CN112229393B - Navigation method and device based on organization process - Google Patents
Navigation method and device based on organization process Download PDFInfo
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- CN112229393B CN112229393B CN202011074302.5A CN202011074302A CN112229393B CN 112229393 B CN112229393 B CN 112229393B CN 202011074302 A CN202011074302 A CN 202011074302A CN 112229393 B CN112229393 B CN 112229393B
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- 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 invention discloses a navigation method and a navigation device based on an organization process, which relate to the technical field of navigation, and the method comprises the following steps: acquiring a first event to be processed of a user and destination information, wherein the first event to be processed is any event node in all event node information based on an organization flow; determining the current position of a user according to the first event to be processed; generating candidate navigation path information according to the current position and the destination of a user and event nodes corresponding to a first event to be processed, and sending the candidate navigation path information to a mobile terminal, wherein the candidate navigation path information comprises a navigation path, peripheral equipment information and all event nodes contained in the navigation path; and acquiring a navigation execution path selected by a user, and performing real-time navigation according to the navigation execution path. The embodiment can solve the problem that the current navigation technology is not perfect enough and can not meet the navigation requirements of public environments with organized flows, such as large-scale transportation junction environments and the like.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a navigation method and a navigation device based on an organization process.
Background
The outdoor navigation technology is mature, but for the scenes of large transportation hubs such as airports, railway stations, subway stations and the like, due to large occupied area, many and dense indoor facilities, accurate navigation is needed to guide the destination so as to quickly and correctly reach the destination. However, in recent years, various navigation technologies have been proposed, and the principle thereof is mostly realized based on physical technologies, such as signal positioning by WiFi, bluetooth, NFC, RFID, electromagnetic waves, and the like, or positioning by setting visible light, setting two-dimensional codes, using laser radar, using three-dimensional coordinates, dot pattern data, and the like, but there are problems that the signal is unstable, the field mark hardware is easily damaged, and a specific marker is placed in actual indoor applications.
When people enter transportation hub places such as airports, railway stations, subway stations and the like, fixed organization processes such as security check, ticket buying, ticket checking and taking procedures are provided, the organization processes have fixed sequences, once navigation is not accurate, a user may waste too much time before taking a bus or boarding, so that a journey is delayed, and certain loss is brought.
Disclosure of Invention
In view of this, embodiments of the present invention provide a navigation method and apparatus based on an organization procedure, so as to solve the problem that the current navigation technology is not perfect enough and cannot meet the navigation requirements of public environments with organization procedures, such as a large transportation hub environment.
According to a first aspect, an embodiment of the present invention provides a navigation method and apparatus based on an organization procedure, the method including: acquiring a first event to be processed of a user and destination information, wherein the first event to be processed is any event node in all event node information based on an organization flow; determining the current position of a user according to the first event to be processed; generating candidate navigation path information according to the current position and the destination of a user and event nodes corresponding to a first event to be processed, and sending the candidate navigation path information to a mobile terminal, wherein the candidate navigation path information comprises a navigation path, peripheral equipment information and all event nodes contained in the navigation path; and acquiring a navigation execution path selected by a user, and performing real-time navigation according to the navigation execution path.
Optionally, the acquiring a first event to be processed of the user includes: generating all event node information based on the indoor process and pushing the event node information to a user; receiving a first event to be processed selected by a user, wherein the first event to be processed is any event node in all event node information based on an indoor process.
Optionally, determining the current location of the user according to the first event to be processed includes: determining the area range of the user according to the node facility matched with the first event to be processed; acquiring real-time image information acquired by a mobile terminal; and performing feature matching on the real-time image information in the area range of the user through a navigation service system, and locking the current position of the user.
Optionally, the generating candidate navigation path information specifically includes: acquiring junction control system data, wherein the junction control system data comprises pedestrian flow information of an indoor road and information of indoor public equipment; and generating candidate navigation path information by combining the pivot control system data, the current position of the user, the destination information and at least one event node contained between the current position and the destination.
Optionally, the method further comprises: and classifying the candidate navigation paths according to characteristic factors, wherein the characteristic factors comprise time, distance and pedestrian flow.
Optionally, the method further comprises: analyzing the pivot control system data to obtain navigation blocking factors, screening out candidate navigation path information with the navigation blocking factors, and sending prompt information to a mobile terminal.
Optionally, performing real-time navigation according to the navigation execution path, specifically including: continuously acquiring a real-time image of a mobile terminal, extracting guide facilities or guide information in the real-time image, performing feature matching on the guide facilities or the guide information in the real-time image in a preset map, confirming a navigation path, and adjusting a navigation execution path in real time; and extracting the guide information matched with the navigation execution path in the real-time image, and pushing the guide information to the mobile terminal.
According to a second aspect, an embodiment of the present invention provides an indoor navigation device, including: the system comprises a user information acquisition module, a processing module and a processing module, wherein the user information acquisition module is used for acquiring a first event to be processed and destination information of a user; the positioning module is used for determining the current position of the user according to the first event to be processed; the candidate navigation information generating module is used for generating candidate navigation path information according to the current position and the destination of the user and event nodes corresponding to the first event to be processed, and sending the candidate navigation path information to the mobile terminal, wherein the candidate navigation path information comprises a navigation path, peripheral equipment information and all event nodes contained in the navigation path; and the real-time navigation module is used for acquiring a navigation execution path selected by a user and carrying out real-time navigation according to the navigation execution path.
According to a third aspect, an embodiment of the present invention provides an electronic device, where the electronic device includes a memory and a processor, where the memory and the processor are communicatively connected to each other, and the memory stores computer instructions, and the processor executes the computer instructions to perform the method for navigating based on an organization procedure according to the first aspect and the optional embodiments of the first aspect.
According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores computer instructions for causing the computer to execute the method for navigating based on an organization procedure according to the first aspect and the optional embodiments of the first aspect.
The present embodiment has at least the following advantages:
in the embodiment of the invention, the necessary event node in a pivot link environment is taken as a main line, the position of a user is positioned and navigated through a first event to be processed and a real-time picture of a mobile terminal, and the method does not depend on technologies such as WiFi and Bluetooth and has better stability; generating a navigation path which comprises event nodes and takes the current position as an initial point and the destination as a terminal point, covering necessary event nodes and avoiding the user from missing a certain flow to delay a journey; meanwhile, the candidate navigation paths are refined by combining pivot control system data, and are classified according to the characteristic factors, so that a user can conveniently select the navigation path to be executed according to the requirement of the user, and the navigation method is more humanized.
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 other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a navigation method based on an organization procedure according to an embodiment of the invention;
FIG. 2 is a flowchart of a method for obtaining a current location of a user according to an embodiment of the present invention;
FIG. 3 is a signaling flow diagram of a navigation method based on an organizational flow according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an indoor navigation device according to an embodiment of the invention;
FIG. 5 is a schematic diagram of a system architecture according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present 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.
The embodiment of the invention provides a navigation method based on an organization process, which is mainly applied to large-scale transfer hub environments, such as airports, railway stations and other places with obvious organization processes, that is to say, to-be-processed items of users are clear, taking an airport as an example, the to-be-processed item nodes which must be experienced by the airport include: the invention provides a navigation method and a navigation device based on an organization process based on the matters which must be completed.
Referring to fig. 1, the method specifically includes:
step S1: acquiring a first event to be processed and destination information of a user,
specifically, when the user is familiar with all events in the organization flow, the user may autonomously obtain a first event to be processed through the mobile terminal, when the user is unknown about the event in the organization flow, all event nodes may be pushed to the user through the navigation service system, the user selects one node in all event node information as the first event to be processed according to the user's own requirement and returns the selected node to the system, and the system receives the first event to be processed selected by the user.
In a feasible example, the user may select the first event to be processed as a ticket according to his personal intention or an event node pushed by the navigation service system, and then input the first event to be processed through the mobile terminal, and at the same time, input his destination information, and the mobile terminal sends the first event to be processed and the destination information to the navigation service system through the internet.
In the step, all event nodes based on the organization process are used as navigation factors, all event nodes are displayed to the user, all necessary processes can be clearly displayed, and the user is prevented from missing a certain event node.
Step S2: determining the current position of the user according to the first event to be processed,
in this embodiment, different from the prior art that WiFi or bluetooth is adopted to locate a user, referring to fig. 2, the method for obtaining the current location of the user in this embodiment includes:
step S21: determining the area range of the user according to the node facility matched with the first event to be processed;
the navigation service system of this embodiment is preset with map information corresponding to indoor facilities, that is, a preset map, and when receiving a first event to be processed, the navigation service system matches a node facility corresponding to the first event to be processed, and takes an area with a radius within a preset range and an area facility corresponding to the first event to be processed as an approximate range of an area where a user is located, so as to preliminarily predict a location where the user is located.
In a specific example, taking the first event to be processed as a ticket getting example, the ticket getting is bound to go to a manual window or a self-service ticket selling and taking machine for handling, taking the self-service ticket selling and taking machine as an example, if the node facility corresponding to the first event to be processed is the self-service ticket selling and taking machine, the navigation service system automatically calls out a system preset map with the self-service ticket selling and taking machine, and taking the self-service ticket selling and taking machine as a center, and taking an area with a radius within a preset range as an area range where a user is located, so as to preliminarily prejudge the location of the user.
Step S22: acquiring real-time image information acquired by a mobile terminal;
the mobile terminal can collect surrounding ring mirror pictures through the camera function and upload real-time image information to the navigation service system through network service.
Step S23: and performing feature matching on the real-time image information in the area range of the user through the navigation service system, and locking the current position of the user.
The navigation service system of the present embodiment can highlight the mapping thereof on the map by labeling each guidance facility having a guidance function and the guidance information. The guiding facilities can be identification facilities such as ticket vending machines, security check equipment, ferry vehicles, airplanes and the like, and the guiding information can be clear guideboards, arrows and the like.
The navigation service system receives real-time image information of the mobile terminal, extracts features in the image information, identifies guide facilities or guide information, performs feature matching with guide facilities in a map prestored in the navigation service system, locks specific positions of users according to the distance between the guide facilities and the users in the images if the guide facilities or the guide information are matched with the guide facilities, and continuously acquires the image information of the mobile terminal until the matching is successful to acquire the positioning of the users.
The method comprises the steps of firstly matching node facilities corresponding to a first event to be processed, conducting preliminary prejudgment on the position of a user, reducing the range, then collecting a real-time picture of a mobile terminal, extracting features in image information based on image recognition, recognizing guiding facilities or guiding information, locking the specific position of the user through the distance between the guiding facilities and the user, avoiding positioning deviation caused by unstable signals, and having high positioning accuracy.
Step S3: generating candidate navigation path information according to the current position and the destination of the user and an event node corresponding to the first event to be processed, and sending the candidate navigation path information to the mobile terminal;
in practical application, firstly determining all necessary event nodes to be passed according to a first event to be processed and destination information, then planning a navigation path according to the necessary event nodes, and generating a plurality of possible candidate navigation path information, wherein the candidate navigation path information comprises the navigation path, all event nodes contained in the navigation path and peripheral equipment information, and the peripheral equipment information comprises information such as the position, the use condition and whether the public facilities are damaged.
In addition, generating candidate navigation path information according to the current position and the destination information of the user specifically comprises:
the method includes the steps of obtaining data of a junction control system, wherein the junction control system comprises indoor conventional management devices such as monitoring setting, security setting and the like, mainly obtaining pedestrian flow information of indoor roads and information of indoor public equipment in the data of the junction control system, and the information of the public equipment includes but is not limited to whether devices such as a washroom, an elevator and a water dispenser in a waiting room are normal or not.
And generating candidate navigation path information by combining the pivot control system data, the current position of the user and the destination information.
After the candidate navigation paths are generated, the candidate navigation paths are classified according to characteristic factors so that a user can select a navigation path to be executed according to the requirement of the user, and the characteristic factors comprise time, distance and pedestrian volume. In an actual example, a navigation route with a short time is preferred when the user carries a large number of articles, and a navigation route with a small traffic volume is selected when the user has a large number of people and a large number of people easily wander away.
It should be noted that, the method of this embodiment further includes analyzing the data of the hub control system to obtain navigation blocking factors, where the navigation blocking factors include abnormal factors such as road blockage, equipment maintenance, and machine shutdown. And comparing whether the navigation blocking factor exists in the candidate navigation paths, and if the candidate navigation path information with the navigation blocking factor is screened out, sending a prompt to the mobile terminal to inform the user of the obstacle.
And the navigation service system sends the candidate navigation information to the mobile terminal, and the mobile terminal determines a navigation execution path according to the self requirement after receiving the candidate navigation information.
The step can generate a navigation path guided by event nodes, avoids a user from missing important process nodes, is linked with a hub control system, provides a user-defined selection scheme based on characteristic factors, provides a navigation path with navigation obstacles for the user, and avoids the user from walking by mistake.
Step S4: and acquiring a navigation execution path selected by a user, and performing real-time navigation according to the navigation execution path.
The method specifically comprises the following steps: the navigation service system continuously acquires a real-time image of the mobile terminal, performs feature matching on guide facilities or guide information in the real-time image in a preset map, confirms a navigation path and adjusts a navigation execution path in real time; .
If the user does not upload the real-time image in the navigation process, the navigation service system defaults to continue navigation according to the navigation execution path, if the user uploads the real-time image in the navigation process, the real-time image is matched with a map in the navigation service system, whether the guiding facilities are consistent or not is judged, if so, the current navigation execution path is continued, and if not, the path is re-planned and sent to the mobile terminal.
In addition, if the user wants to go to a restroom or a convenience store temporarily during the navigation process, the user can select the additional flow node through the peripheral equipment information in the navigation path information, and after the selection, the navigation service system confirms the additional flow node, generates a navigation path with the additional flow node and sends the navigation path to the mobile terminal.
It should be noted that, in the navigation process, the guidance information matched with the navigation execution path in the real-time image is extracted and pushed to the mobile terminal. In an actual example, the guidance information included in the real-time image uploaded by the user includes a straight identification picture, a left-turn identification picture and a right-turn identification picture, and the navigation execution path being executed needs to be straight, so that the system directly pushes the straight identification picture to the client, so as to avoid the situation that the user ignores the identification and walks by mistake.
In detail, referring to fig. 3, the signaling flow of this embodiment is:
the navigation service system receives destination information of the mobile terminal, all indoor event nodes are sent to the mobile terminal, a client selects a first processing event according to all event nodes or autonomously selects the first processing event and sends the first processing event to the navigation service system, meanwhile, the mobile terminal transmits a real-time picture to the navigation service system, the navigation service system calculates the current position of a user according to the first event to be processed, meanwhile, a candidate navigation path is generated according to data of a hub control system and sent to the mobile terminal, the user selects a navigation execution path based on the candidate navigation path, the navigation service system conducts real-time navigation and receives the real-time picture sent by the mobile terminal to conduct path adjustment.
In the embodiment, a necessary event node in a pivot environment is taken as a main line, the position of a user is positioned and navigated through a first event to be processed and a real-time picture of a mobile terminal, and the method does not depend on technologies such as WiFi and Bluetooth and has better stability; generating a navigation path which comprises event nodes and takes the current position as an initial point and the destination as a terminal point, covering necessary event nodes and avoiding the delay of a journey due to the omission of a certain flow by a user; meanwhile, the candidate navigation paths are refined by combining pivot control system data, and are classified according to the characteristic factors, so that a user can conveniently select the navigation path to be executed according to the requirement of the user, and the navigation method is more humanized.
Corresponding to the above embodiments, the present embodiment provides an indoor navigation device, and referring to fig. 4, the device includes:
the user information acquisition module is used for acquiring a first event to be processed and destination information of a user; this module executes the method described in step S1 in the above embodiment, which is not described herein again.
The positioning module is used for determining the current position of the user according to the first event to be processed; this module executes the method described in step S2 in the above embodiment, which is not described herein again.
The candidate navigation information generating module is used for generating candidate navigation path information according to the current position and the destination of the user and the event node corresponding to the first event to be processed and sending the candidate navigation path information to the mobile terminal, wherein the candidate navigation path information comprises a navigation path, peripheral equipment information and all event nodes contained in the navigation path; this module executes the method described in step S3 in the above embodiment, which is not described herein again.
And the real-time navigation module is used for acquiring a navigation execution path selected by a user and carrying out real-time navigation according to the navigation execution path. This module executes the method described in step S4 in the above embodiment, which is not described herein again.
In the embodiment, a necessary event node in a pivot environment is taken as a main line, the position of a user is positioned and navigated through a first event to be processed and a real-time picture of a mobile terminal, and the method does not depend on technologies such as WiFi and Bluetooth and has better stability; generating a navigation path which comprises event nodes and takes the current position as an initial point and the destination as a terminal point, covering necessary event nodes, and avoiding that a user omits a certain flow to delay a journey; meanwhile, the candidate navigation paths are refined by combining pivot control system data, and are classified according to the characteristic factors, so that a user can conveniently select the navigation path to be executed according to the requirement of the user, and the navigation method is more humanized.
Correspondingly, the embodiment includes: the relationship between the mobile terminal, the hub control system and the navigation service system is shown in fig. 5.
The mobile terminal is used for providing the current organization process and the real-time scene image information for the navigation service system and receiving the candidate navigation path information sent by the navigation service system. The mobile terminal can comprise smart mobile products such as a smart phone, a smart wearable product and a tablet personal computer, and the mobile terminal and the navigation service system are communicated through internet connection.
The pivot control system is used for providing pivot control system data including the people flow information in the pivot environment and the information of each indoor public device for the navigation service system; the hub control system comprises an indoor conventional management device, such as monitoring setting, security setting and the like, and the embodiment mainly obtains pedestrian flow information of an indoor road and information of indoor public equipment in data of the hub control system, wherein the public equipment information includes but is not limited to whether equipment such as a washroom, an elevator and a water dispenser in a waiting room is normal or not. The hub control system is linked with the navigation service system through network communication such as Ethernet.
The navigation service system is used for generating candidate navigation path information according to the pivot control system data, the current organization process and the real-time scene image information provided by the mobile terminal, and performing real-time navigation according to the navigation execution path sent by the mobile terminal. The navigation service system of the embodiment may highlight the mapping of each guidance facility having the guidance function and the guidance information on the map by labeling the guidance facility and the guidance information. The specific functions of the navigation service system are described in the above navigation method based on the organization procedure, and are not described herein again.
Corresponding to the above embodiments, this embodiment further provides an electronic device, where the electronic device includes a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions, so as to execute a navigation method based on an organization procedure. The processor and the memory may be connected by a bus or other means, and fig. 6 illustrates the connection by the bus as an example.
The processor may be a Central Processing Unit (CPU). The Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or a combination thereof.
The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to a navigation method based on an organization procedure in an embodiment of the present invention. The processor executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory, so as to implement the navigation method based on the organization flow in the above method embodiments.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and such remote memory may be coupled to the processor via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Corresponding to the above embodiments, the present embodiment also provides a computer-readable storage medium, where computer instructions are stored, and the computer instructions are used to enable the computer to execute an organization procedure-based navigation method based on an organization procedure. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. A method for navigation based on an organizational process, the method comprising:
acquiring a first event to be processed of a user and destination information, wherein the first event to be processed is any event node in all event node information based on an organization flow;
determining the current position of a user according to the first event to be processed;
generating candidate navigation path information according to the current position and the destination of a user and event nodes corresponding to a first event to be processed, and sending the candidate navigation path information to a mobile terminal, wherein the candidate navigation path information comprises a navigation path, peripheral equipment information and all event nodes contained in the navigation path;
and acquiring a navigation execution path selected by a user, and performing real-time navigation according to the navigation execution path.
2. The method for navigating based on the organizational process according to claim 1, wherein the acquiring the first to-be-processed event of the user comprises:
generating all event node information based on an organization process and pushing the event node information to a user;
receiving a first event to be processed selected by a user.
3. The method of claim 1, wherein determining the current location of the user based on the first event to be processed comprises:
determining the area range of the user according to the node facility matched with the first event to be processed;
acquiring real-time image information acquired by a mobile terminal;
and performing feature matching on the real-time image information in the area range of the user through a navigation service system, and locking the current position of the user.
4. The navigation method based on an organization procedure as claimed in claim 1, wherein the generating of the candidate navigation path information specifically includes:
acquiring pivot control system data, wherein the pivot control system data comprises the pedestrian flow information of an indoor movable area and the information of each indoor public device;
and generating candidate navigation path information by combining the pivot control system data, the current position of the user, the destination information and at least one event node contained between the current position and the destination.
5. The method of claim 4, wherein the method further comprises:
and classifying the candidate navigation paths according to characteristic factors, wherein the characteristic factors comprise time, distance and pedestrian flow.
6. The method of claim 4, further comprising:
analyzing the pivot control system data to obtain navigation blocking factors, screening out candidate navigation path information with the navigation blocking factors, and sending prompt information to a mobile terminal.
7. The method according to claim 1, wherein navigating in real time according to the navigation execution path comprises:
continuously acquiring a real-time image of a mobile terminal;
extracting guide facilities or guide information in a real-time image, performing feature matching on the guide facilities or the guide information in the real-time image in a preset map, confirming a navigation path, and adjusting a navigation execution path in real time;
and extracting the guide information matched with the navigation execution path in the real-time image, and pushing the guide information to the mobile terminal.
8. An indoor navigation device, characterized in that the device comprises:
the system comprises a user information acquisition module, a destination information acquisition module and a processing module, wherein the user information acquisition module is used for acquiring a first event to be processed and destination information of a user, and the first event to be processed is any event node in all event node information based on an organization flow;
the positioning module is used for determining the current position of the user according to the first event to be processed;
the candidate navigation information generating module is used for generating candidate navigation path information according to the current position and the destination of the user and event nodes corresponding to the first event to be processed, and sending the candidate navigation path information to the mobile terminal, wherein the candidate navigation path information comprises a navigation path, peripheral equipment information and all event nodes contained in the navigation path;
and the real-time navigation module is used for acquiring a navigation execution path selected by a user and carrying out real-time navigation according to the navigation execution path.
9. An electronic device, wherein the electronic device comprises a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform an organization procedure-based navigation method according to any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon computer instructions for causing a computer to execute a method of tissue procedure based navigation according to any one of claims 1-7.
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