of advance of the object, such as, the position and attitude of the object is obtained using end-to-end deep neural network system, its
In, network inputs are described image, export the probability in the several directions that may advance for the object, can be maximum with select probability
Direction be the direction finally advanced of the object.
The position and attitude that step 303, basis calculate, export the prompt message of the direction of advance of the object.
After the direction of advance for obtaining the object, prompt message is exported to object.For example, when the advance for detecting the object
When the relatively described guidance path in direction is to the right, the prompt message of left-hand rotation is exported to the object；When the advance side for detecting the object
To relatively described guidance path it is to the left when, to the object export turn right prompt message；When the direction of advance for detecting the object
On the guidance path and when placed in the middle, the prompt message of straight trip is exported to the object.
In addition, while rotation direction is exported to the object object can also be prompted specifically to need the angle rotated.
Under the first navigation pattern, in addition to tracking the path of the object, it is described right to detect in real time
As whether there is barrier on way forward, so as to help the object avoidance.Specifically, as shown in figure 4, using described first
Navigation pattern, which is navigated, also to be included：
It whether there is barrier on the direction that step 304, the detection object advance；
If step 305, detecting the presence of the barrier, the prompt message of the barrier, or guiding institute are exported
State object and carry out avoidance.
In the present embodiment, single ultrasonic sensor or multiple array of ultrasonic sensors can be used to carry out obstacle
Analyte detection.Depth camera can also be used to carry out detection of obstacles, for example the depth camera based on structure light or be based on
The depth camera of flight time (Time of Flight, TOF) principle carries out detection of obstacles.Binocular solid can also be used
Vision system carries out detection of obstacles.Wherein, the detailed process for detection of obstacles being carried out using the above method may be referred to correlation
Narration in technology, is not limited herein.
After barrier is detected, the prompt message of the barrier is exported to the object, the prompt message includes the barrier
Hinder orientation, the classification of barrier (such as moveable object or immovable object etc.), the size of barrier of thing etc..
By way of voice the prompt message can be fed back to the object, or by the solid space acoustic feedback prompt message,
Or the prompt message is fed back to the object by buzzer.
In addition, after barrier is detected, the object can be directly instructed to carry out avoidance, such as, pass through above-mentioned voice
Either the mode of solid space sound or buzzer exports " stopping walking ", " turning left ", " turning right ", " straight trip " etc. to object
Instruction order.
In certain embodiments, the object can actively be sent in navigation procedure whether there is barrier in front of judgement
Request, therefore, the object can send detection of obstacles request to electronic equipment at any time according to the purpose of oneself, so as to main
Dynamic judgement whether there is barrier around it.Herein, the step 305 is specially：If detect the presence of the obstacle
Thing, the prompt message of barrier described in voice output, or object described in output voice guide carry out avoidance.
If step 13, the object are located at the complex region, navigated using default second navigation pattern.
In the present embodiment, the second navigation pattern refers to a kind of high-precision positioning used for complex region
Navigation mode, its navigation accuracy are more than the navigation accuracy of the described first navigation pattern.Pass through the navigation essence of the second navigation pattern
Degree can improve security of the object in complex region and the accuracy of navigation.
If as shown in figure 5, the object is located at the complex region, carried out using the default second navigation pattern
Navigation, including：
Step 401, obtain map corresponding to the complex region.
Map corresponding to the complex region be used to accurately showing building in the complex region, road, bridge,
The information such as elevator.The map can by advanced drive assist system (Advanced Driver Assistant Systems,
ADAS obtained after) gathering the accurately diagram data of the complex region.The complex area can also be made by other means
The map in domain.The electronic equipment can be directly saved it in after making the map, cloud server can also be stored in,
Electronic equipment obtains the map by accessing cloud server.
Step 402, according to the map, obtain the sub- guidance path of the complex region.
, herein, can be with it is understood that the complex region is the part way on the guidance path planned in advance
Terminal when determining that user walks in complex region according to the guidance path, in conjunction with the map, determine user multiple
The path walked in miscellaneous region, the path are the sub- guidance path.
For example, as shown in fig. 6, the complex region of dashed circle region representation one, can be determined according to the guidance path
The terminal of border circular areas walking, after inputting the information of the terminal in map corresponding to the complex region, can be obtained
The walking path of the complex region, i.e. figure middle polyline part, the broken line part represent the sub- guidance path.
Wherein, the precision of the guidance path of the ratio of precision planning of the sub- guidance path is high.
Step 403, based on the sub- guidance path, by the way of the vision positioning navigation, or bluetooth location navigation
Mode, or the mode of UWB location navigations are navigated.
Under the second navigation pattern, navigated based on the sub- guidance path, specifically, vision positioning navigation can be used
Mode, the either mode of bluetooth location navigation or no-load communication techniques (U ltra-Wideband, UWB) location navigation
Mode is navigated.It should be noted that vision positioning navigation by way of, either the mode of bluetooth location navigation or
The detailed process that the mode of UWB location navigations is navigated refers to the narration in correlation technique, does not limit herein.
It should be noted that in certain embodiments, on the basis of above-mentioned steps 401-403, using default second
Navigation pattern is navigated, in addition to：Obtain current guidance path；Electronic equipment is entered based on the current guidance path
Row path trace, to prompt the direction that the object advances.
Wherein, it is described that path trace is carried out to electronic equipment based on the current guidance path, to prompt the object
The direction of advance, including：Gather the image of scene of the electronic equipment when advancing on the guidance path in preset range；
Described image is analyzed, calculates the position and attitude of the relatively described guidance path of the object；According to the position and attitude calculated,
Export the prompt message of the direction of advance of the object.
Said process specifically refers to above-mentioned steps 201-201, step 301-303 narration, will not be repeated here.Cause
This, according to practical application scene, when being navigated using the second navigation pattern, can also carry out the first navigation mould
Operated corresponding to formula.
On the basis of above-described embodiment, methods described also includes：Detect that the object arrives at, terminate navigation.
Herein, can detect that the object no longer moves in preset time, it is believed that the object reaches mesh
Ground.Or judge whether the object arrives at by GPS navigation map.Or receive the object input
After closing navigation instruction, it is believed that the object arrives at.Now, navigation is terminated.
In certain embodiments, above-mentioned air navigation aid is applied to unmanned, the object the being navigated i.e. automobile, Ke Yitong
Cross on the automobile navigation system installed and perform above-mentioned air navigation aid.When the automobile is not located at the complex region, adopt
Navigated with the first navigation pattern, when the automobile is located at the complex region, using the described second navigation pattern
Navigated.
In certain embodiments, above-mentioned air navigation aid is applied to guide, and this is navigated object i.e. blind person, can be by described
Either Intelligent bracelet or other smart machines perform above-mentioned air navigation aid to the intelligent glasses that blind person wears.When the blind person not position
When the complex region, navigated using the first navigation pattern, when the blind person is located at the complex region, adopted
Navigated with the second navigation pattern.
The embodiments of the invention provide a kind of air navigation aid, this method is judged by being monitored to the object being navigated
Whether it is located at complex region, is navigated when it is not located at complex region using the first navigation pattern, at it positioned at complexity
Navigated during region using the second navigation pattern, according to cutting for the currently located two kinds of navigation patterns of scene progress of the object
Change.The embodiment can switch to its corresponding navigation pattern according to specific application scenarios, not only enrich air navigation aid,
And improve the accuracy of navigation and be navigated the security of object.Further, since it is not to be led always using precision is higher
Model plane formula, so as to save the consumption of electricity and network traffics, reduce Trip Costs.
Referring to Fig. 7, Fig. 7 is a kind of structural representation of guider provided in an embodiment of the present invention.As shown in fig. 7,
The device 20 includes：Monitoring modular 21, the first navigation module 22 and the second navigation module 23.
Wherein, monitoring modular 21, in navigation procedure, monitoring whether the object being navigated is located at complex region；The
One navigation module 22, if not being located at the complex region for the object, led using default first navigation pattern
Boat；Second navigation module 23, if being located at the complex region for the object, carried out using the default second navigation pattern
Navigation；Wherein, the navigation accuracy of the second navigation pattern is more than the navigation accuracy of the described first navigation pattern.
Wherein, first navigation module 22 includes：3rd acquiring unit 221 and tracking cell 222.Described 3rd obtains
Unit 221 is used to obtain current guidance path；The tracking cell 222 is used for based on the current guidance path to electronics
Equipment carries out path trace, to prompt the direction that the object advances.
The tracking cell 222 includes：Gather subelement 2221, computation subunit 2222 and output subelement 2223.
Subelement 2221 is gathered, for gathering the figure of scene of the electronic equipment when advancing on the guidance path in preset range
Picture；Computation subunit 2222, for analyzing described image, calculate the position and attitude of the relatively described guidance path of the object；It is defeated
Go out subelement 2223, for according to the position and attitude that calculates, exporting the prompt message of the direction of advance of the object.
Wherein, second navigation module 23 includes：First acquisition unit 231, second acquisition unit 232 and navigation are single
Member 233.First acquisition unit 231, for obtaining map corresponding to the complex region；Second acquisition unit 232, for basis
The map, obtain the sub- guidance path of the complex region；Navigation elements 233, for based on the sub- guidance path, using
The mode of vision positioning navigation, either the mode of bluetooth location navigation or the mode of UWB location navigations are navigated.
In certain embodiments, second navigation module 23 also includes above-mentioned 3rd acquiring unit 221 and tracking cell
222, now, second navigation module 23 is able to carry out the repertoire of the first navigation pattern 22.
In certain embodiments, the guider is specifically used for guide.
It should be noted that information exchange between modules, unit in guider in the embodiment of the present invention,
The contents such as implementation procedure, due to being based on same design with the inventive method embodiment, particular content is equally applicable to guider.
Modules in the embodiment of the present invention can be used as single hardware or software to realize, and can be as needed using independent
Hardware or software realize the combination of the function of unit.
The embodiments of the invention provide a kind of guider, the device is judged by being monitored to the object being navigated
Whether it is located at complex region, is navigated when it is not located at complex region using the first navigation pattern, at it positioned at complexity
Navigated during region using the second navigation pattern, according to cutting for the currently located two kinds of navigation patterns of scene progress of the object
Change.The embodiment can switch to its corresponding navigation pattern according to specific application scenarios, not only enrich air navigation aid,
And improve the accuracy of navigation and be navigated the security of object.Further, since it is not to be led always using precision is higher
Model plane formula, so as to save the consumption of electricity and network traffics, reduce Trip Costs.
Fig. 8 is refer to, Fig. 8 is the hardware configuration signal of the electronic equipment of execution air navigation aid provided in an embodiment of the present invention
Figure, as shown in figure 8, the electronic equipment 30 includes：
One or more processors 31 and memory 32, in Fig. 8 by taking a processor 31 as an example.
Processor 31 can be connected with memory 32 by bus or other modes, to be connected as by bus in Fig. 8
Example.
Memory 32 is used as a kind of non-volatile computer readable storage medium storing program for executing, available for storage non-volatile software journey
Sequence, non-volatile computer executable program and module, as corresponding to the air navigation aid in the embodiment of the present invention programmed instruction/
Module (for example, monitoring modular 21, the first navigation module 22 and the second navigation module 23 shown in accompanying drawing 7).Processor 31 is logical
Non-volatile software program, instruction and the module of operation storage in memory 32 are crossed, so as to the various work(of execute server
It can apply and data processing, that is, realize above method embodiment air navigation aid.
Memory 32 can include storing program area and storage data field, wherein, storing program area can storage program area,
Application program required at least one function；Storage data field can store uses created data according to guider
Deng.In addition, memory 32 can include high-speed random access memory, nonvolatile memory can also be included, for example, at least
One disk memory, flush memory device or other non-volatile solid state memory parts.In certain embodiments, memory 32
It is optional including relative to the remotely located memory of processor 31, these remote memories can pass through network connection to the dress that navigates
Put.The example of above-mentioned network includes but is not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
One or more of modules are stored in the memory 32, when by one or more of processors 31
During execution, air navigation aid in above-mentioned any means embodiment is performed, for example, performing the method and step 11 in Fig. 1 described above
To step 13, method and step 201 in Fig. 2 to step 202, method and step 301 in Fig. 3 to step 303, the method in Fig. 4
For step 301 to step 305, the method and step 401 in Fig. 5 realizes module 21-23, the unit 221- in Fig. 7 to step 403
222nd, unit 231-233, subelement 2221-2223 function.
The said goods can perform the method that the embodiment of the present invention is provided, and possesses the corresponding functional module of execution method and has
Beneficial effect.Not ins and outs of detailed description in the present embodiment, reference can be made to the method that the embodiment of the present invention is provided.
The electronic equipment of the embodiment of the present invention exists in a variety of forms, includes but is not limited to：
(1) mobile communication equipment：The characteristics of this kind equipment is that possess mobile communication function, and to provide speech, data
Communicate as main target.This Terminal Type includes：Smart mobile phone, multimedia handset, feature mobile phone etc..
(2) super mobile personal computer equipment：This kind equipment belongs to the category of personal computer, there is calculating and processing work(
Can, typically also possess mobile Internet access characteristic.This Terminal Type includes：PDA, MID and UMPC equipment etc..
(3) portable wearable device：This kind equipment is used for guide.The kind equipment includes：Intelligent bracelet, intelligent glasses.
(4) blind-guidance robot.
(5) pilotless automobile.
(6) other electronic installations with data interaction function.
The embodiments of the invention provide a kind of non-volatile computer readable storage medium storing program for executing, the non-volatile computer can
Read storage medium and be stored with computer executable instructions, the computer executable instructions perform above-mentioned any means by electronic equipment
Air navigation aid in embodiment, for example, method and step 11 in Fig. 1 described above is performed to step 13, the method step in Fig. 2
Rapid 201 to step 202, the method and step 301 in Fig. 3 to step 303, the method and step 301 in Fig. 4 to step 305, in Fig. 5
Method and step 401 to step 403, realize module 21-23, unit 221-222, unit 231-233, the subelement in Fig. 7
2221-2223 function.
The embodiments of the invention provide a kind of computer program product, including it is stored in non-volatile computer readable storage
Calculation procedure on medium, the computer program include programmed instruction, are computer-executed constantly, make when described program instructs
The computer performs the air navigation aid in above-mentioned any means embodiment, for example, performing the method step in Fig. 1 described above
Rapid 11 to step 13, the method and step 201 in Fig. 2 to step 202, the method and step 301 in Fig. 3 to step 303, in Fig. 4
For method and step 301 to step 305, the method and step 401 in Fig. 5 realizes module 21-23, the unit in Fig. 7 to step 403
221-222, unit 231-233, subelement 2221-2223 function.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, it can be as the part that unit is shown or may not be physics list
Member, you can with positioned at a place, or can also be distributed on multiple NEs.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.
Through the above description of the embodiments, those of ordinary skill in the art can be understood that each embodiment
The mode of general hardware platform can be added by software to realize, naturally it is also possible to pass through hardware.Those of ordinary skill in the art can
To understand that all or part of flow realized in above-described embodiment method is can to instruct the hard of correlation by computer program
Part is completed, and described program can be stored in a computer read/write memory medium, the program is upon execution, it may include as above
State the flow of the embodiment of each method.Wherein, described storage medium can be magnetic disc, CD, read-only memory (Read-
Only Memory, ROM) or random access memory (Random Access Memory, RAM) etc..
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
Under the thinking of invention, it can also be combined between the technical characteristic in above example or different embodiments, step can be with
Realized with random order, and many other changes of the different aspect of the present invention as described above be present, for simplicity, they do not have
Have and provided in details；Although the present invention is described in detail with reference to the foregoing embodiments, the ordinary skill people of this area
Member should be understood：It can still modify to the technical scheme described in foregoing embodiments, or to which part skill
Art feature carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from each reality of the present invention
Apply the scope of a technical scheme.
Claims (13)
- A kind of 1. air navigation aid, it is characterised in that including：In navigation procedure, monitor whether the object being navigated is located at complex region；If the object is not located at the complex region, navigated using default first navigation pattern；If the object is located at the complex region, navigated using default second navigation pattern；Wherein, described second The navigation accuracy of navigation pattern is more than the navigation accuracy of the described first navigation pattern.
- 2. according to the method for claim 1, it is characterised in that the air navigation aid is specifically used for guide.
- 3. according to the method for claim 1, it is characterised in that if the object is located at the complex region, adopt Navigated with default second navigation pattern, including：Obtain map corresponding to the complex region；According to the map, the sub- guidance path of the complex region is obtained；Based on the sub- guidance path, by the way of vision positioning navigation, the either mode or UWB of bluetooth location navigation The mode of location navigation is navigated.
- 4. according to the method described in any one of claims 1 to 3, it is characterised in that described using the default first navigation pattern Navigated or navigated using default second navigation pattern, including：Obtain current guidance path；Path trace is carried out to electronic equipment based on the current guidance path, to prompt the direction that the object advances.
- 5. according to the method for claim 4, it is characterised in that it is described based on the current guidance path to electronic equipment Path trace is carried out, to prompt the direction that the object advances, including：Gather the image of scene of the electronic equipment when advancing on the guidance path in preset range；Described image is analyzed, calculates the position and attitude of the relatively described guidance path of the object；According to the position and attitude calculated, the prompt message of the direction of advance of the object is exported.
- A kind of 6. guider, it is characterised in that including：Monitoring modular, in navigation procedure, monitoring whether the object being navigated is located at complex region；First navigation module, if not being located at the complex region for the object, entered using default first navigation pattern Row navigation；Second navigation module, if being located at the complex region for the object, carried out using the default second navigation pattern Navigation；Wherein, the navigation accuracy of the second navigation pattern is more than the navigation accuracy of the described first navigation pattern.
- 7. device according to claim 6, it is characterised in that the guider is specifically used for guide.
- 8. device according to claim 6, it is characterised in that second navigation module includes：First acquisition unit, for obtaining map corresponding to the complex region；Second acquisition unit, for according to the map, obtaining the sub- guidance path of the complex region；Navigation elements, for based on the sub- guidance path, by the way of vision positioning navigation, or bluetooth location navigation Mode, or the mode of UWB location navigations are navigated.
- 9. according to the device described in any one of claim 6 to 8, it is characterised in that first navigation module or described Two navigation modules include：3rd acquiring unit and tracking cell,3rd acquiring unit is used to obtain current guidance path；The tracking cell is used to carry out path trace to electronic equipment based on the current guidance path, described right to prompt As the direction of advance.
- 10. device according to claim 9, it is characterised in that the tracking cell includes：Subelement is gathered, for gathering the figure of scene of the electronic equipment when advancing on the guidance path in preset range Picture；Computation subunit, for analyzing described image, calculate the position and attitude of the relatively described guidance path of the object；Subelement is exported, for according to the position and attitude that calculates, exporting the prompt message of the direction of advance of the object.
- 11. a kind of electronic equipment, it is characterised in that including：At least one processor；AndThe memory being connected with least one processor communication；Wherein,The memory storage have can by the instruction repertorie of at least one computing device, the instruction repertorie by it is described extremely A few computing device, so that the method described at least one any one of computing device claim 1 to 5.
- A kind of 12. non-volatile computer readable storage medium storing program for executing, it is characterised in that the non-volatile computer readable storage medium Matter is stored with computer executable instructions, and the computer executable instructions are used to make the requirement 1 to 5 of computer perform claim any Method described in.
- 13. a kind of computer program product, it is characterised in that the computer program product includes：Non-volatile computer can Read storage medium and be embedded in the computer program instructions of the non-volatile computer readable storage medium storing program for executing；The computer Programmed instruction is included to make the instruction of the method described in computing device any one of claim 1 to 5.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/093375 WO2019014852A1 (en) | 2017-07-18 | 2017-07-18 | Navigation method, apparatus and electronic device |
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| Publication Number | Publication Date |
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| CN107820562A true CN107820562A (en) | 2018-03-20 |
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| CN201780001818.7A Pending CN107820562A (en) | 2017-07-18 | 2017-07-18 | A kind of air navigation aid, device and electronic equipment |
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| CN (1) | CN107820562A (en) |
| WO (1) | WO2019014852A1 (en) |
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| WO2020114214A1 (en) * | 2018-12-06 | 2020-06-11 | 深圳前海达闼云端智能科技有限公司 | Blind guiding method and apparatus, storage medium and electronic device |
| CN109190486B (en) * | 2018-08-07 | 2020-11-20 | 珠海格力电器股份有限公司 | Blind guiding control method and device |
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| WO2019014852A1 (en) | 2019-01-24 |
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