TWI733107B - Navigation method based on optical tag network, corresponding computing equipment and storage medium - Google Patents

Abstract

A navigation method based on an optical label network, wherein the optical label network includes a server and a plurality of optical labels, each of the plurality of optical labels can be used to transmit its identification information, and the server uses For storing the identification information and location information of the optical tag, the method includes: determining the starting point and the destination point of the navigation object; providing a planned travel route for the navigation object based on the starting point and the destination point, the There are one or more light tags along the route of travel; the location information of the navigation object is obtained based on the location information of the light tags during the navigation process; and the navigation object continues to be provided based on the location information of the navigation object navigation.

Description

Navigation method based on optical tag network, corresponding computing equipment and storage medium quality

The present invention relates to the field of optical information technology and location services, and more specifically to a navigation method based on an optical tag network.

Bar codes and QR codes have been widely used to encode information. When these barcodes and QR codes are scanned with specific equipment or software, the corresponding information will be recognized. However, the recognition distance between barcodes and QR codes is very limited. For example, for a two-dimensional code, when scanning it with a mobile phone camera, the mobile phone must usually be placed within a relatively close distance, which is usually only about 15 times the width of the two-dimensional code. Therefore, for long-distance recognition (for example, a distance equivalent to 200 times the width of the QR code), barcodes and QR codes are usually not realized, or very large barcodes and QR codes must be customized, but this will increase the cost. And in many cases, it is impossible to achieve due to various other restrictions.

Optical tags can also be referred to as optical communication devices, which transmit information by emitting different lights. They have the advantages of long-distance, loose visible light conditions, strong directivity, and positionability, and the information transmitted by optical tags can be dynamic over time Changes can provide greater information capacity (for example, the optical communication device described in Chinese Patent Publication CN105740936A, etc.). Compared to traditional Two-dimensional codes and optical labels have stronger information interaction capabilities and a longer recognition distance, which can provide huge convenience for users and businesses.

With the application and popularization of optical tags, how to use multiple optical tags continuously deployed in the surrounding environment to jointly provide services such as location and information query, navigation and positioning has great research and commercial value.

The purpose of the present invention is to provide a navigation method based on an optical tag network.

One aspect of the present invention provides a navigation method based on an optical tag network, the optical tag network including a server and a plurality of optical tags, each of the plurality of optical tags can be used to transmit its identification information, The server is used to store the identification information and location information of the optical tag, and the method includes: determining a starting point and a destination point of a navigation object; and providing a plan for the navigation object based on the starting point and the destination point The travel route of the travel route has one or more light tags along the route; the location information of the navigation object obtained based on the location information of the light tags during the navigation process; and the location information based on the navigation object continues to be The navigation object provides navigation.

Preferably, the position information of the navigation object is obtained by the following method: the navigation object collects the information transmitted by the optical tag through the image acquisition device carried by the navigation object to obtain the identification information of the optical tag; The navigation object obtains the position information of the optical tag from the server through the identification information of the optical tag; the navigation object determines its relative position relationship with the optical tag; and based on the relative position relationship between the navigation object and the optical tag, and Obtain the position information of the navigation object based on the position information of the label.

Preferably, the relative positional relationship between the navigation object and the optical tag is determined by relative positioning.

Preferably, the continuing to provide navigation for the navigation object based on the location information of the navigation object includes: judging whether the navigation object has deviated from the planned travel route based on the location information of the navigation object; if there is no deviation , Then continue to navigate based on the planned travel route; if it has deviated, based on the location information of the navigation object and the destination point, combined with the optical tag network, re-provide the planned travel for the navigation object route.

Preferably, the providing a planned travel route for the navigation object based on the starting point and the destination point includes: using the starting point and the destination point to determine a feasible route; and deploying light tags based on each feasible route In case, one or more planned travel routes are provided for the navigation object.

Preferably, the starting point is obtained by the following method: the navigation object collects the information transmitted by the optical tag through the image acquisition device carried by the navigation object to obtain the identification information of the optical tag; The navigation object obtains the position information of the optical tag from the server through the identification information of the optical tag; the navigation object determines its relative position relationship with the optical tag; and based on the relative position relationship between the navigation object and the optical tag, and The position information of the optical label is obtained, and the position information of the navigation object is obtained as the starting point.

Preferably, the navigation method further includes: based on the relative position relationship between a plurality of optical tags along the planned travel route, instructing the navigation object how to travel from one optical tag to the next optical tag.

Preferably, the navigation method further includes: associating the light tag with the store or building where the light tag is located, so as to provide an associated prompt to the navigation object during the navigation process.

Preferably, the navigation method further includes: combining one or more of GPS navigation, inertial navigation, or visual navigation in the navigation process.

Preferably, the navigation object is a user holding an image capture device or a machine capable of autonomous movement installed with the image capture device.

Another aspect of the present invention provides a computing device, which includes a processor and a memory, and a computer program is stored in the memory, and the computer program can be used to implement the above-mentioned navigation method when executed by the processor .

Another aspect of the present invention provides a storage medium in which a computer program is stored, and the computer program can be used to implement the above-mentioned navigation method when executed.

The following further describes the embodiments of the present invention with reference to the accompanying drawings, in which: Fig. 1 is a schematic diagram of an optical label network according to an embodiment of the present invention; Fig. 2 is a schematic flowchart of a navigation method based on an optical label network according to an embodiment of the present invention.

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below through specific embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, but not used to limit the present invention.

In the embodiment of the present invention, the optical tag may be any optical communication device capable of transmitting different information by emitting different lights. In one embodiment, the optical tag may include at least one light source and a controller, and the controller is used to control different lights emitted by the light source to convey different information. For example, the controller can make the light source emit different light by changing the properties of the light emitted by the light source. The attribute of light can be any attribute that can be sensed by optical imaging devices (such as CMOS or CCD imaging devices); for example, it can be attributes that are perceivable by the human eye, such as the intensity, color, and wavelength of light, or other attributes that the human eye cannot perceive The attributes, such as the intensity, color, or wavelength change of electromagnetic wavelengths outside the visible range of the human eye, or any combination of the above attributes. Therefore, the attribute change of light can be a single attribute change, or a combination of two or more attributes. When selecting the intensity of light as the attribute, it can be achieved simply by choosing to turn on or off the light source.

Various forms of light sources can be used in the optical label, as long as a certain attribute of the light source can be perceived by the optical imaging device. The light source can include various common optical devices, such as light guide plates, diffusers, diffusers, and so on. For example, the light source can be an LED light, an array composed of multiple LED lights, a display screen, or a part of it, or even a light irradiation area (such as a light on a wall). Illumination area) can also be used as a light source. The shape of the light source can be various shapes, such as a circle, a sphere, a square, a rectangle, a strip, and so on.

In one embodiment, the controller of the light tag can control the properties of the light emitted by each light source in order to transmit information. For example, the "0" or "1" of the binary digital word information can be expressed by controlling the on and off of each light source, so that multiple light sources in the light tag can be used to express a binary digital word information sequence. As those skilled in the art can understand, each light source can not only be used to represent a binary number, but also can be used to represent ternary or larger data. For example, it is possible to select from three or more levels by setting the intensity of the light emitted by the light source, or to select from three or more colors by setting the color of the light emitted by the light source, or even by The combination of intensity and color is used to enable each light source to represent ternary or larger data. Therefore, compared with the traditional two-dimensional code, the optical label can significantly improve the data encoding density.

In another embodiment, the controller of the optical tag can control the light source to change the properties of the light emitted by it at a certain frequency. Therefore, the optical tag of the present invention can represent different data information at different times, for example, different Binary digital word information sequence. In this way, when the optical imaging device is used to continuously photograph the optical label of the present invention (for example, at a rate of 30 frames per second), each frame of the image can be used to represent a set of information sequences, which is compared with the traditional The static two-dimensional code can further significantly increase its data encoding density.

In the embodiment of the present application, optical imaging equipment or image acquisition equipment commonly used in the art can be used to image the optical tag, and the information to be transmitted can be determined from each frame of image, such as the information sequence of binary data 1 or data 0 , So as to realize the information transmission of the optical label to the optical imaging device. The optical imaging device or the image capture device may include an image capture element, a processor, a memory, and so on. The optical imaging device or the image acquisition device may be, for example, a mobile terminal with a shooting function, including a mobile phone, a tablet computer, smart glasses, etc., which may include an image acquisition device and an image processing module. The user discovers the optical tag with the naked eye within the visual distance range of the optical tag, and scans the optical tag by directing the imaging sensor of the mobile terminal toward the optical tag and performs information capture and interpretation processing. When the controller of the light tag controls the light source to change the attribute of the light emitted by it at a certain frequency, the image capture frequency of the mobile terminal can be set to be greater than or equal to twice the attribute conversion frequency of the light source. By decoding the collected image frames, the process of identifying and decoding can be completed. In one embodiment, in order to avoid duplication, omission, etc. of image frames, the information transmitted by the optical tag may include serial numbers, check digits, time stamps, etc. According to needs, the start frame or end frame, or both, can be given in multiple image frames to indicate the start or end position of a complete cycle of multiple image frames. The start frame or end The frame can be set to display a special combination of data, for example: all 0 or all 1, or any special combination that will not be the same as the actual information that may be displayed.

Take the CMOS imaging device as an example. When the CMOS imaging device is used to capture continuous multi-frame images of the light source, it can be controlled by the controller so that the switching time interval between the working modes of the light source is equal to that of a complete frame of the CMOS imaging device The length of time to achieve frame synchronization between the light source and the imaging device. Assuming that each light source transmits 1 bit of information per frame, for a shooting speed of 30 frames per second, each light source can transmit 30 bits of information per second, and the coding space reaches 2 ^30. This information can include, for example, the start Frame mark (frame header), optical tag ID, password, verification code, website information, address information, time stamp or different combinations, etc. The sequence relationship of the above-mentioned various information can be set according to a structured method to form a data packet structure. Each time a complete data packet structure is received, it is regarded as obtaining a set of complete data (a data packet), and the data can be read and verified and analyzed. Table 1 shows an example data packet structure according to an embodiment of the present invention:

Compared with the traditional two-dimensional code, the above-mentioned optical label transmits information by emitting different lights. It has the advantages of long-distance, loose visible light conditions, strong directivity, and positionability, and the information transmitted by the optical label can be changed over time. Rapid changes, which can provide a large information capacity. Therefore, the optical label has stronger information interaction capabilities, which can provide great convenience for users and businesses.

In order to provide corresponding services to users and businesses based on light tags, each light tag can be assigned an identification information (ID), which is used to uniquely identify or identify the manufacturer, manager, and user of the light tag Light label. Generally, the identification information can be issued by the optical tag, and the user can use the image acquisition equipment or imaging device built in the mobile phone to capture the image of the optical tag to obtain the information (such as identification information) transmitted by the optical tag, so that Access the corresponding service based on the information, for example, visit the webpage associated with the identification information of the light tag, obtain other information associated with the identification information (for example, the location information of the light tag corresponding to the identification information), etc. .

Referring now to FIG. 1, a schematic diagram of an optical label network according to an embodiment of the present invention is shown. The optical label network includes a plurality of optical labels and at least one server. Each light tag usually includes at least one light source and a controller. The controller controls the light source to emit light in different modes so as to transmit different information. For example, the information may include the identification information of the light tag. The optical label can be a fixed optical label or a mobile optical label. Fixed optical tags generally refer to optical tags whose positions remain basically unchanged, for example, optical tags installed on store doors and buildings. Movable optical tags usually refer to optical tags whose positions can be changed at any time. For example, optical tags installed on mobile devices such as automobiles are worn on people. Light label on the body. As shown in Figure 1, the information related to each optical tag can be stored on the server. For example, the identification information (ID), location information, and optional other information of each optical tag can be saved on the server, such as whether the optical tag is fixed or mobile, the service information related to the optical tag, and the Other descriptive information or attributes related to the optical label, such as the physical size information, physical shape information, and orientation information of the optical label. The optical label may also have unified or preset physical size information and physical shape information. The server can be a software program running on a computing device, a computing device, or a cluster composed of multiple computing devices. The optical tag can be offline, that is, the optical tag does not need to communicate with the server. Of course, it can be understood that online optical tags that can communicate with the server are also feasible.

The position information of the optical label may include an absolute position and/or a relative position. The absolute position refers to the actual position of the light tag in the physical world, for example, it can be indicated by geographic coordinate information. The relative position of an optical label refers to the position of the optical label relative to another optical label. In an example, the relative position of the optical label can be represented by the spatial displacement of the optical label with respect to another optical label, that is, the optical label corresponds to another optical label (hereinafter may also be referred to as a reference). The light label) is the position in the coordinate system of the origin. For example, the relative position can be expressed as (x, y, z: refID), where refID is the identification information of the light label as the origin of the coordinate system, that is, the light The identification information of the reference light label to which the label is opposed, x, y, and z respectively represent the displacement in three directions relative to the origin of the coordinate system. Preferably, each optical label may have one or more relative positions. For each optical label, its absolute position, or its relative position, or both can be stored in the server. When the absolute positions of multiple optical labels are known, the relative positions between them can be calculated. Similarly, when the relative position of the two optical labels and the absolute position of one optical label are known, the absolute position of the other optical label can be calculated. The absolute position of each light label can also be It can be obtained by recursively traversing the relative position of the light label. For example, for a certain optical label, if the absolute position of one of the corresponding reference optical labels has been determined, the relative position of the optical label to the reference optical label and the absolute position of the reference optical label itself can be used to obtain the The absolute position of the light label. If the absolute position of all the reference light labels corresponding to the light label is not determined, each reference light label is used as the starting point to traverse all the relative positions of the reference light label. If one of the relative positions corresponds to the absolute position of the reference light label If it is known, the absolute position of the reference optical label as the starting point can be obtained according to the relative position and the known absolute position, so as to further obtain the absolute position of the optical label. The above process can be repeated until a certain absolute position has been determined.

In some embodiments, some optical tags in the optical tag network may be set as reference optical tags, and these reference optical tags have associated absolute positions, and the absolute positions may include accurate physical position information. For example, a certain amount of fixed position reference optical labels can be pre-arranged, or the physical location information of certain optical labels can be obtained through precise positioning equipment, and these optical labels can be set as reference optical labels. In this way, the remaining optical labels in the cursor network can use these reference optical labels as direct or indirect reference optical labels, and then use the above-mentioned recursive process to obtain their absolute positions.

After the optical label network is constructed, the corresponding service can be obtained by scanning any optical label in the optical label network. For example, the user can scan the optical tag with a mobile phone to collect the information released by the optical tag, and identify the identification information of the optical tag from it. Then, the location information of the optical tag can be obtained from the server through the identification information, and the location information can be Used for precise positioning and navigation. When positioning and navigating based on optical tags, fixed optical tags are preferably used.

In one embodiment, when the user uses the mobile phone to scan the optical tag, the relative positioning (also called reverse positioning) can be used to determine the relationship between the user (more precisely, the user's mobile phone) and the optical tag. Relative position relationship. Based on the relative positional relationship between the user and the optical tag and the position information of the optical tag itself, the user's position information can be determined, so that the user's positioning and navigation can be realized.

Various relative positioning methods known in the art can be used to determine the relative positional relationship between the user and the optical tag. In one embodiment, the user can use the built-in imaging device on the mobile phone to collect the image of the light tag, and obtain the relative distance between the user and the light tag based on the collected image, and can use the built-in sensor of the mobile phone. The device obtains the current orientation information of the mobile phone, and obtains the relative direction of the user and the light tag based on the orientation information (preferably, the position of the light tag in the image can be further combined to determine the relative direction of the user and the light tag more accurately) Therefore, the relative positional relationship between the user and the optical tag can be obtained based on the relative distance and relative direction between them. At present, many imaging devices on the market are usually equipped with binocular cameras or depth cameras. The imaging device equipped with binocular cameras or depth cameras is used to capture images of the optical tag, and the gap between the imaging device and the optical tag can be easily obtained. The relative distance. In another embodiment, in order to determine the relative distance between the user and the optical tag, the physical size information of the optical tag may be stored in the server. After the user recognizes the identification information of the optical tag, the identification information can be used to obtain the physical size information from the server. Based on the physical size information of the optical tag and the imaging size of the optical tag on the user's mobile phone, the imaging formula can be used to calculate the relative distance between the user and the optical tag (the larger the image, the closer the distance; the smaller the image, the farther the distance). In an embodiment, the optical tag may also have a uniform physical size or shape and the user's mobile phone knows the physical size or shape. In another embodiment, in order to determine the relative direction of the user and the optical tag, the optical tag can be stored in the server ’S orientation information. After the user recognizes the identification information of the optical tag, the identification information can be used to obtain the orientation information from the server. Then, based on the orientation information of the optical tag and the perspective deformation of the imaging of the optical tag on the user's mobile phone, it can be calculated The relative direction of the user and the optical label.

In another embodiment, when performing relative positioning, at least two optical tags may be used, and based on the position information of each optical tag and the relative distance between the user and each optical tag, the user's position information is determined by triangulation. . It should be noted that when two optical tags are used for triangulation, two candidate positions are usually obtained. In this case, you may need to choose from these two candidate positions. In one embodiment, one of the candidate locations can be selected in combination with the positioning information of the user's mobile phone itself (for example, GPS information). For example, a candidate location that is closer to GPS information can be selected. In another embodiment, the orientation information of each light tag or the orientation information of the mobile phone may be further considered to select one of the candidate positions. It can be understood that in the case of using three or more optical tags, theoretically only one candidate position can be obtained.

Since the optical tag itself has accurate location information, the relative positioning based on the optical tag can obtain more accurate user location information than traditional GPS positioning, especially when the user is close to the optical tag (for example, the user When walking in a commercial block, the relative positioning is performed by scanning the optical tags arranged on the stores or buildings on both sides of the block), the error will be very small.

It should be noted that although a user with a mobile phone is used as an example for the description above, it is understandable that the object for relative positioning or navigation may not be the user, but may be a machine that can move autonomously, such as a drone, Driverless cars, robots, etc. The machine that can move autonomously can be equipped with an image acquisition device, and can interact with the optical tag in a similar way to a mobile phone, so as to obtain its own location information.

Based on the above-mentioned optical label network and the relative positioning function provided by it, a navigation method based on the optical label network can be realized. The navigation method based on an optical tag network according to an embodiment of the present invention is shown in Fig. 2, which includes: step S1, determining the starting point and destination point of the navigation object; step S2, based on the starting point and destination point, Combined with the optical tag network, it provides a planned travel route for the navigation object. The travel route has one or more optical tags along the way; step S3, obtain the position of the navigation object based on the location information of the optical tag during the navigation process Information; and step S4, based on the location information of the navigation object, continue to provide navigation for the navigation object.

Each step in the above method is described in detail below.

Step S1: Determine the starting point and the destination point of the navigation object.

The user can manually set the navigation starting point (for example, manual input, selection on the map, etc.), or set the current position obtained by the device sensor (for example, the current position provided by the GPS module in the mobile phone) It is the default starting point for navigation. In one embodiment, the navigation object can obtain its current position as the navigation starting point by acquiring the light tags in the vicinity of the scan, combining the position information of the light tags and the relative positioning results.

Similarly, the user can manually set the navigation destination (for example, manual input, selection on the map, etc.). In one embodiment, the user can select a destination optical tag on the optical tag network map as the navigation destination.

As mentioned above, the navigation object may be a user holding an image capture device or a machine capable of autonomous movement installed with an image capture device, such as a drone.

Step S2, based on the starting point and the destination point, combined with the optical tag network, provide a planned travel route for the navigation object.

After obtaining the navigation starting point and destination point, based on the deployment of the optical tags in the optical tag network, a planned travel route can be provided for the navigation object, and the travel route has one or more optical tags along the way. For example, after several feasible routes are determined by using the starting point and the destination point, one or more recommended planned travel routes can be provided for the navigation object based on the deployment of the light tags on each route. When other conditions are the same, it is preferable to recommend a travel route with more optical tags deployed along the way, so as to continuously navigate the navigation objects through the optical tags along the way during the traveling process.

Step S3: Obtain the position information of the navigation object based on the position information of the optical tag during the navigation process.

When the navigation object is traveling, it can collect the information issued by the optical label by scanning the optical label along the way, and identify the identification information of the optical label from it. After that, the position information of the optical label can be obtained from the server through the identification information. In addition, when the navigation object scans the optical label, the relative position relationship with the optical label can be determined by means of relative positioning. Based on the relative positional relationship between the navigation object and the light tag and the position information of the light tag itself, the position information of the navigation object can be determined. The navigation system or navigation software can obtain the location information of the navigation object, so that subsequent navigation operations can be performed based on the location information. It can be understood that the light tags scanned by the navigation object during the travel process may not necessarily be the light tags along the originally planned travel route. For example, the user may have deviated from the planned travel route during the travel process. In addition, the navigation object does not necessarily scan all optical tags along the planned traveling route during the travel process, but may selectively scan based on actual needs, for example, scan a nearby optical tag when arriving at an intersection.

Step S4, based on the location information of the navigation object, continue to provide navigation for the navigation object.

After the navigation system or navigation software obtains the location information of the navigation object, it can continue to provide navigation for the navigation object based on the location information. For example, you can determine whether the navigation object has deviated from the originally planned route based on the location information of the navigation object. If not, you can continue to navigate based on the originally planned route; if it has deviated, it can be based on the location information of the navigation object. Combined with the optical tag network, it provides a planned route for navigation objects.

In one embodiment, the above-mentioned navigation method further includes: instructing the navigation object how to travel from one optical label to the next optical label based on the relative position relationship between the plurality of optical labels along the planned travel route. For example, it is possible to determine the relative distance and relative direction between multiple light tags along the planned travel route, and optionally combine the actual road conditions to provide travel instructions for navigation objects, which can be navigation software or navigation Graphic instructions, voice instructions, etc. on the system. In one embodiment, the light tag deployment map and the map can be superimposed and displayed in the navigation software or navigation system, so as to facilitate the viewing of navigation objects. In another embodiment, the light tag can be associated with the store or building where the light tag is located in the navigation software or navigation system to prompt the navigation object. For example, the navigation object can be given a voice prompt: " Continue forward for 50 meters and arrive at the next light label located in the *** store."

Compared with common GPS navigation, the navigation method of the present invention can provide higher accuracy, and can be used in situations where GPS signals are lacking or the GPS signals are not very good. A scene where the navigation method of the present invention is particularly applicable is navigation in a prosperous commercial block or shopping mall. In this commercial block, the user can use the light tags installed on the door of the store or the building to achieve accurate Navigation, and GPS navigation is usually difficult to meet the accuracy required in this case.

In addition, traditional GPS navigation cannot provide altitude information, which is very inconvenient in navigation scenarios that require altitude information (for example, navigation in a large shopping mall with several floors). The navigation method can use light tags to provide users with height information or floor information, thereby solving the above-mentioned problems.

Another scenario where the navigation method of the present invention is particularly suitable is to navigate a machine (for example, a drone) that can move autonomously, and this kind of navigation usually requires relatively high accuracy. When navigating the UAV, a certain number of light tags can be set on the UAV's planned flight route for navigation of the UAV's flight. In one embodiment, a certain number of optical tags may be arranged between urban buildings. For example, a certain number of light tags can be arranged at appropriate intervals along one or both sides of the street. These light tags are preferably higher than street lights and trees on the street, and can transmit information to them for installation on drones. The image acquisition equipment of the company collects this information. The light label can also be installed directly on the top of the street light. In this way, the flight of the drone can be accurately navigated through the optical tag network, which overcomes the shortcomings of poor GPS navigation accuracy.

In one embodiment, the navigation method based on the optical tag network of the present invention can be combined with other existing navigation methods, such as GPS navigation, inertial navigation, and visual navigation. For example, GPS navigation and/or inertial navigation and/or visual navigation can be used to assist the navigation object in the process of traveling from one light tag to the next, so that the advantages of various navigation methods can be comprehensively used to provide users with High-quality navigation services.

In the embodiment of the present invention, any optical tag (or light source) that can be used to transmit information can be used. For example, the present invention can be applied to a light source that transmits information through different stripes based on the CMOS rolling shutter effect, and can also be applied to the light source as described in the patent CN105740936A. The optical label can also be applied to various optical labels that can identify the transmitted information through a CCD photosensitive device, or can also be applied to an array of optical labels (or light sources).

References herein to "each embodiment", "some embodiments", "one embodiment", or "an embodiment", etc. refer to the specific features, structures, or properties described in connection with the embodiments that are included in In at least one embodiment. Therefore, the appearances of the phrases "in various embodiments", "in some embodiments", "in one embodiment", or "in an embodiment" in various places throughout this document do not necessarily refer to the same Examples. In addition, specific features, structures, or properties can be combined in any suitable manner in one or more embodiments. Therefore, a specific feature, structure, or property shown or described in one embodiment can be combined in whole or in part with the feature, structure, or property of one or more other embodiments without limitation, as long as the combination is not non-limiting. Logical or not working. The expressions similar to "according to A" or "based on A" appearing in this article mean non-exclusive, that is, "according to A" can cover "according to A only" or "according to A and B" unless specifically The statement or the context clearly knows its meaning as "only based on A". For clarity in this application, some illustrative operating steps are described in a certain order, but those skilled in the art can understand that each of these operating steps is not indispensable, and some of the steps can be omitted. Or replaced by other steps. These operating steps do not necessarily have to be executed sequentially in the manner shown. On the contrary, some of these operating steps can be executed in a different sequence according to actual needs, or can be executed concurrently, as long as the new execution method is not illogical or cannot work.

Although the present invention has been described through preferred embodiments, the present invention is not limited to the embodiments described here, and includes various changes and changes made without departing from the scope of the present invention.

Claims (12)

A navigation method based on an optical label network. The optical label network includes a server and a plurality of optical labels, each of the plurality of optical labels can be used to transmit its identification information, and the server is used to store The identification information, position information, and orientation information of the light tag, wherein the orientation information is used to determine the relative direction of a navigation object and the light tag, and the method includes: determining the starting point and the destination point of the navigation object Provide a planned travel route for the navigation object based on the starting point and destination point, the travel route has one or more light tags along the way; obtain location information based on the light tags and the navigation object during the navigation process The position information of the navigation object obtained relative to the relative position relationship of the light tag, wherein the relative position relationship includes a relative distance and a relative direction; and based on the position information of the navigation object, continue to provide the navigation object navigation. The navigation method according to claim 1, wherein the position information of the navigation object is obtained by the following method: the navigation object collects the information transmitted by the optical tag through the image acquisition device carried by the navigation object to obtain the identification information of the optical tag The navigation object obtains the position information and orientation information of the optical tag from the server through the identification information of the optical tag; the navigation object determines its relative positional relationship with the optical tag; and based on the navigation object and the optical tag The relative position relationship and the position information of the light tag are used to obtain the position information of the navigation object. The navigation method according to claim 2, wherein the relative position relationship between the navigation object and the optical tag is determined by relative positioning. The navigation method according to any one of claim items 1-3, wherein the continuing to provide navigation for the navigation object based on the location information of the navigation object includes: judging the navigation based on the location information of the navigation object Whether the object has deviated from the planned travel route; if there is no deviation, the navigation is continued based on the planned travel route; if it has deviated, based on the location information of the navigation object and the destination point, combined The optical tag network re-provides a planned travel route for the navigation object. The navigation method according to any one of claim items 1 to 3, wherein the providing a planned travel route for the navigation object based on the starting point and the destination point includes: using the starting point and the destination point Determine a feasible route; and provide one or more planned travel routes for the navigation object based on the deployment of the optical tags on each feasible route. The navigation method according to any one of Claims 1-3, wherein the starting point is obtained by the following method: the navigation object collects the information transmitted by the light tag through the image acquisition device carried by the navigation object to obtain the light Identification information of the label; The navigation object obtains the position information of the optical tag from the server through the identification information of the optical tag; the navigation object determines its relative position relationship with the optical tag; and based on the relative position relationship between the navigation object and the optical tag, and The position information of the optical label is obtained, and the position information of the navigation object is obtained as the starting point. The navigation method according to any one of claim items 1-3, further comprising: based on the relative position relationship between a plurality of light tags along the planned travel route, instructing the navigation object how to travel from one light tag Go to the next light label. The navigation method according to any one of claim items 1-3, further comprising: associating the light tag with the store or building where the light tag is located, so as to provide an associated prompt to the navigation object during the navigation process. The navigation method according to any one of claims 1-3, further comprising: combining one or more of the following navigation methods in the navigation process: GPS navigation; inertial navigation; or visual navigation. The navigation method according to any one of Claims 1 to 3, wherein the navigation object is a user holding an image capture device or a machine capable of autonomous movement installed with the image capture device. A computing device, comprising a processor and a memory, and a computer program is stored in the memory. When the computer program is executed by the processor, the computer program can be used to implement any one of claims 1-10. Navigation method. A storage medium in which a computer program is stored, and when the computer program is executed, it can be used to implement the navigation method according to any one of claims 1-10.

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