WO2018223490A1 - Indoor positioning and navigating method and system suitable for person with visual impairment - Google Patents

Indoor positioning and navigating method and system suitable for person with visual impairment Download PDF

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WO2018223490A1
WO2018223490A1 PCT/CN2017/092770 CN2017092770W WO2018223490A1 WO 2018223490 A1 WO2018223490 A1 WO 2018223490A1 CN 2017092770 W CN2017092770 W CN 2017092770W WO 2018223490 A1 WO2018223490 A1 WO 2018223490A1
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user
navigation
dimensional layout
environment
positioning
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伍楷舜
周学进
林佳伟
邹永攀
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深圳大学
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3605—Destination input or retrieval
    • G01C21/3608—Destination input or retrieval using speech input, e.g. using speech recognition
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3629—Guidance using speech or audio output, e.g. text-to-speech

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  • providers and general users there are two types of users: providers and general users, and general users include visually impaired users.
  • this embodiment provides a 4G mobile communication module for the handheld device, so that it can communicate with the cloud server by using 4G mobile communication technology.
  • this device can also directly communicate with the cloud server by using WIFI that can connect to the public network.
  • an optimal route is calculated using the Dijkstra route planning algorithm; in the navigation step, the user calculates the user according to the inertia unit and the displacement of the user on the map during the walking of the given line. Average one step distance, thus guiding the user through the number of steps.
  • the application Through the change of the user terminal's idiomatic unit during the user's walking, the number of steps of the user within a certain period of walking is distinguished, and at the same time, the application records the user's walking distance during the period, and then calculates the user in combination with the two. The average distance of one step.
  • the invention also discloses an indoor positioning navigation system suitable for visually impaired persons, comprising the following steps:
  • the invention is applicable to various user groups, especially for visually impaired people. Use, value promotion application.
  • the server or the local smart device utilizes the environment detection data and user mobile data uploaded/acquired by the user, even if instant
  • the positioning and map reconstruction algorithm calculates the current environment layout and combines the existing indoor two-dimensional layout map to obtain the current indoor position of the user.
  • the position is further calibrated by means of closed-loop feedback to improve the positioning accuracy.
  • the path planning algorithm is used to calculate the optimal route, and the interactive unit is used to guide the user to the purpose. Ground, thus completing the navigation task.
  • the invention combines the inertial navigation technology and the real-time positioning with the map reconstruction technology, improves the deficiencies of the existing indoor navigation technology, and improves the navigation accuracy and reliability.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Health & Medical Sciences (AREA)
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Abstract

Provided are an indoor positioning and navigating method and system suitable for a person with visual impairment. A user terminal executes the following steps: an environment data receiving step for receiving environment data collected by an environment detection unit; a two-dimensional layout diagram request sending step sending a request to a server for requesting the provision of a two-dimensional layout diagram of a building; a positioning step calculating the current position of a user by means of the two-dimensional layout diagram in conjunction with movement data of the user; and a navigating step calculating an optimal path by using a path planning algorithm in conjunction with the current position of the user and a destination, performing voice navigation for the user, and during the process of voice navigation, receiving, when the environment detection unit detects an obstacle, obstacle data information sent by the environment detection unit, and prompting the user to avoid the obstacle by way of voice. The beneficial effects of the present invention are that the present invention is suitable for various user groups, particularly playing a good assistance effect for people with visual impairment, and has value for promotion and application.

Description

一种适用于视力障碍者的室内定位导航方法及系统Indoor positioning navigation method and system suitable for visually impaired persons 技术领域Technical field
本发明涉及室内定位与导航技术领域，尤其涉及一种适用于视力障碍者的室内定位导航方法及系统。The invention relates to the field of indoor positioning and navigation technology, in particular to an indoor positioning navigation method and system suitable for visually impaired persons.
背景技术Background technique
目前我国视力障碍人者数量已经超过1000万，而且这个数字还这增长。视力障碍者数量那么多，为什么我们日常生活中见到的却很少？因为他们真的不敢出门。几乎所有的公共设施，对视力障碍者都谈不上友善。由于设施和交通的不友善，如果没有人陪同，视力障碍者可以说是寸步难行。所以，他们出门，是需要人带的。这给出门增加了不少成本，不只是金钱成本。我们不仅仅应该要求政府继续出台更加完备的政策和法规，或者制造出更多有利于视力障碍者日常生活的产品。视力障碍人群如此之庞大，应该得到社会各界人士的关爱和照顾。作为普通人，我们自身也应该为残疾人做些力所能及的事情。At present, the number of people with visual impairment in China has exceeded 10 million, and this figure has increased. There are so many visually impaired people, why are we rarely seen in our daily lives? Because they really don't dare to go out. Almost all public facilities are not friendly to people with visual impairments. Due to the unfriendly facilities and transportation, if there is no one to accompany, visually impaired people can be said to be difficult. Therefore, they need to bring people out when they go out. This gives the door a lot of cost, not just the cost of money. We should not only ask the government to continue to introduce more comprehensive policies and regulations, or to create more products that benefit the daily lives of people with visual impairments. The visually impaired people are so large that they should be cared for and cared for by people from all walks of life. As an ordinary person, we should also do something for our disabled people.
怎样顺利的行走至目的地，对于普通人来说是一件轻而易举的事情，但对于视力障碍者，却是他们面临的一个重大问题。我国的大部分建筑都没有考虑到视力障碍者这个特殊的群体而进行设计。这导致他们无法独立地生活，甚至是安全地行走。虽然目前市面有不少针对视力障碍人群导航的产品，但它们存在很大的缺点，尚未能满足视力障碍者日常生活需求。How to walk to the destination smoothly is a breeze for ordinary people, but it is a major problem for the visually impaired. Most of our buildings are designed without considering the special group of visually impaired people. This has made them unable to live independently or even to walk safely. Although there are many products for the visually impaired people in the market, they have great shortcomings and have not yet met the daily needs of visually impaired people.
发明内容Summary of the invention
本发明提供了一种适用于视力障碍者的室内定位导航方法，用户终端执行如下步骤：The invention provides an indoor positioning and navigation method suitable for visually impaired persons, and the user terminal performs the following steps:
环境数据接收步骤，用于接收环境探测单元采集到的环境数据；An environmental data receiving step, configured to receive environment data collected by the environment detecting unit;
二维布局图请求发送步骤，检测建筑物对应的一个或多个WIFI，并使用WIFI对应的路由器的MAC地址向服务器发送请求，请求给出此建筑物的二维布局图；The two-dimensional layout request request sending step detects one or more WIFIs corresponding to the building, and sends a request to the server by using the MAC address of the router corresponding to the WIFI, requesting to give a two-dimensional layout diagram of the building;
定位步骤，接收服务器发送的二维布局图，通过二维布局图结合用户移动数据计算出用户的当前位置，语音提示用户现在的位置，并且询问用户想要去的目的地；a positioning step of receiving a two-dimensional layout map sent by the server, calculating a current location of the user by using the two-dimensional layout map in combination with the user movement data, prompting the current location of the user, and inquiring the destination that the user wants to go;
导航步骤，接收用户说出的目的地语音指令，联合用户当前位置和目的地，使用路线规划算法计算出一条最优的路线，并为用户进行语音导航， 在语音导航过程中，当环境探测单元检测到障碍物时，接收环境探测单元发送的有障碍物数据信息，并且语音提示用户绕开障碍物。The navigation step receives the destination voice command spoken by the user, coordinates the current location and destination of the user, uses the route planning algorithm to calculate an optimal route, and performs voice navigation for the user. During the voice navigation process, when the environment detecting unit detects the obstacle, the obstacle data data sent by the environment detecting unit is received, and the voice prompts the user to bypass the obstacle.
作为本发明的进一步改进，在所述定位步骤中，根据二维布局图和用户当前环境信息使用SLAM定位算法进行初步的室内定位信息，然后采用WIFI和惯性单元对初步的室内定位信息进一步进行校准，从而得到用户在二维布局图上的位置。As a further improvement of the present invention, in the positioning step, the preliminary indoor positioning information is performed by using the SLAM positioning algorithm according to the two-dimensional layout map and the current environmental information of the user, and then the preliminary indoor positioning information is further calibrated by using WIFI and inertial unit. To get the user's position on the 2D layout.
作为本发明的进一步改进，在所述导航步骤中，使用Dijkstra路线规划算法计算出一条最优的路线；在所述导航步骤中，用户依照给定线路行走过程中，根据惯性单元以及用户在地图上的位移，计算出用户平均一个步伐距离，从而通过步数引导用户前行。As a further improvement of the present invention, in the navigation step, an optimal route is calculated using a Dijkstra route planning algorithm; in the navigation step, the user follows the inertial unit and the user in the map according to the given line walking process The displacement on the upper side calculates the average distance of the user, so that the user is guided by the number of steps.
作为本发明的进一步改进，所述环境探测单元包括：As a further improvement of the present invention, the environment detecting unit comprises:
激光雷达单元，用于探测用户周围的环境；a lidar unit for detecting the environment around the user;
障碍检测单元，用于检测激光雷达单元检测盲区内，位于用户前方的障碍物。The obstacle detecting unit is configured to detect an obstacle located in the blind zone of the lidar unit and located in front of the user.
作为本发明的进一步改进，手持式设备采用移动式激光雷达采集建筑物内部结构数据，利用即时定位与布局重构技术获取该建筑物的室内二维布局图，并使之关联到一个或多个WIFI路由器的MAC地址，然后将该二维布局图数据以及关联的MAC地址上传保存至服务器。As a further improvement of the present invention, the handheld device uses mobile lidar to collect internal structural data of the building, and uses the instant positioning and layout reconstruction technology to acquire the indoor two-dimensional layout of the building and associate it with one or more The MAC address of the WIFI router, and then upload and save the two-dimensional layout data and the associated MAC address to the server.
本发明还提供了一种适用于视力障碍者的室内定位导航系统，用户终端执行如下模块：The invention also provides an indoor positioning navigation system suitable for visually impaired persons, and the user terminal executes the following modules:
环境数据接收模块，用于接收环境探测单元采集到的环境数据；An environment data receiving module, configured to receive environment data collected by the environment detecting unit;
二维布局图请求发送模块，用于检测建筑物对应的一个或多个WIFI，并使用WIFI对应的路由器的MAC地址向服务器发送请求，请求给出此建筑物的二维布局图；The two-dimensional layout request request sending module is configured to detect one or more WIFIs corresponding to the building, and send a request to the server by using a MAC address of the router corresponding to the WIFI, requesting to give a two-dimensional layout diagram of the building;
定位模块，用于接收服务器发送的二维布局图，通过二维布局图结合用户移动数据计算出用户的当前位置，语音提示用户现在的位置，并且询问用户想要去的目的地；a positioning module, configured to receive a two-dimensional layout diagram sent by the server, calculate a current location of the user by using a two-dimensional layout diagram combined with user movement data, and voice prompt the user's current location, and query the destination that the user wants to go;
导航模块，用于接收用户说出的目的地语音指令，联合用户当前位置和目的地，使用路线规划算法计算出一条最优的路线，并为用户进行语音导航，在语音导航过程中，当环境探测单元检测到障碍物时，接收环境探测单元发送的有障碍物数据信息，并且语音提示用户绕开障碍物。The navigation module is configured to receive a destination voice command spoken by the user, combine the current location and destination of the user, calculate an optimal route by using a route planning algorithm, and perform voice navigation for the user, in the voice navigation process, when the environment When the detecting unit detects the obstacle, it receives the obstacle data information sent by the environment detecting unit, and the voice prompts the user to bypass the obstacle.
作为本发明的进一步改进，在所述定位模块中，根据二维布局图和用户当前环境信息使用SLAM定位算法进行初步的室内定位信息，然后采用 WIFI和惯性单元对初步的室内定位信息进一步进行校准，从而得到用户在二维布局图上的位置。As a further improvement of the present invention, in the positioning module, the SLAM positioning algorithm is used to perform preliminary indoor positioning information according to the two-dimensional layout map and the current environment information of the user, and then adopted. The WIFI and inertial unit further calibrate the preliminary indoor positioning information to obtain the position of the user on the two-dimensional layout.
作为本发明的进一步改进，在所述导航模块中，使用Dijkstra路线规划算法计算出一条最优的路线；在所述导航模块中，用户依照给定线路行走过程中，根据惯性单元以及用户在地图上的位移，计算出用户平均一个步伐距离，从而通过步数引导用户前行。As a further improvement of the present invention, in the navigation module, an optimal route is calculated using a Dijkstra route planning algorithm; in the navigation module, the user follows the inertial unit and the user in the map according to the given line walking process The displacement on the upper side calculates the average distance of the user, so that the user is guided by the number of steps.
作为本发明的进一步改进，所述环境探测单元包括：As a further improvement of the present invention, the environment detecting unit comprises:
激光雷达单元，用于探测用户周围的环境；a lidar unit for detecting the environment around the user;
障碍检测单元，用于检测激光雷达单元检测盲区内，位于用户前方的障碍物。The obstacle detecting unit is configured to detect an obstacle located in the blind zone of the lidar unit and located in front of the user.
作为本发明的进一步改进，手持式设备采用移动式激光雷达采集建筑物内部结构数据，利用即时定位与布局重构技术获取该建筑物的室内二维布局图，并使之关联到一个或多个WIFI路由器的MAC地址，然后将该二维布局图数据以及关联的MAC地址上传保存至服务器。As a further improvement of the present invention, the handheld device uses mobile lidar to collect internal structural data of the building, and uses the instant positioning and layout reconstruction technology to acquire the indoor two-dimensional layout of the building and associate it with one or more The MAC address of the WIFI router, and then upload and save the two-dimensional layout data and the associated MAC address to the server.
本发明的有益效果是：本发明适用于各类用户人群，尤其对视力障碍人群具有很好的辅助作用，值的推广应用。The invention has the beneficial effects that the invention is applicable to various user groups, in particular, has a good auxiliary effect on the visually impaired people, and the value is popularized and applied.
附图说明DRAWINGS
图1是本发明的手持式设备结构示意图。1 is a schematic structural view of a hand-held device of the present invention.
图2是本发明的提供商的使用流程图。2 is a flow chart of the use of the provider of the present invention.
图3是本发明的一般用户的使用流程图。Figure 3 is a flow chart showing the use of the general user of the present invention.
具体实施方式detailed description
在本发明中，针对用户有两类：提供商和一般用户，一般用户中包括视力障碍用户。In the present invention, there are two types of users: providers and general users, and general users include visually impaired users.
提供商采用手持式设备扫描建筑物内部，得到该建筑物对应的二维布局图并且使之与该建筑物的一个或多个WIFI路由器的MAC地址关联起来，然后操作该手持式设备，将二维布局图以及关联的MAC地址通过公有网络发送到云服务器中保存起来。The provider scans the interior of the building with a handheld device, obtains a corresponding two-dimensional layout of the building and associates it with the MAC address of one or more WIFI routers of the building, and then operates the handheld device, The dimension map and the associated MAC address are sent to the cloud server via the public network for storage.
如图1所示，手持式设备包括移动式激光雷达系统、WIFI模块和4G移动通信模块，手持式设备采用移动式激光雷达采集建筑物内部结构数据，利用即时定位与布局重构技术获取该建筑物的室内二维布局图，并使之关联到一个或多个WIFI路由器MAC地址，然后将该布局图数据以及关联的MAC地址上传保存至云服务器端。为了便于室内定位与导航服务的提供商使用，所以制作成手持式的设备，当然也将手持式设备制作成可以挂载 到一些智能设备上部件，例如挂载到遥控车、无人机等。如此一来，实施者只需手持着该设备采集建筑物内部结构数据，或者让挂载了该部件的智能设备去采集建筑物内部结构数据而不需实施者亲自去。由于移动式激光雷达系统能采集到建筑物内部结构数据，而且重量适中，故本实施例采用它。另外，为了所采集到的二维布局图，与该建筑物的WIFI路由器的MAC地址关联起来，本实施例为这个手持式设备附带WIFI模块。之所以将它们关联起来，是因为当用户进入一个建筑物的时候，通过检测这个建筑内WIFI路由器的MAC地址，然后依据这个地址找到该建筑物对应的二维布局图。本实施例中才采用亚马逊云服务器，而不采用本地服务器。当然，也可以使用其他云服务器提供商提供的云服务。为了将数据发送到云服务器中，本实施例为这个手持式设备附带一个4G移动通信模块，使其可以利用4G移动通信技术与云服务器通信。当然，此设备也可直接利用能连接到公网的WIFI来与云服务器通信。As shown in Figure 1, the handheld device includes a mobile lidar system, a WIFI module, and a 4G mobile communication module. The handheld device uses mobile lidar to collect internal structural data of the building, and obtains the building by using instant positioning and layout reconstruction technology. The indoor two-dimensional layout of the object is associated with one or more WIFI router MAC addresses, and then the layout data and the associated MAC address are uploaded and saved to the cloud server. In order to facilitate the use of indoor positioning and navigation service providers, it is made into a handheld device, and of course the handheld device can be made to be mounted. Go to some smart device components, such as mount to remote control car, drone, etc. In this way, the implementer only needs to hold the device to collect the internal structure data of the building, or let the smart device with the component to collect the internal structure data of the building without the implementer personally going. Since the mobile lidar system can collect the internal structure data of the building and the weight is moderate, this embodiment adopts it. In addition, in order to associate the acquired two-dimensional layout map with the MAC address of the WIFI router of the building, the present embodiment provides a WIFI module for the handheld device. The reason why they are related is that when the user enters a building, the MAC address of the WIFI router in the building is detected, and then the corresponding two-dimensional layout map of the building is found according to the address. In this embodiment, the Amazon cloud server is used instead of the local server. Of course, cloud services provided by other cloud server providers can also be used. In order to send data to the cloud server, this embodiment provides a 4G mobile communication module for the handheld device, so that it can communicate with the cloud server by using 4G mobile communication technology. Of course, this device can also directly communicate with the cloud server by using WIFI that can connect to the public network.
一般用户使用的是用户终端，用户终端可以是安装有应用程序的智能手机、平板电脑等电子设备。环境探测单元包括激光雷达单元和障碍检测单元，激光雷达单元戴在用户的肩部，形成肩戴式设备；障碍检测单元戴在用户的小腿位置，形成小腿戴式设备。用户拿到用户终端、及携带肩戴式设备和小腿戴式设备步入建筑物内，用户终端会用语音提示用户现在所处的位置，接着用户可使用语音给出想去的目的地，接着用户终端会用语音提示用户如何步行到目的地。当用户使用了本技术一定时间后，本技术会计算出用户一个步伐的大小，因此在语音提示用户的时候，可以使用步伐作为距离的单位。如此一来，语音提示对于视力障碍用户来说，会更加友好。The general user uses the user terminal, and the user terminal can be an electronic device such as a smart phone or a tablet computer with an application installed. The environment detecting unit includes a laser radar unit and an obstacle detecting unit. The laser radar unit is worn on the shoulder of the user to form a shoulder-mounted device; the obstacle detecting unit is worn on the user's lower leg to form a calf-wearing device. The user takes the user terminal, and carries the shoulder-mounted device and the calf-mounted device into the building, and the user terminal promptly prompts the user where the user is located, and then the user can use the voice to give the desired destination, and then The user terminal will prompt the user how to walk to the destination. After the user has used the technology for a certain period of time, the technology calculates the size of the user's step, so when the voice prompts the user, the pace can be used as the unit of the distance. As a result, voice prompts are more friendly to visually impaired users.
肩戴式设备和小腿戴式设备都是利用蓝牙技术与用户的智能手机连接，以便进行数据通信。这个肩戴式设备利用激光雷达系统扫描用户四周的环境，并将获取的环境探测数据传送至用户终端。这里所采用的激光雷达的扫描范围是一个水平的，以它自身为中心的360度平面。由于用户的脖子会遮挡一部分的扫描，所以其扫描水平角度大约在180度和270度范围内，而不会达到360度。但是本实施例中采取的SLAM算法并不要求扫描的角度达到360度。小腿戴式设备采用基于飞行时间原理的深度摄像头检测用户的前方的且位于肩戴式设备扫描盲区内的障碍物。当检测前方的障碍物阻碍用户行走时，它会向用户终端发送警报信息，然后用户终端向用户发出语音警报。 Both shoulder-mounted and calf-worn devices use Bluetooth technology to connect to the user's smartphone for data communication. This shoulder-mounted device uses a lidar system to scan the environment around the user and transmit the acquired environmental sounding data to the user terminal. The scanning range of the laser radar used here is a horizontal, 360-degree plane centered on itself. Since the user's neck blocks a portion of the scan, the horizontal angle of the scan is approximately 180 degrees and 270 degrees, and does not reach 360 degrees. However, the SLAM algorithm adopted in this embodiment does not require the scanning angle to reach 360 degrees. The calf-worn device uses a time-of-flight based depth camera to detect obstacles in front of the user and located in the scan zone of the shoulder-mounted device. When detecting an obstacle in front of the user hinders the user from walking, it sends an alert message to the user terminal, and then the user terminal issues a voice alert to the user.
本发明公开了一种适用于视力障碍者的室内定位导航方法，用户终端执行如下步骤：The invention discloses an indoor positioning and navigation method suitable for visually impaired persons, and the user terminal performs the following steps:
环境数据接收步骤，用于接收环境探测单元采集到的环境数据；An environmental data receiving step, configured to receive environment data collected by the environment detecting unit;
二维布局图请求发送步骤，检测建筑物对应的一个或多个WIFI，并使用WIFI对应的路由器的MAC地址向服务器发送请求，请求给出此建筑物的二维布局图；The two-dimensional layout request request sending step detects one or more WIFIs corresponding to the building, and sends a request to the server by using the MAC address of the router corresponding to the WIFI, requesting to give a two-dimensional layout diagram of the building;
定位步骤，接收服务器发送的二维布局图，通过二维布局图结合用户移动数据计算出用户的当前位置，语音提示用户现在的位置，并且询问用户想要去的目的地；a positioning step of receiving a two-dimensional layout map sent by the server, calculating a current location of the user by using the two-dimensional layout map in combination with the user movement data, prompting the current location of the user, and inquiring the destination that the user wants to go;
用户移动数据是指用户终端中的惯用单元所采集的数据。User mobile data refers to data collected by a custom unit in a user terminal.
导航步骤，接收用户说出的目的地语音指令，联合用户当前位置和目的地，使用路线规划算法计算出一条最优的路线，并为用户进行语音导航，在语音导航过程中，当环境探测单元检测到障碍物时，接收环境探测单元发送的有障碍物数据信息，并且语音提示用户绕开障碍物。The navigation step receives the destination voice command spoken by the user, combines the current location and destination of the user, uses the route planning algorithm to calculate an optimal route, and performs voice navigation for the user. In the voice navigation process, when the environment detecting unit When an obstacle is detected, the obstacle data information sent by the environment detecting unit is received, and the voice prompts the user to bypass the obstacle.
在所述定位步骤中，根据二维布局图和用户当前环境信息使用SLAM(Simultaneous Localization And Mapping)定位算法进行初步的室内定位信息，然后采用WIFI和惯性单元对初步的室内定位信息进一步进行校准，从而得到用户在二维布局图上的位置。具体为，肩戴式设备所采集的环境探测数据使用SLAW算法为用户进行初步的室内定位，然后采用WIFI与惯性单元室内定位技术对这个定位进行进一步的校准，以提高定位精度。In the positioning step, the SLAM (Simultaneous Localization And Mapping) positioning algorithm is used to perform preliminary indoor positioning information according to the two-dimensional layout map and the current environment information of the user, and then the preliminary indoor positioning information is further calibrated by using the WIFI and the inertia unit. Thereby obtaining the position of the user on the two-dimensional layout map. Specifically, the environmental detection data collected by the shoulder-mounted device uses the SLAW algorithm to perform preliminary indoor positioning for the user, and then further calibrates the positioning by using WIFI and inertial unit indoor positioning technology to improve positioning accuracy.
在所述导航步骤中，使用Dijkstra路线规划算法计算出一条最优的路线；在所述导航步骤中，用户依照给定线路行走过程中，根据惯性单元以及用户在地图上的位移，计算出用户平均一个步伐距离，从而通过步数引导用户前行。In the navigation step, an optimal route is calculated using the Dijkstra route planning algorithm; in the navigation step, the user calculates the user according to the inertia unit and the displacement of the user on the map during the walking of the given line. Average one step distance, thus guiding the user through the number of steps.
通过用户终端的惯用单元在用户步行时的变化，区分出用户在步行一定时间内的步伐数，与此同时，应用程序会记录用户在此段时间内的步行路程，然后结合两者计算出用户平均一个步伐的距离大小。Through the change of the user terminal's idiomatic unit during the user's walking, the number of steps of the user within a certain period of walking is distinguished, and at the same time, the application records the user's walking distance during the period, and then calculates the user in combination with the two. The average distance of one step.
一般用户的使用流程如下：1.当用户戴上并启动肩戴式和小腿戴式设备，启动本应用程序后，此应用程序扫描附近设备并自动进行蓝牙连接，然后肩戴式和小腿戴式设备不断向智能手机发送各自采集到的数据；2.应用程序接收这些数据，并检测用户所在的建筑物对应的一个或多个WIFI，并使用这些WIFI对应的路由器的MAC地址向云服务器单元发送请求，请求给出此建筑物的二维布局；3.云服务器收到这个请求后，返回这MAC地址 对应的二维布局图，这个二维布局图即为这个建筑物的二维布局图；4.此应用程序收到这个二维布局图后，联合肩戴式设备采集到的数据和用户移动数据，计算出用户的当前位置，接着语音提示用户现在的位置，并且询问用户想要去到的目的地；5.用户说出想要去到的目的地；6.此应用程序接收到这个命令，联合用户当前位置和目的地，使用路线规划算法，计算出一条最优的路线，并为用户进行语音导航。在语音导航的过程中，由于小腿戴式设备会不断检测用户前方的且位于肩戴式设备扫描盲区内的障碍物，当发现障碍物，这个应用程序会给出相应的提示；此外应用程序还会计算出用户平均一个步伐的大小。The general user's usage process is as follows: 1. When the user puts on and activates the shoulder-mounted and calf-worn device, after launching the application, the application scans nearby devices and automatically performs Bluetooth connection, then shoulder-mounted and calf-mounted The device continuously sends the collected data to the smart phone; 2. The application receives the data, and detects one or more WIFIs corresponding to the building where the user is located, and sends the MAC address of the router corresponding to the WIFI to the cloud server unit. Request, request to give a two-dimensional layout of the building; 3. After receiving the request, the cloud server returns the MAC address Corresponding 2D layout, this 2D layout is the 2D layout of the building; 4. After the application receives the 2D layout, the data collected by the shoulder-mounted device and the user's mobile data are collected. Calculate the user's current location, then voice prompt the user's current location, and ask the user where they want to go; 5. The user speaks the destination that he wants to go to; 6. This application receives this command, The current location and destination of the user are combined, and the route planning algorithm is used to calculate an optimal route and voice navigation for the user. In the process of voice navigation, since the calf-wearing device continuously detects obstacles in front of the user and located in the scanning blind area of the shoulder-mounted device, when an obstacle is found, the application will give a corresponding prompt; in addition, the application also The accountant calculates the average size of the user's pace.
本发明还公开了一种适用于视力障碍者的室内定位导航系统，包括用户终端执行如下模块：The invention also discloses an indoor positioning navigation system suitable for visually impaired persons, comprising the following steps:
环境数据接收模块，用于接收环境探测单元采集到的环境数据；An environment data receiving module, configured to receive environment data collected by the environment detecting unit;
二维布局图请求发送模块，用于检测建筑物对应的一个或多个WIFI，并使用WIFI对应的路由器的MAC地址向服务器发送请求，请求给出此建筑物的二维布局图；The two-dimensional layout request request sending module is configured to detect one or more WIFIs corresponding to the building, and send a request to the server by using a MAC address of the router corresponding to the WIFI, requesting to give a two-dimensional layout diagram of the building;
定位模块，用于接收服务器发送的二维布局图，通过二维布局图结合用户移动数据计算出用户的当前位置，语音提示用户现在的位置，并且询问用户想要去的目的地；a positioning module, configured to receive a two-dimensional layout diagram sent by the server, calculate a current location of the user by using a two-dimensional layout diagram combined with user movement data, and voice prompt the user's current location, and query the destination that the user wants to go;
定位模块，用于接收服务器发送的二维布局图，通过二维布局图结合用户移动数据计算出用户的当前位置，语音提示用户现在的位置，并且询问用户想要去的目的地；a positioning module, configured to receive a two-dimensional layout diagram sent by the server, calculate a current location of the user by using a two-dimensional layout diagram combined with user movement data, and voice prompt the user's current location, and query the destination that the user wants to go;
在所述定位模块中，根据二维布局图和用户当前环境信息使用SLAM定位算法进行初步的室内定位信息，然后采用WIFI和惯性单元对初步的室内定位信息进一步进行校准，从而得到用户在二维布局图上的位置。In the positioning module, the SLAM positioning algorithm is used to perform preliminary indoor positioning information according to the two-dimensional layout map and the current environment information of the user, and then the preliminary indoor positioning information is further calibrated by using WIFI and inertial unit, thereby obtaining the user in two dimensions. The location on the layout map.
在所述导航模块中，使用Dijkstra路线规划算法计算出一条最优的路线；在所述导航模块中，用户依照给定线路行走过程中，根据惯性单元以及用户在地图上的位移，计算出用户平均一个步伐距离，从而通过步数引导用户前行。In the navigation module, an optimal route is calculated using the Dijkstra route planning algorithm; in the navigation module, the user calculates the user according to the inertia unit and the displacement of the user on the map during the walking of the given line. Average one step distance, thus guiding the user through the number of steps.
室内定位导航系统包括：手持式设备采用移动式激光雷达采集建筑物内部结构数据，利用即时定位与布局重构技术获取该建筑物的室内二维布局图，并使之关联到一个或多个WIFI路由器的MAC地址，然后将该二维布局图数据以及关联的MAC地址上传保存至云服务器。The indoor positioning navigation system includes: the handheld device uses the mobile lidar to collect the internal structural data of the building, and uses the instant positioning and layout reconstruction technology to acquire the indoor two-dimensional layout of the building and associate it with one or more WIFIs. The MAC address of the router, and then upload the 2D layout data and the associated MAC address to the cloud server.
本发明适用于各类用户人群，尤其对视力障碍人群具有很好的辅助作 用，值的推广应用。The invention is applicable to various user groups, especially for visually impaired people. Use, value promotion application.
综上，在本发明中，提供商(如商城等)预先采用便携式激光雷达采集建筑物内部结构数据，利用即时定位与布局重构技术计算该建筑物的室内二维布局图，并将该布局图上传至服务器端(包括本地服务器或者云服务器)；2.用户使用环境探测单元和用户终端(包括智能设备)，对其当前所处的室内环境进行探测和感知，并利用智能设备获取用户的移动信息，然后将相应数据上传到服务器端或者从服务器端获取到所处建筑的室内布局地图；3.服务器或者本地智能设备利用用户上传/获取到的环境探测数据和用户移动数据，采用即使即时定位和地图重构算法计算当前的环境布局，并结合已有室内二维布局图获取用户当前的室内位置。同时，结合用户移动数据，采用闭环反馈的方式对位置进行进一步地校准，以提高定位精度；4.根据用户提供的目的位置，采用路径规划算法计算最优路线，并利用交互单元引导用户走向目的地，从而完成导航任务。对比已有室内定位和导航技术，本发明将惯性导航技术和即时定位与地图重构技术相结合，改善了已有室内导航技术的不足，提高了导航的精度和可靠性。In summary, in the present invention, a provider (such as a shopping mall, etc.) preliminarily collects internal structural data of a building using a portable lidar, and calculates an indoor two-dimensional layout of the building by using an instant positioning and layout reconstruction technique, and the layout is The image is uploaded to the server (including the local server or the cloud server); 2. The user uses the environment detecting unit and the user terminal (including the smart device) to detect and perceive the indoor environment in which the current environment is located, and obtain the user's using the smart device. Move the information, and then upload the corresponding data to the server or obtain the indoor layout map of the building from the server; 3. The server or the local smart device utilizes the environment detection data and user mobile data uploaded/acquired by the user, even if instant The positioning and map reconstruction algorithm calculates the current environment layout and combines the existing indoor two-dimensional layout map to obtain the current indoor position of the user. At the same time, combined with the user's mobile data, the position is further calibrated by means of closed-loop feedback to improve the positioning accuracy. 4. According to the destination position provided by the user, the path planning algorithm is used to calculate the optimal route, and the interactive unit is used to guide the user to the purpose. Ground, thus completing the navigation task. Compared with the existing indoor positioning and navigation technology, the invention combines the inertial navigation technology and the real-time positioning with the map reconstruction technology, improves the deficiencies of the existing indoor navigation technology, and improves the navigation accuracy and reliability.
以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明。对于本发明所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本发明的保护范围。 The above is a further detailed description of the present invention in connection with the specific preferred embodiments, and the specific embodiments of the present invention are not limited to the description. It will be apparent to those skilled in the art that the present invention may be made without departing from the spirit and scope of the invention.

Claims (10)

  1. 一种适用于视力障碍者的室内定位导航方法，其特征在于，用户终端执行如下步骤：An indoor positioning and navigation method suitable for a visually impaired person, characterized in that the user terminal performs the following steps:
    环境数据接收步骤，用于接收环境探测单元采集到的环境数据；An environmental data receiving step, configured to receive environment data collected by the environment detecting unit;
    二维布局图请求发送步骤，检测建筑物对应的一个或多个WIFI，并使用WIFI对应的路由器的MAC地址向服务器发送请求，请求给出此建筑物的二维布局图；The two-dimensional layout request request sending step detects one or more WIFIs corresponding to the building, and sends a request to the server by using the MAC address of the router corresponding to the WIFI, requesting to give a two-dimensional layout diagram of the building;
    定位步骤，接收服务器发送的二维布局图，通过二维布局图结合用户移动数据计算出用户的当前位置，语音提示用户现在的位置，并且询问用户想要去的目的地；a positioning step of receiving a two-dimensional layout map sent by the server, calculating a current location of the user by using the two-dimensional layout map in combination with the user movement data, prompting the current location of the user, and inquiring the destination that the user wants to go;
    导航步骤，接收用户说出的目的地语音指令，联合用户当前位置和目的地，使用路线规划算法计算出一条最优的路线，并为用户进行语音导航，在语音导航过程中，当环境探测单元检测到障碍物时，接收环境探测单元发送的有障碍物数据信息，并且语音提示用户绕开障碍物。The navigation step receives the destination voice command spoken by the user, combines the current location and destination of the user, uses the route planning algorithm to calculate an optimal route, and performs voice navigation for the user. In the voice navigation process, when the environment detecting unit When an obstacle is detected, the obstacle data information sent by the environment detecting unit is received, and the voice prompts the user to bypass the obstacle.
  2. 根据权利要求1所述的室内定位导航方法，其特征在于，在所述定位步骤中，根据二维布局图和用户当前环境信息使用SLAM定位算法进行初步的室内定位信息，然后采用WIFI和惯性单元对初步的室内定位信息进一步进行校准，从而得到用户在二维布局图上的位置。The indoor positioning and navigation method according to claim 1, wherein in the positioning step, the SLAM positioning algorithm is used to perform preliminary indoor positioning information according to the two-dimensional layout map and the current environment information of the user, and then the WIFI and the inertia unit are used. The preliminary indoor positioning information is further calibrated to obtain the position of the user on the two-dimensional layout map.
  3. 根据权利要求1所述的室内定位导航方法，其特征在于，在所述导航步骤中，使用Dijkstra路线规划算法计算出一条最优的路线；在所述导航步骤中，用户依照给定线路行走过程中，根据惯性单元以及用户在地图上的位移，计算出用户平均一个步伐距离，从而通过步数引导用户前行。The indoor positioning and navigation method according to claim 1, wherein in the navigating step, an optimal route is calculated using a Dijkstra route planning algorithm; in the navigation step, the user walks according to a given route According to the inertia unit and the displacement of the user on the map, the average distance of the user is calculated, and the user is guided by the number of steps.
  4. 根据权利要求1所述的室内定位导航方法，其特征在于，所述环境探测单元包括：The indoor positioning and navigation method according to claim 1, wherein the environment detecting unit comprises:
    激光雷达单元，用于探测用户周围的环境；a lidar unit for detecting the environment around the user;
    障碍检测单元，用于检测激光雷达单元检测盲区内，位于用户前方的障碍物。The obstacle detecting unit is configured to detect an obstacle located in the blind zone of the lidar unit and located in front of the user.
  5. 根据权利要求1所述的室内定位导航方法，其特征在于，手持式设备采用移动式激光雷达采集建筑物内部结构数据，利用即时定位与布局重构技术获取该建筑物的室内二维布局图，并使之关联到一个或多个WIFI路由 器的MAC地址，然后将该二维布局图数据以及关联的MAC地址上传保存至服务器。The indoor positioning and navigation method according to claim 1, wherein the handheld device uses mobile lidar to collect internal structural data of the building, and uses the instant positioning and layout reconstruction technology to obtain an indoor two-dimensional layout of the building. And associate it with one or more WIFI routes The MAC address of the device, and then upload the 2D layout data and the associated MAC address to the server.
  6. 一种适用于视力障碍者的室内定位导航系统，其特征在于，用户终端执行如下模块：An indoor positioning navigation system suitable for visually impaired persons, characterized in that the user terminal executes the following modules:
    环境数据接收模块，用于接收环境探测单元采集到的环境数据；An environment data receiving module, configured to receive environment data collected by the environment detecting unit;
    二维布局图请求发送模块，用于检测建筑物对应的一个或多个WIFI，并使用WIFI对应的路由器的MAC地址向服务器发送请求，请求给出此建筑物的二维布局图；The two-dimensional layout request request sending module is configured to detect one or more WIFIs corresponding to the building, and send a request to the server by using a MAC address of the router corresponding to the WIFI, requesting to give a two-dimensional layout diagram of the building;
    定位模块，用于接收服务器发送的二维布局图，通过二维布局图结合用户移动数据计算出用户的当前位置，语音提示用户现在的位置，并且询问用户想要去的目的地；a positioning module, configured to receive a two-dimensional layout diagram sent by the server, calculate a current location of the user by using a two-dimensional layout diagram combined with user movement data, and voice prompt the user's current location, and query the destination that the user wants to go;
    导航模块，用于接收用户说出的目的地语音指令，联合用户当前位置和目的地，使用路线规划算法计算出一条最优的路线，并为用户进行语音导航，在语音导航过程中，当环境探测单元检测到障碍物时，接收环境探测单元发送的有障碍物数据信息，并且语音提示用户绕开障碍物。The navigation module is configured to receive a destination voice command spoken by the user, combine the current location and destination of the user, calculate an optimal route by using a route planning algorithm, and perform voice navigation for the user, in the voice navigation process, when the environment When the detecting unit detects the obstacle, it receives the obstacle data information sent by the environment detecting unit, and the voice prompts the user to bypass the obstacle.
  7. 根据权利要求6所述的室内定位导航系统，其特征在于，在所述定位模块中，根据二维布局图和用户当前环境信息使用SLAM定位算法进行初步的室内定位信息，然后采用WIFI和惯性单元对初步的室内定位信息进一步进行校准，从而得到用户在二维布局图上的位置。The indoor positioning navigation system according to claim 6, wherein in the positioning module, the SLAM positioning algorithm is used to perform preliminary indoor positioning information according to the two-dimensional layout map and the current environment information of the user, and then the WIFI and the inertia unit are adopted. The preliminary indoor positioning information is further calibrated to obtain the position of the user on the two-dimensional layout map.
  8. 根据权利要求6所述的室内定位导航系统，其特征在于，在所述导航模块中，使用Dijkstra路线规划算法计算出一条最优的路线；在所述导航模块中，用户依照给定线路行走过程中，根据惯性单元以及用户在地图上的位移，计算出用户平均一个步伐距离，从而通过步数引导用户前行。The indoor positioning navigation system according to claim 6, wherein in the navigation module, an optimal route is calculated using a Dijkstra route planning algorithm; in the navigation module, the user walks according to a given route According to the inertia unit and the displacement of the user on the map, the average distance of the user is calculated, and the user is guided by the number of steps.
  9. 根据权利要求6所述的室内定位导航系统，其特征在于，所述环境探测单元包括：The indoor positioning and navigation system according to claim 6, wherein the environment detecting unit comprises:
    激光雷达单元，用于探测用户周围的环境；a lidar unit for detecting the environment around the user;
    障碍检测单元，用于检测激光雷达单元检测盲区内，位于用户前方的障碍物。The obstacle detecting unit is configured to detect an obstacle located in the blind zone of the lidar unit and located in front of the user.
  10. 根据权利要求6所述的室内定位导航系统，其特征在于，手持式设备采 用移动式激光雷达采集建筑物内部结构数据，利用即时定位与布局重构技术获取该建筑物的室内二维布局图，并使之关联到一个或多个WIFI路由器的MAC地址，然后将该二维布局图数据以及关联的MAC地址上传保存至服务器。 The indoor positioning navigation system according to claim 6, wherein the handheld device adopts The mobile laser radar is used to collect the internal structure data of the building, and the indoor two-dimensional layout map of the building is obtained by using the instant positioning and layout reconstruction technology, and is associated with the MAC address of one or more WIFI routers, and then the two The dimension map data and the associated MAC address upload are saved to the server.
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