CN115640468A - Method, device and equipment for indoor navigation and storage medium - Google Patents
Method, device and equipment for indoor navigation and storage medium Download PDFInfo
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- CN115640468A CN115640468A CN202211278890.3A CN202211278890A CN115640468A CN 115640468 A CN115640468 A CN 115640468A CN 202211278890 A CN202211278890 A CN 202211278890A CN 115640468 A CN115640468 A CN 115640468A
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Abstract
The disclosure provides a method, a device, equipment and a storage medium for indoor navigation, relates to the technical field of computers, and particularly relates to the technical field of intelligent search, big data, internet of things and cloud computing. The specific implementation scheme is as follows: determining a first indoor destination in the target building based on the indoor navigation map of the target building according to the query information; planning an indoor navigation route according to the position of the user and the position of the first indoor destination; and determining a navigation mode according to the preset arrival time and the travel time of the indoor navigation route so that the user can arrive at the first indoor destination according to the navigation mode and the indoor navigation route. According to the technical scheme, indoor navigation can be carried out on the user more reasonably and individually.
Description
Technical Field
The utility model relates to a computer technology field especially relates to intelligent search, big data, thing networking, cloud computing technology field.
Background
In recent years, as public buildings have been enlarged, indoor structures thereof have become increasingly complicated. In order to facilitate people to quickly find and reach a destination to be visited during indoor activities, a display board is usually arranged in an indoor environment to play a guiding role. However, this is not intuitive to make clear the required travel route to the destination, and therefore, there is an urgent need to extend the navigation service to an indoor environment.
Disclosure of Invention
The disclosure provides a method, a device, equipment and a storage medium for indoor navigation.
According to an aspect of the present disclosure, there is provided a method of indoor navigation, comprising:
determining a first indoor destination in the target building based on the indoor navigation map of the target building according to the query information;
planning an indoor navigation route according to the position of the user and the position of the first indoor destination; and
and determining a navigation mode according to the preset arrival time and the travel time of the indoor navigation route so that the user can arrive at the first indoor destination according to the navigation mode and the indoor navigation route.
According to another aspect of the present disclosure, there is provided an apparatus for indoor navigation, comprising:
the first determining module is used for determining a first indoor destination in the target building based on the indoor navigation map of the target building according to the query information;
the first planning module is used for planning an indoor navigation route according to the position of the user and the position of a first indoor destination; and
and the second determining module is used for determining the navigation mode according to the preset arrival time and the travel time of the indoor navigation route so that the user can arrive at the first indoor destination according to the navigation mode and the indoor navigation route.
According to another aspect of the present disclosure, there is provided an electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform a method according to any one of the embodiments of the present disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform a method according to any one of the embodiments of the present disclosure.
According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements a method according to any one of the embodiments of the present disclosure.
According to the technical scheme, indoor navigation can be conducted on the user more reasonably and individually.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a schematic diagram of a method of indoor navigation according to an embodiment of the present disclosure;
fig. 2 is a flow diagram of a method of indoor navigation according to an embodiment of the present disclosure;
fig. 3 is an application scenario diagram of a method of indoor navigation according to an embodiment of the present disclosure;
fig. 4 is an application scenario diagram of a method of indoor navigation according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of an apparatus for indoor navigation according to an embodiment of the present disclosure;
fig. 6 is a block diagram of an electronic device used to implement a method of indoor navigation of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
As shown in fig. 1, an embodiment of the present disclosure provides an indoor navigation method, including:
step S101: and determining a first indoor destination in the target building based on the indoor navigation map of the target building according to the query information.
Step S102: and planning an indoor navigation route according to the position of the user and the position of the first indoor destination.
Step S103: and determining a navigation mode according to the preset arrival time and the travel time of the indoor navigation route so that the user can arrive at the first indoor destination according to the navigation mode and the indoor navigation route.
According to the embodiments of the present disclosure, it should be noted that:
query information may be understood as any form of information entered by a user relating to an indoor destination desired to be reached. For example, it may be text information, image information, or identification information in the interface of the mobile terminal (interaction button of the target interface in the graphical user interface of the target building, e.g., mother-baby room and bathroom interaction button as shown in fig. 4, etc.).
The target structure may be any structure for use, including but not limited to: markets, hospitals, office buildings, etc.
The first indoor destination may be understood as a destination that the user needs to reach. If the target building is a mall, the first indoor destination may include a bathroom in the mall, a shopping guide, a particular store, etc. If the target building is a hospital, the first indoor destination may include a doctor's office, a ward, a bathroom, etc. If the target building is an office building, the first indoor destination may include an office, a tea room, a conference room, and the like.
The indoor navigation map may be a map constructed in advance based on indoor environment data and/or indoor marker data in the target building. The indoor navigation map can display POI (Point of Interest) information contained in different floors, and the POI information corresponds to a marker in a floor or a specific indoor space area.
The user position may be understood as the current real-time position of the user in the target building, or may be understood as a certain position in the target building specified by the user.
The preset arrival time may be understood as a time that a user previously sets a desire to reach the first indoor destination. The preset arrival time may be a certain time, or a certain time period, and is not limited specifically herein. For example, if the user wants ten points to reach the first indoor destination, ten points are the preset arrival time.
The travel time of the indoor navigation route can be understood as the total time taken by the user to travel from the user location to the location of the first indoor destination.
The navigation mode can be understood as a specific navigation logic strategy. For example, strategies such as navigating directly to a first indoor destination, navigating along the way to other midway destinations before reaching the first indoor destination, immediately initiating navigation to guide the user to the first indoor destination, periodically initiating navigation to guide the user to the first indoor destination, and the like.
According to the embodiment of the disclosure, by utilizing the query information and the indoor navigation map, the navigation route can be automatically provided for the user, the user does not need to determine the specific floor position of the destination to be reached in advance and then query, the fussy step of searching the floor where the destination is located is skipped, the user operation is simplified, and a more reasonable and quicker navigation mode is provided. Meanwhile, the navigation mode is determined by utilizing the preset arrival time and the travel time of the indoor navigation route, personalized, refined and intelligent navigation can be provided for the user, and the diversity requirements of different users are met.
In one example, as shown in fig. 2, an embodiment of the present disclosure provides a method of indoor navigation, including:
it is determined whether the query information contains the name or type of the queried destination (or indoor facility).
And if so, searching and determining a first indoor destination in the target building based on the indoor navigation map of the target building.
And planning an indoor navigation route according to the position of the user and the position of the first indoor destination.
And determining a navigation mode according to the preset arrival time and the travel time of the indoor navigation route so that the user can arrive at the first indoor destination according to the navigation mode and the indoor navigation route.
In one example, as shown in fig. 2, the method for indoor navigation may further include:
and associating the planned indoor navigation route with the user and storing the indoor navigation route in a user database. And when the same query information is input by subsequent users, directly feeding back the indoor navigation route. Therefore, the indoor navigation service is more quickly provided for the user.
In one implementation manner, the method for indoor navigation according to the embodiment of the present disclosure includes steps S101 to S103, where step S101: determining a first indoor destination within the target building based on the indoor navigation map of the target building according to the query information may include:
step S1011: and under the condition that the query information is determined to be the image information, carrying out image identification on the query information to obtain an image identification result.
Step S1012: and determining a first indoor destination in the target building according to the image recognition result and the map data of the indoor navigation map of the target building.
According to the embodiments of the present disclosure, it should be noted that:
the image information may include a door image of a destination, an image including a name of the destination, and the like previously photographed by the user, as long as information about the destination can be recognized therefrom and searched from the map data of the indoor navigation map. The map data of the indoor navigation map may include any information in the target building. For example, a front image of a certain store, a doctor's office, or an office, address information or name information of a certain store, a doctor's office, or an office, and picture information or character information of a product sold by a certain store or a pharmacy.
For example, when the target building is a mall, the image information may be a picture of a front of a certain store photographed by a user, a picture of a tag of clothes to be sold specifically in the certain store, and a picture of a specific product to be sold in the certain store. When the target building is a hospital, the image information may be a laboratory sheet image taken by the user, an outpatient image of an outpatient clinic, a hospital image found on a network, or the like.
According to the embodiment of the disclosure, the image information is used as the query information of indoor navigation, so that the retrieval cost of the complicated input text information of the user can be reduced. When the indoor destination query scene of complex information is faced, the image information can be provided in a mode of photographing or uploading images to determine the first indoor destination, and the navigation route of the first indoor destination is planned according to the current position of the user.
In one implementation, the method for indoor navigation according to the embodiment of the present disclosure includes steps S101 to S103, S1011, and S1012, where the step S1012: determining a first indoor destination in the target building according to the image recognition result and the map data of the indoor navigation map of the target building may include:
and determining keyword information in the image recognition result.
And determining a first indoor destination in the target building matched with the keyword information based on the map data of the indoor navigation map of the target building according to the keyword information.
According to the embodiments of the present disclosure, it should be noted that:
the keyword information can be understood as any character information in the image. For example, if the image information is a shop front image of a clothing shop, the keyword information may be a specific name of the shop. As another example, if the image information is a laboratory sheet image of a hospital, the keyword information may be a specific department name on the laboratory sheet.
The first indoor destination can be determined by matching the keyword information with the character information in the map data of the indoor navigation map.
According to the embodiment of the disclosure, the keyword information identified in the image is used as the query information, so that the retrieval cost of the fussy input text information of the user can be reduced. When the indoor destination query scene of complex information is faced, the image information can be provided in a mode of photographing or uploading images to determine the first indoor destination, and the navigation route of the first indoor destination is planned according to the current position of the user.
In one example, as shown in fig. 3, the query information is a laboratory sheet image, and it can be determined that the corresponding department is a "laboratory department" (i.e., keyword information) through image recognition. The laboratory location is then determined based on map data of an indoor navigation map of the hospital (i.e., the target building).
In one implementation, the method for indoor navigation according to the embodiment of the present disclosure includes steps S101 to S103, S1011, and S1012, where the step S1012: determining a first indoor destination within the target building based on the image recognition result and map data of an indoor navigation map of the target building may include:
and determining the target image content in the image recognition result.
According to the target image content, a first indoor destination in the target building matched with the target image content is determined based on the map data of the indoor navigation map of the target building.
According to the embodiments of the present disclosure, it should be noted that:
the target image content may be understood as any image content in the image. Such as merchandise, house number, logo, etc.
Determining a first indoor destination in the target building matching the target image content based on the map data of the indoor navigation map of the target building according to the target image content may be understood as: and directly searching matched information from the map data of the indoor navigation map according to the target image content, thereby determining the first indoor destination. For example, the target image content is a logo of a certain shop, and the map data of the indoor navigation map includes information of the logo, so that the first indoor destination in the target building matching the target image content is determined directly based on the map data of the indoor navigation map of the target building.
Determining a first indoor destination in the target building matching the target image content based on the map data of the indoor navigation map of the target building according to the target image content may also be understood as: and secondly, secondarily identifying the target image content at the cloud end, determining the information represented by the target object content, and searching matched information from the map data of the indoor navigation map according to the represented information, so as to determine a first indoor destination. For example, the target image content is a piece of clothing, brand information of the clothing is identified by using the cloud, and then matching brand information is searched from map data of an indoor navigation map, so that the position of a shop (a first indoor destination) corresponding to the brand information is determined.
According to the embodiment of the disclosure, the retrieval cost of the input text information which is fussy for the user can be reduced by taking the target image content identified in the image as the query information. When the indoor destination query scene of complex information is faced, the image information can be provided in a mode of photographing or uploading images to determine the first indoor destination, and the navigation route of the first indoor destination is planned according to the current position of the user.
In one implementation manner, the method for indoor navigation according to the embodiment of the present disclosure includes steps S101 to S103, where step S101: determining a first indoor destination within the target building based on the indoor navigation map of the target building according to the query information may include:
and under the condition that the query information is determined to be text information or identification information, performing semantic recognition on the query information to obtain a semantic recognition result.
And determining a first indoor destination in the target building according to the semantic recognition result and the map data of the indoor navigation map of the target building.
In one example, as shown in FIG. 4, the query information is a clicked indoor area identification button on the application program of the target building, and it can be determined through semantic recognition that the semantic recognition result is a toilet. The first indoor destination is then determined to be a bathroom based on map data of an indoor navigation map of a mall (i.e., a target building).
In one implementation, the method for indoor navigation according to the embodiment of the present disclosure includes steps S101 to S103, where step S102: planning an indoor navigation route based on the user location and the location of the first indoor destination may include:
when the first indoor destination is a plurality of destinations, a first target indoor destination matching the user is determined from the plurality of destinations based on the user information and the category information of the plurality of destinations.
And planning an indoor navigation route according to the position of the user and the position of the first target indoor destination.
According to the embodiments of the present disclosure, it should be noted that:
the category information of the first indoor destination may be understood as characterizing a specific type of the first indoor destination to be distinguished from other first indoor destinations. For example, the first indoor destination is a toilet, and the category information may be a male toilet or a female toilet. As another example, the first indoor destination is brand X clothing store, and the category information may be brand X children's clothing store, brand X men's clothing store, brand X women's clothing store.
User information may be understood as any information relating to a user. For example, if the user information indicates that the user is a male, the category information required to find the first indoor destination is a toilet of a male toilet (i.e., the first target indoor destination). In another example, if the user information indicates that the user is a male, the category information required to find the first indoor destination is an X clothing store for selling men's clothing.
According to the embodiment of the disclosure, the navigation route can be more accurately planned for the user according to the user information and the category information of the first indoor destination.
In one implementation manner, the method for indoor navigation according to the embodiment of the present disclosure includes steps S101 to S103, where step S102: planning an indoor navigation route based on the user location and the location of the first indoor destination may include:
when the first indoor destinations are plural, a second target indoor destination having the shortest distance from the user position is determined from the plural first indoor destinations based on the user position and the positions of the plural first indoor destinations.
And planning an indoor navigation route according to the position of the user and the position of the second target indoor destination.
According to the embodiments of the present disclosure, it should be noted that:
the second target indoor destination with the shortest distance may be understood as a second target indoor destination with the shortest generated indoor navigation route, a second target indoor destination with the shortest straight-line distance, or a second target indoor destination which is not the shortest but can be reached most quickly.
According to the embodiment of the disclosure, according to the relative distance between the position of the user and the positions of the plurality of first indoor destinations, a more reasonable indoor navigation route can be planned, and the time spent by the user for reaching the destination is saved.
In one implementation, the method for indoor navigation according to the embodiment of the present disclosure includes steps S101 to S103, where step S102: planning an indoor navigation route based on the user location and the location of the first indoor destination may include:
and determining the first floor position of the user in the target building according to the user position.
A second floor location is determined where the first indoor destination is located in the target building based on the location of the first indoor destination.
And determining the inter-floor transportation facilities according to the floor difference between the first floor position and the second floor position.
And planning an indoor navigation route according to the user position and the position of the first indoor destination based on the inter-floor transportation facility.
According to the embodiments of the present disclosure, it should be noted that:
determining an inter-floor transportation facility based on a floor difference between the first floor location and the second floor location can be understood as: if the floor difference is large, the user position is far away from the position of the first indoor destination, so that the user can go to the vertical ladder or the escalator (namely, the inter-floor travel facility) more quickly. If the floor difference is small, the fact that the distance between the user position and the position of the first indoor destination is short is shown, the user can directly walk to the first indoor destination relatively faster without taking a vertical ladder or an escalator, and the time for waiting for the elevator is saved.
According to the embodiment of the disclosure, whether the inter-floor transportation facility needs to be planned into the navigation route when the indoor navigation route is planned can be determined according to the floor distance between the position of the user and the position of the first indoor destination, so that the user can most efficiently and conveniently arrive at the first indoor destination.
In one implementation manner, the method for indoor navigation according to the embodiment of the present disclosure includes steps S101 to S103, where the step S103: determining a navigation mode according to a preset arrival time and a travel time of an indoor navigation route so that a user arrives at a first indoor destination according to the navigation mode and the indoor navigation route, may include:
and determining the theoretical arrival time according to the current time and the travel time of the indoor navigation route.
And under the condition that the time difference between the preset arrival time and the theoretical arrival time is smaller than the threshold time difference, determining the navigation mode as a first mode, wherein the first mode is used for enabling the user to be directly navigated to a first indoor destination from the user position according to the indoor navigation route.
According to the embodiments of the present disclosure, it should be noted that:
the theoretical arrival time may be understood as the time to the first indoor destination if the user is traveling from the user's location to the first indoor destination at that moment.
The length of the threshold time difference may be selected and adjusted according to the need, and is not specifically limited herein.
The time difference between the preset arrival time and the theoretical arrival time is smaller than the threshold time difference, which indicates that the user can arrive on time or arrive slightly ahead when the user directly goes to the first indoor destination. For example, if the opening time of the movie ticket bought by the user is 12 points, the current time is 11 points 40, the theoretical arrival time is 10 minutes, and the time difference is only 10 minutes, it is considered that the first mode should be activated to prompt the user to go to the movie theater (i.e., the first indoor destination) immediately according to the indoor navigation route.
According to the embodiment of the disclosure, the navigation route to the first indoor destination can be personalized for the user by the theoretical arrival time and the preset arrival time, so that the user can reasonably arrange the time to the first indoor destination, and the navigation process is more intelligent and humanized.
In one implementation manner, the method for indoor navigation according to the embodiment of the present disclosure includes steps S101 to S103, where the step S103: determining a navigation mode according to a preset arrival time and a travel time of an indoor navigation route so that a user arrives at a first indoor destination according to the navigation mode and the indoor navigation route, may include:
and determining theoretical arrival time according to the current time and the travel time of the indoor navigation route.
And under the condition that the time difference between the preset arrival time and the theoretical arrival time is greater than the threshold time difference, determining that the navigation mode is a second mode, wherein the second mode is used for adding a midway destination in the target building in the indoor navigation route, so that the user reaches the midway destination from the user position firstly and then reaches the first indoor destination from the midway destination.
Wherein the intermediate destination is determined according to the user information or randomly generated.
According to the embodiments of the present disclosure, it should be noted that:
the intermediate destination is determined according to the user information, and can be understood as follows: and determining a midway destination from the target building according to the user preference information, enabling the user to go to the midway destination in advance according to the indoor navigation route, and enabling the user to continue to go to the first indoor destination from the midway destination according to the indoor navigation route after the time is appropriate.
The intermediate destination is randomly generated, and can be understood as: and randomly determining a midway destination in a target building, enabling a user to go to the midway destination according to the indoor navigation route, and enabling the user to continue to go to the first indoor destination from the midway destination according to the indoor navigation route when the time is appropriate.
According to the embodiment of the disclosure, the time can be more reasonably planned and utilized, and the navigation route to the first indoor destination can be personalized for the user through the theoretical arrival time and the preset arrival time, so that the user can reasonably arrange the time to go to the first indoor destination, and the navigation process is more intelligent and humanized.
In one implementation manner, the method for indoor navigation according to the embodiment of the present disclosure includes steps S101 to S103, and may further include:
in the event that the user arrives at the first indoor destination, a preset round trip time is determined. The preset round trip time is the time for the user to return to the first indoor destination.
And determining a second indoor destination in the target building according to the preset rule and the preset round trip time.
And planning an indoor round-trip navigation route according to the position of the first indoor destination and the position of the second indoor destination, so that the user returns to the first indoor destination at a preset round-trip time according to the indoor round-trip navigation route.
According to the embodiments of the present disclosure, it should be noted that:
the second indoor destination within the target building may be determined from the user information or randomly generated. For example, according to the user preference information, a second indoor destination is determined from the target building, the user goes to the second indoor destination according to the indoor round-trip navigation route, and when the time is appropriate, the user returns to the first indoor destination from the second indoor destination according to the indoor round-trip navigation route. For another example, a second indoor destination in a target building is randomly determined, so that the user goes to the second indoor destination according to an indoor round-trip navigation route, and when the time is appropriate, the user returns to the first indoor destination from the second indoor destination according to the indoor round-trip navigation route.
According to the embodiment of the disclosure, time can be more reasonably planned and utilized, and the navigation route to the first indoor destination can be personalized and planned for the user through the theoretical arrival time and the preset arrival time, so that the user can reasonably arrange the time to go to the first indoor destination, and the navigation process is more intelligent and humanized.
In one embodiment, the method for indoor navigation may further include:
and associating the indoor navigation route and the query information with the user to obtain associated information.
And updating the associated information into a user database so that the user can directly call the indoor navigation route when the user carries out indoor navigation again based on the same query information.
As shown in fig. 5, an embodiment of the present disclosure provides an indoor navigation apparatus, including:
the first determining module 510 is configured to determine a first indoor destination in the target building based on the indoor navigation map of the target building according to the query information.
A first planning module 520, configured to plan an indoor navigation route according to the user location and the location of the first indoor destination. And
the second determining module 530 is configured to determine the navigation mode according to the preset arrival time and the travel duration of the indoor navigation route, so that the user can arrive at the first indoor destination according to the navigation mode and the indoor navigation route.
In one embodiment, the first determining module 510 includes:
and the identification sub-module is used for carrying out image identification on the query information under the condition that the query information is determined to be the image information to obtain an image identification result.
And the first determining submodule is used for determining a first indoor destination in the target building according to the image recognition result and the map data of the indoor navigation map of the target building.
In one embodiment, the first determination submodule is configured to: and determining keyword information in the image recognition result. And determining a first indoor destination in the target building matched with the keyword information based on the map data of the indoor navigation map of the target building according to the keyword information.
In one embodiment, the first determination submodule is configured to: and determining the target image content in the image recognition result. According to the target image content, a first indoor destination in the target building matched with the target image content is determined based on the map data of the indoor navigation map of the target building.
In one embodiment, the first planning module 520 is configured to: when the first indoor destination is a plurality of destinations, a first target indoor destination matching the user is determined from the plurality of destinations based on the user information and the category information of the plurality of destinations. And planning an indoor navigation route according to the position of the user and the position of the first target indoor destination.
In one embodiment, the first planning module 520 is configured to: when the first indoor destinations are plural, a second target indoor destination having the shortest distance from the user position is determined from the plural first indoor destinations based on the user position and the positions of the plural first indoor destinations. And planning an indoor navigation route according to the position of the user and the position of the second target indoor destination.
In one embodiment, the first planning module 520 is configured to: and determining the first floor position of the user in the target building according to the user position. A second floor location is determined at which the first indoor destination is located in the target building based on the location of the first indoor destination. And determining the inter-floor transportation facilities according to the floor difference between the first floor position and the second floor position. And planning an indoor navigation route according to the user position and the position of the first indoor destination based on the inter-floor transportation facility.
In one embodiment, the second determining module 530 is configured to: and determining theoretical arrival time according to the current time and the travel time of the indoor navigation route. And under the condition that the time difference between the preset arrival time and the theoretical arrival time is smaller than the threshold time difference, determining the navigation mode as a first mode, wherein the first mode is used for enabling the user to be directly navigated to a first indoor destination from the user position according to the indoor navigation route.
In one embodiment, the second determining module 530 is configured to: and determining the theoretical arrival time according to the current time and the travel time of the indoor navigation route. And under the condition that the time difference between the preset arrival time and the theoretical arrival time is greater than the threshold time difference, determining that the navigation mode is a second mode, wherein the second mode is used for adding a midway destination in the target building in the indoor navigation route, so that the user reaches the midway destination from the user position firstly and then reaches the first indoor destination from the midway destination.
Wherein the intermediate destination is determined according to the user information or randomly generated.
In one embodiment, the apparatus for indoor navigation further comprises:
a third determining module for determining a preset round trip time in case that the user arrives at the first indoor destination. The preset round trip time is the time for the user to return to the first indoor destination.
And the fourth determining module is used for determining a second indoor destination in the target building according to the preset rule and the preset round trip time.
And the second planning module is used for planning an indoor round-trip navigation route according to the position of the first indoor destination and the position of the second indoor destination, so that the user can return to the first indoor destination at preset round-trip time according to the indoor round-trip navigation route.
For a description of specific functions and examples of each module and sub-module of the apparatus in the embodiment of the present disclosure, reference may be made to the description of corresponding steps in the foregoing method embodiments, and details are not repeated here.
In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the good customs of the public order.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 6 illustrates a schematic block diagram of an example electronic device 600 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 6, the apparatus 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 602 or a computer program loaded from a storage unit 608 into a Random Access Memory (RAM) 603. In the RAM603, various programs and data necessary for the operation of the device 600 can also be stored. The calculation unit 601, the ROM602, and the RAM603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
A number of components in the device 600 are connected to the I/O interface 605, including: an input unit 606 such as a keyboard, a mouse, or the like; an output unit 607 such as various types of displays, speakers, and the like; a storage unit 608, such as a magnetic disk, optical disk, or the like; and a communication unit 609 such as a network card, modem, wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The computing unit 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 601 performs the various methods and processes described above, such as the method of indoor navigation. For example, in some embodiments, the method of indoor navigation may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 600 via the ROM602 and/or the communication unit 609. When the computer program is loaded into the RAM603 and executed by the computing unit 601, one or more steps of the method of indoor navigation described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured by any other suitable means (e.g. by means of firmware) to perform the method of indoor navigation.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server combining a blockchain.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (22)
1. A method of indoor navigation, comprising:
determining a first indoor destination in a target building based on an indoor navigation map of the target building according to the query information;
planning an indoor navigation route according to the position of the user and the position of the first indoor destination; and
and determining a navigation mode according to preset arrival time and the travel time of the indoor navigation route so that a user can arrive at the first indoor destination according to the navigation mode and the indoor navigation route.
2. The method of claim 1, wherein the determining a first indoor destination within a target building based on an indoor navigation map of the target building from the query information comprises:
under the condition that the query information is determined to be image information, carrying out image identification on the query information to obtain an image identification result;
and determining a first indoor destination in the target building according to the image recognition result and the map data of the indoor navigation map of the target building.
3. The method of claim 2, wherein the determining a first indoor destination within a target building from the image recognition result and map data of an indoor navigation map of the target building comprises:
determining keyword information in the image recognition result;
determining a first indoor destination in the target building matched with the keyword information based on map data of an indoor navigation map of the target building according to the keyword information;
or the like, or a combination thereof,
determining target image content in the image recognition result;
according to the target image content, a first indoor destination in the target building matched with the target image content is determined based on map data of an indoor navigation map of the target building.
4. The method of claim 1, wherein said planning an indoor navigation route based on a user location and a location of said first indoor destination comprises:
determining a first target indoor destination matching the user from among a plurality of first indoor destinations according to user information and category information of the plurality of first indoor destinations in the case where the first indoor destination is a plurality of destinations;
and planning an indoor navigation route according to the position of the user and the position of the first target indoor destination.
5. The method of claim 1, wherein said planning an indoor navigation route based on a user location and a location of said first indoor destination comprises:
determining a second target indoor destination which is shortest in distance from the user position from a plurality of first indoor destinations according to the user position and positions of the plurality of first indoor destinations when the first indoor destinations are multiple;
and planning an indoor navigation route according to the position of the user and the position of the second target indoor destination.
6. The method of claim 1, wherein said planning an indoor navigation route based on a user location and a location of said first indoor destination comprises:
determining a first floor position of a user in the target building according to the user position;
determining a second floor location of the first indoor destination in the target building based on the location of the first indoor destination;
determining an inter-floor transportation facility according to the floor difference between the first floor position and the second floor position;
and planning an indoor navigation route according to the user position and the position of the first indoor destination based on the inter-floor walk-substituting facility.
7. The method of any one of claims 1 to 6, wherein the determining a navigation mode to enable a user to reach the first indoor destination according to the navigation mode and the indoor navigation route according to a preset arrival time and a travel duration of the indoor navigation route comprises:
determining theoretical arrival time according to the current time and the travel time of the indoor navigation route;
and under the condition that the time difference between the preset arrival time and the theoretical arrival time is smaller than the threshold time difference, determining that the navigation mode is a first mode, wherein the first mode is used for enabling the user to be directly navigated to the first indoor destination from the user position according to the indoor navigation route.
8. The method of any one of claims 1 to 6, wherein the determining a navigation mode to enable a user to reach the first indoor destination according to the navigation mode and the indoor navigation route according to a preset arrival time and a travel duration of the indoor navigation route comprises:
determining theoretical arrival time according to the current time and the travel time of the indoor navigation route;
determining a navigation mode as a second mode under the condition that the time difference between the preset arrival time and the theoretical arrival time is greater than the threshold time difference, wherein the second mode is used for adding a midway destination located in the target building into the indoor navigation route so that the user reaches the midway destination from the user position firstly and then reaches the first indoor destination from the midway destination;
wherein the intermediate destination is determined from user information or randomly generated.
9. The method of any of claims 1 to 6, further comprising:
determining a preset round trip time if the user arrives at the first indoor destination; the preset round trip time is the time for the user to return to the first indoor destination;
determining a second indoor destination in the target building according to a preset rule and the preset round trip time;
and planning an indoor round-trip navigation route according to the position of the first indoor destination and the position of the second indoor destination, so that the user can return to the first indoor destination at the preset round-trip time according to the indoor round-trip navigation route.
10. The method of any of claims 1 to 6, wherein the map data of the indoor navigation map comprises: indoor environmental data and/or indoor marker data.
11. An apparatus for indoor navigation, comprising:
the first determining module is used for determining a first indoor destination in a target building based on an indoor navigation map of the target building according to the query information;
the first planning module is used for planning an indoor navigation route according to the position of a user and the position of the first indoor destination; and
and the second determining module is used for determining a navigation mode according to preset arrival time and the travel time of the indoor navigation route so that a user can arrive at the first indoor destination according to the navigation mode and the indoor navigation route.
12. The apparatus of claim 11, wherein the first determining means comprises:
the identification submodule is used for carrying out image identification on the query information under the condition that the query information is determined to be image information to obtain an image identification result;
and the first determining submodule is used for determining a first indoor destination in the target building according to the image recognition result and the map data of the indoor navigation map of the target building.
13. The apparatus of claim 12, wherein the first determination submodule is to: determining keyword information in the image recognition result; determining a first indoor destination in the target building matched with the keyword information based on map data of an indoor navigation map of the target building according to the keyword information;
or the like, or a combination thereof,
the first determination submodule is configured to: determining target image content in the image recognition result; according to the target image content, a first indoor destination in the target building matched with the target image content is determined based on map data of an indoor navigation map of the target building.
14. The apparatus of claim 11, wherein the first planning module is to: determining a first target indoor destination matching the user from among a plurality of first indoor destinations according to user information and category information of the plurality of first indoor destinations in the case where the first indoor destination is a plurality of destinations; and planning an indoor navigation route according to the position of the user and the position of the first target indoor destination.
15. The apparatus of claim 11, wherein the first planning module is to: determining a second target indoor destination which is shortest in distance from the user position from a plurality of first indoor destinations according to the user position and positions of the plurality of first indoor destinations when the first indoor destinations are multiple; and planning an indoor navigation route according to the position of the user and the position of the second target indoor destination.
16. The apparatus of claim 11, wherein the first planning module is to: determining a first floor position of a user in the target building according to the user position; determining a second floor location of the first indoor destination in the target building based on the location of the first indoor destination; determining an inter-floor transportation facility according to the floor difference between the first floor position and the second floor position; and planning an indoor navigation route according to the user position and the position of the first indoor destination based on the inter-floor walk-substituting facility.
17. The apparatus of any of claims 11 to 16, wherein the second determining means is to: determining theoretical arrival time according to the current time and the travel time of the indoor navigation route; and under the condition that the time difference between the preset arrival time and the theoretical arrival time is smaller than the threshold time difference, determining that the navigation mode is a first mode, wherein the first mode is used for enabling the user to be directly navigated to the first indoor destination from the user position according to the indoor navigation route.
18. The apparatus of any of claims 11 to 16, wherein the second determining means is to: determining theoretical arrival time according to the current time and the travel time of the indoor navigation route; determining a navigation mode as a second mode under the condition that the time difference between the preset arrival time and the theoretical arrival time is greater than the threshold time difference, wherein the second mode is used for adding a midway destination located in the target building into the indoor navigation route so that the user reaches the midway destination from the user position firstly and then reaches the first indoor destination from the midway destination;
wherein the midway destination is determined according to user information or randomly generated.
19. The apparatus of any of claims 11 to 16, further comprising:
a third determining module for determining a preset round trip time in case the user arrives at the first indoor destination; the preset round trip time is the time for the user to return to the first indoor destination;
a fourth determining module, configured to determine a second indoor destination in the target building according to a preset rule and the preset round trip time;
and the second planning module is used for planning an indoor round-trip navigation route according to the position of the first indoor destination and the position of the second indoor destination, so that the user can return to the first indoor destination within the preset round-trip time according to the indoor round-trip navigation route.
20. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 10.
21. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1 to 10.
22. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 10.
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|---|---|---|---|
| CN202211278890.3A CN115640468A (en) | 2022-10-19 | 2022-10-19 | Method, device and equipment for indoor navigation and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211278890.3A CN115640468A (en) | 2022-10-19 | 2022-10-19 | Method, device and equipment for indoor navigation and storage medium |
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