CN110873861B - Indoor navigation method and device - Google Patents
Indoor navigation method and device Download PDFInfo
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- CN110873861B CN110873861B CN201811021163.2A CN201811021163A CN110873861B CN 110873861 B CN110873861 B CN 110873861B CN 201811021163 A CN201811021163 A CN 201811021163A CN 110873861 B CN110873861 B CN 110873861B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The embodiment of the invention provides an indoor navigation method and an indoor navigation device, wherein the method is applied to a controller in an indoor navigation system and comprises the following steps: when a first optical signal which is sent by a user terminal to be navigated and carries identification information of a target path node is received, a first LED light source used for representing the position of the user terminal to be navigated and a second LED light source used for representing the position of the target path node are determined according to the first optical signal; acquiring a target planning path between a first LED light source and a second LED light source according to a pre-acquired planning path between LED light sources representing all path node positions in an LED light source array; and sending the path information of the target planning path to the user terminal to be navigated. The embodiment solves the problem of large navigation positioning error when the indoor GPS signal is poor.
Description
Technical Field
The embodiment of the invention relates to the technical field of indoor navigation, in particular to an indoor navigation method and device.
Background
The Global Positioning System (GPS) is a widely used Positioning and navigation System, and can estimate a specific position by measuring the time difference of arrival of a plurality of satellite signals, and GPS navigators with different accuracy degrees can be applied to various engineering technical fields such as communication, construction, survey and the like.
However, in an indoor scene, because a GPS signal is weak, the problem that the signal cannot be searched indoors for a long time or the positioning error is large occurs, which brings great trouble to the work of people.
Disclosure of Invention
The embodiment of the invention provides an indoor navigation method and device, and aims to solve the problem that in the prior art, due to poor indoor GPS signals, the positioning error is large during indoor navigation.
In view of the foregoing problems, in a first aspect, an embodiment of the present invention provides an indoor navigation method, which is applied to a controller in an indoor navigation system, where the indoor navigation system further includes: the node terminals are correspondingly installed at the node positions of each indoor path; the LED light source array and the detector array are installed on a top plate of a room in the room, wherein each LED light source in the LED light source array is arranged corresponding to each detector in the detector array, and the controller is connected with each LED light source and each detector; wherein the method comprises the following steps:
when a first optical signal which is sent by an indoor user terminal to be navigated and carries identification information of a target path node is received, determining a first LED light source used for representing the position of the user terminal to be navigated and a second LED light source used for representing the position of the target path node in the LED light source array according to the first optical signal;
acquiring a target planning path between the first LED light source and the second LED light source according to a pre-acquired planning path between the LED light sources which represent all path node positions in the LED light source array;
and sending the path information of the target planned path to the user terminal to be navigated, so that the user terminal to be navigated navigates according to the path information of the target planned path.
In a second aspect, an embodiment of the present invention provides an indoor navigation device, which is applied to a controller in an indoor navigation system, where the indoor navigation system further includes: the node terminals are correspondingly installed at the node positions of each indoor path; the LED light source array and the detector array are installed on a top plate of a room in the room, wherein each LED light source in the LED light source array is arranged corresponding to each detector in the detector array, and the controller is connected with each LED light source and each detector; wherein the apparatus comprises:
the system comprises a determining module, a first navigation module and a second navigation module, wherein the determining module is used for determining a first LED light source used for representing the position of a user terminal to be navigated and a second LED light source used for representing the position of a target path node in an LED light source array according to a first optical signal when the first optical signal which is sent by an indoor user terminal to be navigated and carries identification information of the target path node is received;
the first acquisition module is used for acquiring a target planning path between the first LED light source and the second LED light source according to a pre-acquired planning path between the LED light sources which represent all path node positions in the LED light source array;
and the sending module is used for sending the path information of the target planned path to the user terminal to be navigated so that the user terminal to be navigated navigates according to the path information of the target planned path.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the indoor navigation method when executing the computer program.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the indoor navigation method.
The indoor navigation method provided by the embodiment of the invention is applied to a controller in an indoor navigation system, when a first optical signal which is sent by an indoor user terminal to be navigated and carries identification information of a target path node is received, a first LED light source used for representing the position of the user terminal to be navigated and a second LED light source used for representing the position of the target path node in an LED light source array are determined according to the first optical signal, a target planning path between the first LED light source and the second LED light source is obtained according to a planning path between LED light sources which are obtained in advance and represent all path node positions in the LED light source array, finally the target planning path is sent to the user terminal to be navigated, so that the user terminal to be navigated can navigate according to the path information of the target planning path, the purpose that the path planning between indoor path nodes is mapped to the path planning between the LED light sources in the LED light source array installed on an indoor roof panel in a visible light communication mode is achieved, therefore, accurate positioning of each indoor path node and accurate navigation of the user terminal to be navigated are achieved, and the problem that positioning errors are large when indoor GPS signals are poor is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a flow chart illustrating the steps of an indoor navigation method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an indoor navigation system according to an embodiment of the present invention;
FIG. 3 is a block diagram of an indoor navigation device according to an embodiment of the present invention;
fig. 4 shows a block diagram of modules of an electronic device in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart illustrating steps of an indoor navigation method according to an embodiment of the present invention, where the method is applied to a controller in an indoor navigation system.
As shown in fig. 2, the indoor navigation system includes, in addition to the controller 21:
a node terminal 23 installed at a position corresponding to each path node 22 in the room 20; the LED light source array and the detector array are installed on a top plate of a room in the room, wherein each LED light source 24 in the LED light source array is arranged corresponding to each detector 25 in the detector array, and the controller 21 is connected with each LED light source 24 and each detector 25.
Specifically, the LED light source array includes a plurality of LED light sources, and the detector array includes a plurality of detectors, wherein each LED light source 24 in the LED light source array is capable of sending optical signals to the node terminal 23 and the user terminal 26 in the room (indicated by arrows of LED light sources pointing to the node terminal 23 and the user terminal 26 in fig. 2), and each detector 25 in the detector array is capable of detecting optical signals sent by the node terminal 23 and the user terminal 26 (indicated by arrows of the node terminal 23 and the user terminal 26 pointing to the detectors in fig. 2) when the node terminal 23 and the user terminal 26 send optical signals, at this time, since the controller 21 is connected to each LED light source 24 and each detector 25, so that the controller 21 determines the detector corresponding to each node terminal 23 and the user terminal 26 through the optical signals sent by the node terminal 23 and the user terminal 26 detected by the detector 25, at this time, based on the fact that each LED light source in the LED light source array corresponds to each detector in the detector array, the controller 21 can determine the LED light source corresponding to each node terminal 23 and the user terminal 26, so that mapping of each node terminal 23 and the user terminal 26 to the LED light source in the LED light source array is achieved, further, mapping of path planning between the node terminals 23 to the path planning between the LED light sources is achieved, an accurate path planning is provided for an indoor user terminal through an optical communication mode, the work stability of the system is improved, meanwhile, the trouble of building other wireless communication systems is avoided, and meanwhile, the problem that when an indoor GPS signal is weak, the user terminal is inaccurate in positioning, and therefore navigation is inaccurate is avoided.
Specifically, the optical signal emitted by each LED light source 24 in the LED light source array may be in binary on-off keying (OOK), optical Pulse Position (PPM), Orthogonal Frequency Division Multiplexing (OFDM), or other formats.
Further, specifically, in the LED light source array and the detector array, each LED light source 24 may be integrated with a correspondingly disposed detector 25 to ensure that when the detector corresponding to the user terminal 26 or the node terminal 23 is determined, the LED light source for accurately indicating the position of the user terminal 26 or the node terminal 23 can be determined.
In addition, specifically, the node terminal 23 may be directly installed on the path node 22, so as to ensure that the determined position of the node terminal 23 is the position of the path node 22. For example, each path node in a room may be a location such as a stand deployed in the room. At this time, the node terminal 23 may be placed on the exhibition stand to ensure that the position of the node terminal 23 is the exhibition stand position.
In addition, specifically, identification information of a corresponding path node is stored in each node terminal 23, and the identification information may be a node label, a node name, or other node information of the path node, so that when the node terminal 23 sends an optical signal carrying the identification information, the controller can accurately find the path node corresponding to the detector receiving the optical signal according to the identification information, thereby ensuring the accuracy of the mapping relationship between the path node and the LED light source, and further ensuring accurate positioning of indoor navigation.
The indoor navigation method comprises the following steps:
step 101: when a first optical signal which is sent by an indoor user terminal to be navigated and carries identification information of a target path node is received, a first LED light source used for representing the position of the user terminal to be navigated and a second LED light source used for representing the position of the target path node in an LED light source array are determined according to the first optical signal.
In this step, specifically, each indoor user terminal can search to obtain the identification information of each path node, so that the user terminal to be navigated can determine a target path node according to the identification information of each path node, and can send a first optical signal carrying the identification information of the target path node when the user terminal needs to reach the target path node. At this time, when the controller receives a first optical signal carrying identification information of a target path node and sent by a user terminal to be navigated, a first LED light source used for representing the position of the user terminal to be navigated in the LED light source array can be determined according to the first optical signal, and a second LED light source used for representing the position of the target path node can be determined according to the identification information of the target path node carried in the first optical signal, that is, a mapping relationship between the position of the user terminal to be navigated and the first LED light source and a mapping relationship between the position of the target path node and the second LED light source can be established.
Step 102: and acquiring a target planning path between the first LED light source and the second LED light source according to the pre-acquired planning paths between the LED light sources representing all path node positions in the LED light source array.
In this step, specifically, in this embodiment, a planned path between LED light sources representing all path node positions in an LED light source array needs to be obtained first, at this time, since a first LED light source used for representing a position of a user terminal to be navigated and a second LED light source used for representing a position of a target path node have been determined, a target planned path between the first LED light source and the second LED light source, that is, a target planned path between a position of the user terminal to be navigated and a position of the target path node, may be obtained according to a planned path between LED light sources representing all path node positions in the LED light source array obtained in advance, that is, a target planned path between a position of the user terminal to be navigated and a position of the target path node is obtained.
Therefore, the target planning path between the position of the user terminal to be navigated and the position of the target path node is converted into the target planning path between the first LED light source and the second LED light source in the LED light source array by obtaining the target planning path between the first LED light source and the second LED light source, and convenience is provided for indoor navigation and positioning.
Step 103: and sending the path information of the target planning path to the user terminal to be navigated.
In this step, specifically, after the target planned path is determined, the path information of the target planned path may be sent to the user terminal to be navigated, so that the user terminal to be navigated navigates according to the path information of the target planned path.
Thus, in the embodiment, when a first optical signal carrying identification information of a target path node and sent by an indoor user terminal to be navigated is received, a first LED light source used for representing the position of the user terminal to be navigated and a second LED light source used for representing the position of the target path node in an LED light source array are determined according to the first optical signal, a target planned path between the first LED light source and the second LED light source is obtained according to a planned path between LED light sources representing all path node positions in the LED light source array obtained in advance, and finally the target planned path is sent to the user terminal to be navigated, so that the user terminal to be navigated navigates according to path information of the target planned path, and the purpose of mapping the path plan between the indoor path nodes to the path plan between the LED light sources in the LED light source array in a visible light communication manner is achieved, thereby achieving accurate positioning of each indoor path node and accurate navigation of the user terminal to be navigated, the working stability of the system is improved, the trouble of building other wireless communication systems indoors is avoided, and the problem of large positioning error when an indoor GPS signal is poor is also avoided.
Further, when receiving a first optical signal carrying identification information of a target path node sent by an indoor user terminal to be navigated, and determining, according to the first optical signal, a first LED light source used for indicating a position of the user terminal to be navigated and a second LED light source used for indicating a position of the target path node in the LED light source array, the method may include the following steps:
when first current signals respectively sent by a plurality of detectors in the detector array are received, acquiring a first target current signal with the largest power value from the plurality of first current signals; the first current signal is obtained by performing photoelectric conversion when a plurality of detectors respectively receive first optical signals sent by a user terminal to be navigated; then determining a first target detector which outputs the first target current signal, and determining an LED light source which is arranged corresponding to the first target detector as a first LED light source which represents the position of the user terminal to be navigated; and acquiring the LED light source corresponding to the identification information of the target path node according to the correspondence between the identification information of all the path nodes acquired in advance and the light source information of the LED light source representing the path node position, and determining the LED light source corresponding to the identification information of the target path node as a second LED light source.
Specifically, when the user terminal to be navigated sends a first optical signal, the plurality of detectors in the detector array located on the roof panel can detect the first optical signal, convert the detected first optical signal into a first current signal, send the converted first current signal to the controller, and find the detector that can represent the user terminal to be navigated most by the controller. At this time, when the controller receives first current signals respectively sent by the multiple detectors, a first target current signal with the largest power value may be obtained from the multiple first current signals, the first target detector outputting the first target current signal with the largest power value is taken as a detector corresponding to the user terminal to be navigated, and the LED light source correspondingly arranged on the first target detector is determined as the first LED light source representing the position of the user terminal to be navigated, that is, the first LED light source having a mapping relationship with the user terminal to be navigated is determined in the LED light source array.
In addition, since the first optical signal carries the identification information of the target path node, at this time, the LED light source corresponding to the identification information of the target path node may be obtained according to the correspondence between the identification information of all the path nodes obtained in advance and the light source information of the LED light source indicating the position of the path node, and the LED light source corresponding to the identification information of the target path node is determined as the second LED light source, that is, the second LED light source having a mapping relationship with the target path node is determined in the LED light source array.
Therefore, the method realizes the purpose of determining the position of the user terminal to be navigated and the position of the target path node based on the LED light source array through a visible light communication mode, and ensures the accuracy of the determined position of the user terminal to be navigated and the position of the target path node.
In addition, further, after determining a first LED light source used for indicating a position of a user terminal to be navigated in the LED light source array and a second LED light source used for indicating a position of a target path node, a target planned path between the first LED light source and the second LED light source may be obtained according to a planned path between the LED light sources indicating positions of all path nodes in the LED light source array obtained in advance, and at this time, before obtaining the target planned path between the first LED light source and the second LED light source, the planned path between the LED light sources indicating positions of all path nodes in the LED light source array needs to be obtained first.
When acquiring the planned path between the LED light sources representing all path node positions in the LED light source array, the method may include the following steps:
step 11: when second current signals respectively sent by a plurality of detectors in the detector array are received, acquiring a second target current signal with the largest power value from the plurality of second current signals; and the second current signal is obtained by performing photoelectric conversion when the plurality of detectors respectively receive second optical signals which are sent by the same node terminal and carry pre-stored identification information of corresponding path nodes.
Specifically, when a node terminal sends a second optical signal carrying pre-stored identification information corresponding to a path node, a plurality of detectors in a detector array located on a roof of a room can detect the second optical signal, convert the detected second optical signal into a second current signal, send the converted second current signal to a controller, and find a detector which can represent the node terminal most according to the plurality of second current signals. At this time, when the controller receives the second current signals respectively transmitted by the plurality of detectors, the second target current signal with the largest power value can be obtained from the plurality of second current signals.
Step 12: and determining a second target detector which outputs the second target current signal, and determining the LED light source which is arranged corresponding to the second target detector as the LED light source which represents the position of the corresponding path node.
Specifically, when the power value of the current signal is the maximum, it is described that the horizontal distance between the detector outputting the current signal with the maximum power value and the node terminal is the closest, that is, the mapping relationship between the detector outputting the current signal with the maximum power value and the node terminal can be established. At this time, when the second target current signal having the largest power value is obtained from the plurality of second current signals, a second target detector that outputs the second target current signal may be determined, and the LED light source disposed corresponding to the second target detector may be determined as the LED light source indicating the position of the corresponding path node.
Step 13: and when the corresponding relation between the identification information of all the path nodes and the light source information of the LED light sources representing the path node positions is established, path planning is carried out on the LED light sources representing the path node positions, and a planned path between the LED light sources representing the path node positions in the LED light source array is obtained.
Specifically, when the LED light source representing the corresponding path node position is determined, a correspondence between the identification information of the corresponding path node and the light source information of the LED light source representing the corresponding path node position may be established.
Of course, in this embodiment, the corresponding relationship between the identification information of all the path nodes and the light source information of the LED light source indicating the path node position may be established in a manner of establishing the corresponding relationship between the identification information of the corresponding path node and the light source information of the LED light source indicating the corresponding path node position.
At this time, when the correspondence between the identification information of all the path nodes and the light source information of the LED light sources representing the path node positions is established, path planning may be performed on the LED light sources representing the path node positions to obtain planned paths between the LED light sources representing all the path node positions in the LED light source array, that is, the planned paths between all the path node positions are obtained based on the LED light source array.
In this way, in this embodiment, the LED light sources correspondingly disposed on the second target detector that outputs the second target current signal of the maximum power value are determined as the LED light sources indicating the positions of the corresponding path nodes, so that the positioning of the positions of the path nodes is performed by comparing the power of the second optical signal received by the detector, the implementation process is simple and convenient, and it is achieved that each node terminal can determine the LED light sources indicating the positions of all the path nodes by only transmitting an optical signal once, and the path planning between all the indoor path nodes is mapped to the path planning between the LED light sources in the LED light source array, so as to obtain the planned paths between the LED light sources indicating the positions of all the path nodes in the LED light source array, thereby facilitating the process of obtaining the planned paths between the LED light sources indicating the positions of all the path nodes in the LED light source array.
In addition, further, after the planned paths between the LED light sources representing all path node positions in the LED light source array are acquired, when the target planned path between the first LED light source and the second LED light source is acquired according to the pre-acquired planned paths between the LED light sources representing all path node positions in the LED light source array, all the planned paths between the first LED light source and the second LED light source may be acquired according to the pre-acquired planned paths between the LED light sources representing all path node positions in the LED light source array; and then selecting a planned path with the minimum passing obstacle point number from all planned paths between the first LED light source and the second LED light source, and determining the planned path with the minimum passing obstacle point number as a target planned path.
In this way, the selected planned path with the minimum number of passing obstacle points is determined as the target planned path in all the planned paths between the first LED light source and the second LED light source, so that the optimal path configuration is realized on the basis of considering the obstacle points, and convenience is provided for the operation of a user.
When a planned path with the minimum number of passing obstacle points is selected from all planned paths between the first LED light source and the second LED light source and determined as a target planned path, the LED light sources in the LED light source array, which represent all path node positions except the target path node, can be determined as first obstacle points, and the LED light sources in the LED light source array, which represent all user terminal positions except the user terminal to be navigated, can be determined as second obstacle points; and then selecting a planned path with the minimum total number of the first obstacle points and the second obstacle points from all the planned paths, and determining the planned path with the minimum total number of the first obstacle points and the second obstacle points as the target planned path.
In this way, in the embodiment, all the user terminals and the path nodes except the user terminal to be navigated and the target path node are determined as the obstacle points, so that after the planned path with the minimum total number of the first obstacle points and the second obstacle points is determined as the target planned path, the user terminal to be navigated can avoid indoor crowds and other path nodes when navigating according to the target planned path, and convenience is provided for the user to walk indoors.
Specifically, when the LED light sources in the LED light source array indicating the positions of all the user terminals except the user terminal to be navigated are determined as the second obstacle point, a control instruction for controlling the LED light sources to send out third light signals may be sent to each LED light source in the LED light source array, where the third light signals carry control information for controlling all the user terminals to send out fourth light signals; then, fourth optical signals sent by all the user terminals are obtained, and according to the fourth optical signals, LED light sources used for representing the positions of all the user terminals in the LED light source array are determined; and determining the LED light sources in the LED light source array for representing the positions of all the user terminals as second obstacle points.
It should be noted that, according to the fourth optical signal sent by the user terminal and according to the fourth optical signal, a specific process of determining the LED light sources in the LED light source array for indicating the positions of all the user terminals is the same as a specific process of determining the LED light sources in the LED light source array for indicating the positions of the user terminals to be navigated, and details are not repeated here.
Therefore, the LED light sources in the LED light source array are controlled to emit the third light signals carrying the control information for controlling all the user terminals to emit the fourth light signals, all the indoor user terminals can emit the fourth light signals according to the received third light signals, and the controller can determine the LED light sources for representing the positions of all the user terminals according to the fourth light signals emitted by all the user terminals, namely determine the LED light sources for representing the positions of crowds with congestion, namely the second obstacle point.
In addition, further, after determining the target planned path between the first LED light source and the second LED light source, path information of the target planned path may be sent to the user terminal to be navigated. The path information of the target planning path comprises light source information of the passed LED light sources in the target planning path and relative position information between the passed LED light sources.
At this time, when the path information of the target planned path is sent to the user terminal to be navigated, the path information of the target planned path may be sent to the user terminal to be navigated through the first LED light source, so that the user terminal to be navigated displays a navigation direction when moving to the LED light source to be navigated according to the light source information of the LED light source passing through in the target planned path and the relative position information between the LED light sources passing through.
Specifically, when the path information of the target planned path is sent to the user terminal to be navigated by the first LED light source, the controller may send a control instruction to the first LED light source to control the first LED light source to send a fifth optical signal carrying the path information of the target planned path, and when the first LED light source receives the control instruction, the controller may send the fifth optical signal according to the control instruction; and at the moment, the user terminal to be navigated receives the fifth optical signal and displays the navigation direction of the LED light source moving to the position to be passed through according to the path information in the fifth optical signal.
In this way, the path information of the target planning path is sent to the user terminal to be navigated through the first LED light source, so that the path information is sent in an optical communication mode, and the real-time updating and accuracy of the path information are ensured; in addition, the navigation direction of the LED light source moving to the position to be passed through is displayed on the user terminal to be navigated, so that the user only needs to pay attention to the next movement direction without paying attention to map information and body orientation, and convenience is further improved for the user to go out.
In addition, further, after the path information of the target planned path is sent to the user terminal to be navigated, the position information of the user terminal to be navigated can be monitored in real time, and whether the LED light source used for representing the position information of the user terminal to be navigated monitored in real time is consistent with the LED light source to be passed through in the target planned path or not is compared; and if the positions of the first LED light source and the second LED light source are inconsistent, re-determining the first LED light source used for representing the position of the user terminal to be navigated and the second LED light source used for representing the position of the target path node in the LED light source array so as to ensure the correctness of the target planned path and further ensure the accuracy of the user navigation.
In the embodiment, when a first optical signal carrying identification information of a target path node and sent by an indoor user terminal to be navigated is received, a first LED light source used for representing the position of the user terminal to be navigated and a second LED light source used for representing the position of the target path node in an LED light source array are determined according to the first optical signal, a target planning path between the first LED light source and the second LED light source is obtained according to a planning path between LED light sources representing all path node positions in the LED light source array obtained in advance, and finally the target planning path is sent to the user terminal to be navigated, so that the user terminal to be navigated navigates according to path information of the target planning path, and the purpose of mapping the path planning between the indoor path nodes to the path planning between the LED light sources in the LED light source array in a visible light communication mode is achieved, thereby achieving accurate positioning of each indoor path node and accurate navigation of the user terminal to be navigated, the working stability of the system is improved, the trouble of building other wireless communication systems indoors is avoided, and the problem of large positioning error when an indoor GPS signal is poor is also avoided.
As shown in fig. 3, an embodiment of the present invention further provides an indoor navigation apparatus, which is applied to a controller in an indoor navigation system, wherein the indoor navigation system further includes: the node terminals are correspondingly installed at the node positions of each indoor path; the LED light source array and the detector array are installed on a top plate of a room in the room, wherein each LED light source in the LED light source array is arranged corresponding to each detector in the detector array, and the controller is connected with each LED light source and each detector; wherein the apparatus comprises:
the determining module 301 is configured to determine, when receiving a first optical signal carrying identification information of a target path node and sent by an indoor user terminal to be navigated, a first LED light source used for indicating a position of the user terminal to be navigated and a second LED light source used for indicating a position of the target path node in the LED light source array according to the first optical signal;
a first obtaining module 302, configured to obtain a target planned path between the first LED light source and the second LED light source according to a planned path between LED light sources representing positions of all path nodes in the LED light source array obtained in advance;
a sending module 303, configured to send the path information of the target planned path to the user terminal to be navigated, so that the user terminal to be navigated navigates according to the path information of the target planned path.
Optionally, the determining module 301 includes:
the first acquisition unit is used for acquiring a first target current signal with the largest power value from a plurality of first current signals when receiving the first current signals respectively sent by a plurality of detectors in the detector array; the first current signal is obtained by performing photoelectric conversion when a plurality of detectors respectively receive first optical signals sent by a user terminal to be navigated;
the first determination unit is used for determining a first target detector which outputs the first target current signal, and determining an LED light source which is arranged corresponding to the first target detector as a first LED light source which represents the position of the user terminal to be navigated;
and the second acquisition unit is used for acquiring the LED light source corresponding to the identification information of the target path node according to the correspondence between the identification information of all the path nodes acquired in advance and the light source information of the LED light source representing the path node position, and determining the LED light source corresponding to the identification information of the target path node as the second LED light source.
Optionally, the apparatus further comprises:
the second acquisition module is used for acquiring the planned paths among the LED light sources representing all the path node positions in the LED light source array;
the second acquisition module includes:
a third obtaining unit, configured to obtain, when receiving second current signals respectively sent by a plurality of detectors in the detector array, a second target current signal with a largest power value from the plurality of second current signals; the second current signals are obtained by performing photoelectric conversion when a plurality of detectors respectively receive second optical signals which are sent by the same node terminal and carry pre-stored identification information of corresponding path nodes;
a second determining unit, configured to determine a second target detector that outputs the second target current signal, and determine an LED light source that is disposed corresponding to the second target detector as an LED light source that represents a position of the corresponding path node;
and the fourth obtaining unit is used for establishing a corresponding relation between the identification information of the corresponding path node and the light source information of the LED light source representing the position of the corresponding path node, and when the corresponding relation between the identification information of all the path nodes and the light source information of the LED light source representing the position of the path node is established, performing path planning on the LED light source representing the position of the path node to obtain a planned path between the LED light sources representing the positions of all the path nodes in the LED light source array.
Optionally, the first obtaining module 302 includes:
a fifth obtaining unit, configured to obtain all planned paths between the first LED light source and the second LED light source according to pre-obtained planned paths between LED light sources representing all path node positions in the LED light source array;
and the third determining unit is used for selecting a planned path with the minimum passing obstacle point number from all planned paths between the first LED light source and the second LED light source, and determining the planned path with the minimum passing obstacle point number as a target planned path.
Optionally, the third determining unit includes:
a first determining subunit, configured to determine, as a first obstacle point, an LED light source in the LED light source array that represents positions of all path nodes except the target path node, and determine, as a second obstacle point, an LED light source in the LED light source array that represents positions of all user terminals except the user terminal to be navigated;
and the second determining subunit is configured to select a planned path with the minimum total number of the first obstacle points and the second obstacle points from all the planned paths, and determine the planned path with the minimum total number of the first obstacle points and the second obstacle points as the target planned path.
Optionally, the second determining subunit is configured to send a control instruction for controlling the LED light sources to send third optical signals to each LED light source in the LED light source array, where the third optical signals carry control information for controlling all the user terminals to send fourth optical signals; acquiring fourth optical signals sent by all user terminals, and determining LED light sources used for representing the positions of all the user terminals in the LED light source array according to the fourth optical signals; and determining the LED light sources in the LED light source array for representing all the positions of the user terminals as second obstacle points.
Optionally, the path information of the target planned path includes light source information of LED light sources passed by in the target planned path and relative position information between the LED light sources passed by;
the sending module 303 is configured to send the path information of the target planned path to the user terminal to be navigated through the first LED light source, so that the user terminal to be navigated displays a navigation direction when moving to the LED light source to be navigated according to the light source information of the LED light source passing through in the target planned path and the relative position information between the LED light sources passing through.
In the indoor navigation device provided by this embodiment, when receiving a first optical signal carrying identification information of a target path node sent by an indoor user terminal to be navigated, a first LED light source used for indicating a position of the user terminal to be navigated and a second LED light source used for indicating a position of the target path node in an LED light source array are determined according to the first optical signal, and a target planned path between the first LED light source and the second LED light source is obtained according to a planned path between LED light sources indicating positions of all path nodes in the LED light source array obtained in advance, and finally the target planned path is sent to the user terminal to be navigated, so that the user terminal to be navigated navigates according to path information of the target planned path, and mapping of a path between indoor path nodes to a path plan between LED light sources in the LED light source array through a visible light communication manner is achieved, therefore, the accurate positioning of each indoor path node and the accurate navigation of the user terminal to be navigated are realized, the trouble of building other indoor wireless communication systems is avoided while the working stability of the system is improved, and the problem of large positioning error when an indoor GPS signal is poor is avoided.
It should be noted that, in the embodiment of the present invention, the related functional modules may be implemented by a hardware processor (hardware processor), and the same technical effect can be achieved, which is not described herein again.
In yet another embodiment of the present invention, an electronic device is provided, as shown in fig. 4, which includes a memory (memory)401, a processor (processor)402, and a computer program stored on the memory 401 and executable on the processor 402. The memory 401 and the processor 402 complete communication with each other through the bus 403. The processor 402 is configured to call program instructions in the memory 401 to perform the following method applied to a controller in an indoor navigation system; wherein the indoor navigation system further comprises: the node terminals are correspondingly installed at the node positions of each indoor path; the LED light source array and the detector array are installed on a top plate of a room in the room, wherein each LED light source in the LED light source array is arranged corresponding to each detector in the detector array, and the controller is connected with each LED light source and each detector; wherein the method comprises the following steps: when a first optical signal which is sent by an indoor user terminal to be navigated and carries identification information of a target path node is received, determining a first LED light source used for representing the position of the user terminal to be navigated and a second LED light source used for representing the position of the target path node in the LED light source array according to the first optical signal; acquiring a target planning path between the first LED light source and the second LED light source according to a pre-acquired planning path between the LED light sources which represent all path node positions in the LED light source array; and sending the path information of the target planned path to the user terminal to be navigated, so that the user terminal to be navigated navigates according to the path information of the target planned path.
The electronic device provided by the embodiment of the invention can execute the specific steps in the indoor navigation method and can achieve the same technical effect, and the specific description is not provided herein.
Further, the program instructions in the memory 401 described above may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In yet another embodiment of the present invention, there is provided a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the following method applied to a controller in an indoor navigation system; wherein the indoor navigation system further comprises: the node terminals are correspondingly installed at the node positions of each indoor path; the LED light source array and the detector array are installed on a top plate of a room in the room, wherein each LED light source in the LED light source array is arranged corresponding to each detector in the detector array, and the controller is connected with each LED light source and each detector; wherein the method comprises the following steps: when a first optical signal which is sent by an indoor user terminal to be navigated and carries identification information of a target path node is received, determining a first LED light source used for representing the position of the user terminal to be navigated and a second LED light source used for representing the position of the target path node in the LED light source array according to the first optical signal; acquiring a target planning path between the first LED light source and the second LED light source according to a pre-acquired planning path between the LED light sources which represent all path node positions in the LED light source array; and sending the path information of the target planned path to the user terminal to be navigated, so that the user terminal to be navigated navigates according to the path information of the target planned path.
The non-transitory computer-readable storage medium provided by the embodiment of the present invention can perform specific steps in an indoor navigation method, and can achieve the same technical effects, which are not described in detail herein.
In yet another embodiment of the present invention, a computer program product is provided, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, perform the following method applied to a controller in an indoor navigation system; wherein the indoor navigation system further comprises: the node terminals are correspondingly installed at the node positions of each indoor path; the LED light source array and the detector array are installed on a top plate of a room in the room, wherein each LED light source in the LED light source array is arranged corresponding to each detector in the detector array, and the controller is connected with each LED light source and each detector; wherein the method comprises the following steps: when a first optical signal which is sent by an indoor user terminal to be navigated and carries identification information of a target path node is received, determining a first LED light source used for representing the position of the user terminal to be navigated and a second LED light source used for representing the position of the target path node in the LED light source array according to the first optical signal; acquiring a target planning path between the first LED light source and the second LED light source according to a pre-acquired planning path between the LED light sources which represent all path node positions in the LED light source array; and sending the path information of the target planned path to the user terminal to be navigated, so that the user terminal to be navigated navigates according to the path information of the target planned path.
The computer program product provided by the embodiment of the invention can execute the specific steps in the indoor navigation method and can achieve the same technical effect, and the specific description is not provided herein.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. An indoor navigation method is applied to a controller in an indoor navigation system, wherein the indoor navigation system further comprises: the node terminals are correspondingly installed at the node positions of each indoor path; the LED light source array and the detector array are installed on a top plate of a room in the room, wherein each LED light source in the LED light source array is arranged corresponding to each detector in the detector array, and the controller is connected with each LED light source and each detector; wherein the method comprises the following steps:
when a first optical signal which is sent by an indoor user terminal to be navigated and carries identification information of a target path node is received, determining a first LED light source used for representing the position of the user terminal to be navigated and a second LED light source used for representing the position of the target path node in the LED light source array according to the first optical signal;
acquiring a target planning path between the first LED light source and the second LED light source according to a pre-acquired planning path between the LED light sources which represent all path node positions in the LED light source array;
sending the path information of the target planned path to the user terminal to be navigated, so that the user terminal to be navigated navigates according to the path information of the target planned path;
when receiving a first optical signal carrying identification information of a target path node sent by an indoor user terminal to be navigated, determining a first LED light source used for representing the position of the user terminal to be navigated and a second LED light source used for representing the position of the target path node in the LED light source array according to the first optical signal, including:
when first current signals respectively sent by a plurality of detectors in the detector array are received, acquiring a first target current signal with the largest power value from the plurality of first current signals; the first current signal is obtained by performing photoelectric conversion when a plurality of detectors respectively receive first optical signals sent by a user terminal to be navigated;
determining a first target detector which outputs the first target current signal, and determining an LED light source which is arranged corresponding to the first target detector as a first LED light source which represents the position of the user terminal to be navigated;
and acquiring the LED light source corresponding to the identification information of the target path node according to the correspondence between the identification information of all the path nodes acquired in advance and the light source information of the LED light source representing the position of the path node, and determining the LED light source corresponding to the identification information of the target path node as a second LED light source.
2. The method according to claim 1, wherein before acquiring the target planned path between the first LED light source and the second LED light source according to the pre-acquired planned paths between the LED light sources representing all path node positions in the LED light source array, the method further comprises:
acquiring planned paths among the LED light sources representing all path node positions in the LED light source array;
the acquiring of the planned path between the LED light sources representing all path node positions in the LED light source array includes:
when second current signals respectively sent by a plurality of detectors in the detector array are received, acquiring a second target current signal with the largest power value from the plurality of second current signals; the second current signals are obtained by performing photoelectric conversion when a plurality of detectors respectively receive second optical signals which are sent by the same node terminal and carry pre-stored identification information of corresponding path nodes;
determining a second target detector which outputs the second target current signal, and determining an LED light source which is arranged corresponding to the second target detector as the LED light source which represents the position of the corresponding path node;
and when the corresponding relation between the identification information of all the path nodes and the light source information of the LED light sources representing the path node positions is established, path planning is carried out on the LED light sources representing the path node positions, and a planned path between the LED light sources representing the path node positions in the LED light source array is obtained.
3. The method according to claim 1, wherein the obtaining a target planned path between the first LED light source and the second LED light source according to a pre-obtained planned path between LED light sources representing all path node positions in the LED light source array comprises:
acquiring all planned paths between the first LED light source and the second LED light source according to the pre-acquired planned paths between the LED light sources representing all path node positions in the LED light source array;
and selecting a planned path with the minimum passing obstacle point number from all planned paths between the first LED light source and the second LED light source, and determining the planned path with the minimum passing obstacle point number as a target planned path.
4. The method according to claim 3, wherein the selecting the planned path with the minimum number of passing obstacle points from all the planned paths between the first LED light source and the second LED light source, and determining the planned path with the minimum number of passing obstacle points as the target planned path comprises:
determining LED light sources which represent all path node positions except the target path node in the LED light source array as first obstacle points, and determining LED light sources which represent all user terminal positions except the user terminal to be navigated in the LED light source array as second obstacle points;
and selecting a planned path with the minimum total number of the first obstacle points and the second obstacle points from all the planned paths, and determining the planned path with the minimum total number of the first obstacle points and the second obstacle points as the target planned path.
5. The method according to claim 4, wherein the determining LED light sources in the LED light source array representing positions of all user terminals except the user terminal to be navigated as second obstacle points comprises:
sending a control instruction for controlling the LED light sources to send third light signals to each LED light source in the LED light source array, wherein the third light signals carry control information for controlling all user terminals to send fourth light signals;
acquiring fourth optical signals sent by all user terminals, and determining LED light sources used for representing the positions of all the user terminals in the LED light source array according to the fourth optical signals;
and determining the LED light sources in the LED light source array for representing all the positions of the user terminals as second obstacle points.
6. The method according to claim 1, wherein the path information of the target planned path comprises light source information of LED light sources passed by in the target planned path and relative position information between the LED light sources passed by;
the sending the path information of the target planned path to the user terminal to be navigated includes:
and sending the path information of the target planning path to the user terminal to be navigated through the first LED light source, so that the user terminal to be navigated displays the navigation direction when moving to the LED light source to be navigated according to the light source information of the LED light source passing through in the target planning path and the relative position information between the LED light sources passing through.
7. An indoor navigation device, applied to a controller in an indoor navigation system, wherein the indoor navigation system further comprises: the node terminals are correspondingly installed at the node positions of each indoor path; the LED light source array and the detector array are installed on a top plate of a room in the room, wherein each LED light source in the LED light source array is arranged corresponding to each detector in the detector array, and the controller is connected with each LED light source and each detector; wherein the apparatus comprises:
the system comprises a determining module, a first navigation module and a second navigation module, wherein the determining module is used for determining a first LED light source used for representing the position of a user terminal to be navigated and a second LED light source used for representing the position of a target path node in an LED light source array according to a first optical signal when the first optical signal which is sent by an indoor user terminal to be navigated and carries identification information of the target path node is received;
the first acquisition module is used for acquiring a target planning path between the first LED light source and the second LED light source according to a pre-acquired planning path between the LED light sources which represent all path node positions in the LED light source array;
the sending module is used for sending the path information of the target planned path to the user terminal to be navigated so that the user terminal to be navigated can navigate according to the path information of the target planned path;
the determining module comprises:
the first acquisition unit is used for acquiring a first target current signal with the largest power value from a plurality of first current signals when receiving the first current signals respectively sent by a plurality of detectors in the detector array; the first current signal is obtained by performing photoelectric conversion when a plurality of detectors respectively receive first optical signals sent by a user terminal to be navigated;
the first determination unit is used for determining a first target detector which outputs the first target current signal, and determining an LED light source which is arranged corresponding to the first target detector as a first LED light source which represents the position of the user terminal to be navigated;
and the second acquisition unit is used for acquiring the LED light source corresponding to the identification information of the target path node according to the correspondence between the identification information of all the path nodes acquired in advance and the light source information of the LED light source representing the path node position, and determining the LED light source corresponding to the identification information of the target path node as the second LED light source.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the indoor navigation method according to any of claims 1 to 6 when executing the computer program.
9. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the indoor navigation method of any one of claims 1 to 6.
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