WO2019214640A1 - 基于光标签网络的导航方法和相应的计算设备 - Google Patents

基于光标签网络的导航方法和相应的计算设备 Download PDF

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Publication number
WO2019214640A1
WO2019214640A1 PCT/CN2019/085995 CN2019085995W WO2019214640A1 WO 2019214640 A1 WO2019214640 A1 WO 2019214640A1 CN 2019085995 W CN2019085995 W CN 2019085995W WO 2019214640 A1 WO2019214640 A1 WO 2019214640A1
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Prior art keywords
navigation
optical
navigation object
information
tag
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PCT/CN2019/085995
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English (en)
French (fr)
Inventor
方俊
牛旭恒
李江亮
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北京外号信息技术有限公司
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Publication of WO2019214640A1 publication Critical patent/WO2019214640A1/zh

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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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present invention relates to the field of optical information technology and location services, and more particularly to a navigation method based on an optical label network.
  • Barcodes and QR codes have been widely adopted to encode information. When these barcodes and QR codes are scanned with a specific device or software, the corresponding information is identified.
  • the recognition distance between the barcode and the two-dimensional code is very limited. For example, for a two-dimensional code, when scanning with a mobile phone camera, the phone must typically be placed at a relatively short distance, typically about 15 times the width of the two-dimensional code. Therefore, for long-distance recognition (for example, 200 times the width of the two-dimensional code), barcodes and two-dimensional codes are usually not implemented, or very large barcodes and two-dimensional codes must be customized, but this will bring about an increase in 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 light, which has the advantages of long distance, visible light conditions, looseness, directivity, and positionability, and the information transmitted by the optical tags can be dynamic over time.
  • the change is such that a larger information capacity can be provided (for example, the optical communication device described in Chinese Patent Publication No. CN105740936A or the like).
  • the optical tag Compared with the traditional two-dimensional code, the optical tag has stronger information interaction capability and a longer recognition distance, which can provide great convenience for users and businesses.
  • optical tags With the application and popularization of optical tags, how to comprehensively utilize multiple optical tags deployed in the surrounding environment to jointly provide services such as location and information query, navigation and positioning has great research and commercial value.
  • An aspect of the present invention provides an optical tag network-based navigation method, the optical tag network including a server and a plurality of optical tags, each of the plurality of optical tags being capable of transmitting its identification information,
  • the server is configured to store the identification information and the location information of the optical label, where the method includes:
  • Navigating the navigation object is continued based on the location information of the navigation object.
  • the location information of the navigation object is obtained by:
  • the navigation object collects information transmitted by the optical label through the image collection device carried by the navigation object to obtain identification information of the optical label;
  • the navigation object determines its relative positional relationship with the optical tag
  • the position information of the navigation object is obtained based on a relative positional relationship between the navigation object and the optical tag and position information of the optical tag.
  • the navigation object determines its relative positional relationship with the optical tag by relative positioning.
  • the providing navigation for the navigation object based on the location information of the navigation object includes:
  • the planned travel route is re-provided for the navigation object based on the location information of the navigation object and the destination point, in conjunction with the optical tag network.
  • the providing a planned travel route for the navigation object based on the starting point and the destination point includes:
  • the navigation object is provided with one or more planned travel routes based on the optical tag deployment on each feasible route.
  • the starting point is obtained by:
  • the navigation object collects information transmitted by the optical label through the image collection device carried by the navigation object to obtain identification information of the optical label;
  • the navigation object obtains location information of the optical tag from the server by using the identifier information of the optical tag;
  • the navigation object determines its relative positional relationship with the optical tag
  • position information of the navigation object is obtained as the starting point.
  • the navigation method further comprises: guiding the navigation object to travel from one optical label to the next optical label based on a relative positional relationship between the plurality of optical labels along the planned travel route.
  • the navigation method further comprises: associating the optical tag with a store or a building where the optical tag is located, so as to prompt the association of the navigation object during the navigation process.
  • the navigation method further comprises: combining one or more of GPS navigation, inertial navigation or visual navigation in the navigation process.
  • the navigation object is a user holding an image acquisition device or an autonomously movable machine equipped with an image acquisition device.
  • Another aspect of the present invention provides a computing device including a processor and a memory in which is stored a computer program that, when executed by the processor, can be used to implement the navigation method described above.
  • Still another aspect of the present invention provides a storage medium in which a computer program is stored, which can be used to implement the navigation method described above when executed.
  • FIG. 1 is a schematic diagram of an optical label network in accordance with one embodiment of the present invention.
  • FIG. 2 is a schematic flow chart of a navigation method based on an optical label network according to an embodiment of the present invention.
  • the optical tag may be any optical communication device capable of transmitting different information by emitting different light.
  • the optical tag can include at least one light source and a controller for controlling different light emitted by the light source to convey different information.
  • the controller can cause the light source to emit different light by changing the properties of the light emitted by the light source.
  • the property of the light may be any property that the optical imaging device (such as a CMOS or CCD imaging device) can perceive; for example, it may be a property perceived by the human eye such as the intensity, color, wavelength of the light, or other imperceptible to the human eye.
  • Attributes such as changes in intensity, color or wavelength of electromagnetic wavelengths outside the visible range of the human eye, or any combination of the above attributes.
  • a change in the properties of light can be a single property change, or a combination of two or more properties can change.
  • the intensity of the light is selected as an attribute, it can be achieved simply by selecting to turn the light source on or off.
  • the optical tag can be used in the optical tag as long as one of its attributes can be perceived by the optical imaging device.
  • Various common optical devices can be included in the light source, such as a light guide plate, a soft plate, a diffuser, and the like.
  • the light source may be an LED light, an array of a plurality of LED lights, a display screen or a part thereof, and even an illuminated area of light (for example, an illuminated area of light on a wall) may also serve as a light source.
  • the shape of the light source may be various shapes such as a circle, a sphere, a square, a rectangle, a strip, and the like.
  • the controller of the optical tag can control the properties of the light emitted by each source to communicate information.
  • "0" or "1" of binary digital information can be represented by controlling the turning on and off of each light source such that multiple light sources in the optical tag can be used to represent a sequence of binary digital information.
  • each light source can be used not only to represent a binary number, but also to represent data in ternary or larger hexadecimal.
  • each light source can represent data in ternary or larger hexadecimal. Therefore, optical tags can significantly increase the data encoding density compared to conventional two-dimensional codes.
  • the controller of the optical tag can control the light source to change the properties of the light it emits at a certain frequency. Therefore, the optical tag of the present invention can represent different data information at different times, for example, different. A sequence of binary digital information.
  • each frame of the image can be used to represent a set of information sequences, thereby comparing to a conventional static
  • the QR code can further significantly increase its data encoding density.
  • the optical label can be imaged using an optical imaging device or an image acquisition device that is common in the art, and the transmitted information, such as the binary data 1 or the data sequence of data 0, is determined from each frame of image, thereby realizing Information transfer from the optical tag to the optical imaging device.
  • the optical imaging device or image acquisition device may include an image acquisition component, a processor, a memory, and the like.
  • the optical imaging device or image acquisition device may be, for example, a mobile terminal having a photographing function, including a mobile phone, a tablet, smart glasses, etc., which may include an image capture device and an image processing module.
  • the user visually finds the optical tag within a range of distance from the optical tag, and scans the optical tag by performing the information capture and interpretation process by causing the imaging sensor of the mobile terminal to face the optical tag.
  • the controller of the optical tag controls the light source to change the attribute of the light emitted by the light source at a certain frequency
  • the image acquisition frequency of the mobile terminal can be set to be greater than or equal to twice the frequency of the attribute conversion of the light source.
  • the process of identifying and decoding can be completed by performing a decoding operation on the acquired image frame.
  • the serial number, the check digit, the time stamp, and the like may be included in the information transmitted by the optical tag.
  • a start frame or an end frame may be given in a plurality of image frames as needed, or both, for indicating a start or end position of a complete period of the plurality of image frames, the start frame or the end frame may be It is set to display a particular combination of data, for example: all 0s or all 1s, or any special combination that will not be the same as the information that may actually be displayed.
  • CMOS imaging device when a continuous multi-frame image of a light source is captured by a CMOS imaging device, it can be controlled by a controller such that a switching time interval between operating modes of the light source is equal to a full frame imaging time of the CMOS imaging device. Length, thereby achieving frame synchronization of the light source with 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 deliver 30 bits of information per second, with an encoding space of 2 30 , which can include, for example, an initial Frame tag (frame header), optical tag ID, password, verification code, URL information, address information, time stamp, or a different combination thereof.
  • Table 1 presents an example packet structure in accordance with one embodiment of the present invention:
  • the above optical label transmits information by emitting different light, which has the advantages of long distance, visible light condition requirement, strong directivity, and positionability, and the information transmitted by the optical label can be timed. It changes rapidly, which can provide a large information capacity. As a result, optical tags have greater information interaction capabilities, providing great convenience for users and merchants.
  • each optical tag may be assigned an identification information (ID) for uniquely identifying or identifying by the manufacturer, manager, user, etc. of the optical tag.
  • ID an identification information
  • Light label the identification information can be issued by the optical tag, and the user can use the image capturing device or the imaging device built in the mobile phone to perform image collection on the optical tag to obtain information (such as identification information) transmitted by the optical tag, thereby The information accesses the corresponding service, for example, accessing a web page associated with the identification information of the optical tag, acquiring other information associated with the identification information (eg, location information of the optical tag corresponding to the identification information), and the like.
  • the optical tag network includes a plurality of optical tags and at least one server.
  • Each optical tag typically includes at least one light source and a controller that controls the light source to illuminate in a different mode to convey different information, such as information that may include identification information for the optical tag.
  • the optical tag can be a fixed optical tag or a mobile optical tag.
  • Fixed optical labels generally refer to optical labels that remain substantially unchanged in position, such as light labels that are installed at the door of a store or on a building.
  • Mobile optical tags generally refer to optical tags that are variable in position, such as light tags that are mounted on a removable device such as a car, and light tags that are worn on a person.
  • the information associated with each optical tag can be saved on the server.
  • identification information (ID) of each optical tag, location information, and optionally other information may be saved on the server, for example, whether the optical tag is fixed or mobile, service information related to the optical tag, and the light Other descriptive information or attributes related to the tag, such as physical size information, physical shape information, orientation information, etc. of the optical tag.
  • the optical label can also have uniform or default physical size information, physical shape information, and the like.
  • the server can be a software program running on a computing device, a computing device, or a cluster of multiple computing devices.
  • the optical tag can be offline, that is, the optical tag does not need to communicate with the server.
  • an online optical tag capable of communicating with a server is also possible.
  • the location information of the optical tag can include an absolute location and/or a relative location.
  • the absolute position refers to the actual position of the optical tag in the physical world, for example, can be indicated by geographic coordinate information.
  • the relative position of the optical tag refers to the position of the optical tag relative to another optical tag.
  • the relative position of the optical tag can be represented by the spatial displacement of the optical tag relative to another optical tag, that is, by the optical tag in another optical tag corresponding thereto (hereinafter also referred to as a reference)
  • the optical label is represented by a position in the coordinate system of the origin.
  • the relative position can be expressed as (x, y, z: refID), where refID is the identification information of the optical label as the origin of the coordinate system, that is, the optical label
  • refID is the identification information of the optical label as the origin of the coordinate system, that is, the optical label
  • the identification information of the relative reference optical tags, x, y, z respectively represent displacements in three directions relative to the origin of the coordinate system.
  • each light label can have one or more relative positions.
  • its absolute location can be stored in the server, or its relative location stored, or both.
  • the absolute positions of a plurality of optical tags are known, the relative positions between them can be derived.
  • the absolute position of the two optical tags and the absolute position of one of the optical tags are known, the absolute position of the other optical tag can be derived.
  • the absolute position of each optical tag can also be obtained by recursively traversing the relative position of the optical tag. For example, for an optical label, if the absolute position of the corresponding one of the reference optical labels has been determined, the relative position of the optical label for the reference optical label and the absolute position of the reference optical label itself may be obtained. The absolute position of the light label.
  • each reference optical label is used as a starting point, and all relative positions of the reference optical labels are traversed, and if the absolute position of the reference optical label corresponding to one of the relative positions is It is known that the absolute position of the reference optical tag as the starting point can be obtained from the relative position and the known absolute position, thereby further obtaining the absolute position of the optical tag. The above process can be repeated until a certain absolute position has been determined.
  • certain optical tags in the optical tag network can be configured as reference optical tags that have associated absolute locations, which can include accurate physical location information. For example, a certain amount of fixed-position reference optical tags may be pre-arranged, or physical location information of some optical tags may be acquired by a precise positioning device, and these optical tags are set as reference optical tags. In this way, the remaining optical tags in the cursor network can utilize these reference optical tags as direct or indirect reference optical tags, and then use the recursive process described above to obtain their absolute position.
  • the corresponding service can be obtained by scanning any optical tag in the optical tag network.
  • the user can scan the optical label to collect the information published by the optical label, and identify the identification information of the optical label, and then obtain the location information of the optical label from the server by using the identification information, and the location information can be used for Precise positioning and navigation.
  • a fixed optical tag is preferably used.
  • the relative position of the user (more precisely, the user's mobile phone) to the optical tag can be determined by relative positioning (also referred to as reverse positioning). relationship. Based on the relative positional relationship between the user and the optical tag and the position information of the optical tag itself, the location information of the user can be determined, thereby realizing the positioning and navigation of the user.
  • the user can use the imaging device built in the mobile phone to carry out image collection on the optical tag, obtain the relative distance between the user and the optical tag based on the acquired image, and obtain the current current state of the mobile phone through the built-in sensor of the mobile phone.
  • Orienting information, based on the orientation information, obtaining a relative direction of the user and the optical label preferably, the position of the optical label in the image may be further combined to more accurately determine the relative direction of the user and the optical label), and thus, based on the user and
  • the relative distances and relative directions of the optical tags are used to obtain a relative positional relationship between them.
  • Imaging devices currently on the market are usually equipped with a binocular camera or a depth camera.
  • Image acquisition of an optical tag using an imaging device equipped with a binocular camera or a depth camera can easily obtain between the imaging device and the optical tag. relative distance.
  • the physical size information of the optical tag can be stored in the server. After the user identifies the identification information of the optical tag, the physical size information can be obtained from the server using the identification information. 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 imaging, the closer the distance; the smaller the imaging, the further the distance).
  • the optical tag can also have a uniform physical size or shape and the user's handset knows the physical size or shape.
  • the orientation information of the optical tag can be stored in the server. After the user identifies the identification information of the optical tag, the orientation information can be obtained from the server by using the identification information, and then the user and the light can be calculated based on the orientation information of the optical tag and the perspective distortion of the imaging of the optical tag on the user's mobile phone. The relative orientation of the labels.
  • At least two optical tags may be used, and the location information of the user is determined by a triangulation method based on the location information of each optical tag and the relative distance of the user from each optical tag.
  • two candidate locations are usually obtained. In this case, it may be necessary to choose from these two candidate locations.
  • one of the candidate locations may be selected in conjunction with location information (eg, GPS information) of the user's handset itself. For example, a candidate location that is closer to the GPS information can be selected.
  • one of the candidate locations may be selected by further considering the orientation information of each optical tag or the orientation information of the mobile phone. It will be appreciated that in the case of three or more optical tags, only one candidate location will theoretically be obtained.
  • the relative positioning based on the optical tag can obtain more accurate user position information than the conventional GPS positioning, especially when the user is close to the optical tag (for example, the user is in business
  • the relative position is detected by scanning the light tags arranged on the shops or buildings on both sides of the block. The error will be very small.
  • the object for relative positioning or navigation may not be a user, but may be a machine capable of autonomous movement, for example, a drone, Driverless cars, robots, etc.
  • the self-moving machine can be equipped with an image acquisition device and can interact with the optical tag in a manner similar to the mobile phone to obtain its own location information.
  • an optical label network based navigation method can be implemented.
  • the optical label network-based navigation method according to an embodiment of the present invention is as shown in FIG. 2, which includes: Step S1, determining a starting point and a destination point of the navigation object; Step S2, combining the light based on the starting point and the destination point a label network, providing a planned travel route for the navigation object, the travel route having one or more optical labels along the route; step S3, obtaining location information of the navigation object obtained based on the position information of the optical label during the navigation process; and steps S4, based on the location information of the navigation object, continue to provide navigation for the navigation object.
  • step S1 the starting point and the destination point of the navigation object are determined.
  • the user can manually set the navigation start point (eg, manually enter, select on the map, etc.), or set the current location obtained by the device sensor (eg, the current location provided by the GPS module in the phone) as the default navigation Starting point.
  • the navigation object can obtain its current position as a navigation starting point by acquiring the optical label in the vicinity of the scan, combining the position information of the optical label and the relative positioning result.
  • the user can manually set the navigation destination (eg, manually enter, select on a map, etc.).
  • the user may select a destination light tag on the optical tag network map as a navigation destination.
  • the navigation object may be a user holding an image capture device or a self-moving machine equipped with an image capture device, such as a drone.
  • Step S2 based on the starting point and the destination point, and combining the optical label network, provides a planned traveling route for the navigation object.
  • the navigation object may be provided with a planned travel route based on the deployment of the optical tags in the optical tag network, the travel route having one or more optical tags along the way.
  • a planned travel route based on the deployment of the optical tags in the optical tag network, the travel route having one or more optical tags along the way.
  • one or more recommended planned travel routes may be provided for the navigation object based on the deployment of the optical tags on each route after a number of feasible routes have been determined using the starting and destination points. Where other conditions are the same, it is preferred to recommend a travel route with more optical tags deployed along the way to facilitate navigation of the navigation object through the optical tags along the way during the travel process.
  • Step S3 obtaining position information of the navigation object obtained based on the position information of the optical tag during the navigation process.
  • the information published by the optical label can be collected by scanning the optical label along the path, and the identification information of the optical label can be identified therefrom. Then, the location information of the optical label can be obtained from the server through the identifier information.
  • the relative positional relationship between the optical tag and the optical tag can be determined by relative positioning. Based on the relative positional relationship between the navigation object and the optical tag and the position information of the optical tag itself, the location 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.
  • the optical label scanned by the navigation object during the travel process is not necessarily the optical label along the original planned travel route.
  • the user may have deviated from the planned travel route during the travel process.
  • the navigation object does not necessarily scan all the optical labels along the planned travel route during the travel, but can selectively scan based on actual needs, for example, scanning a nearby optical label when reaching the intersection.
  • Step S4 based on the location information of the navigation object, continue to provide navigation for the navigation object.
  • the navigation system or the navigation software can continue to provide navigation for the navigation object based on the location information. For example, it may be determined whether the navigation object has deviated from the originally planned travel route based on the location information of the navigation object, and if not, may continue to navigate based on the originally planned travel route; if it has deviated, it may be based on the location information of the navigation object. Combined with the optical label network, the planned navigation route is re-provided for the navigation object.
  • the navigation method further includes indicating how the navigation object travels from one optical tag to the next optical tag based on a relative positional relationship between the plurality of optical tags along the planned travel route. For example, a relative distance, a relative direction, etc. between a plurality of optical tags along a planned travel route may be determined, and optionally an operational indication may be provided for the navigation object, which may be navigation software or navigation Graphical indications, voice indications, etc. on the system.
  • the optical label deployment map and the map may be superimposed and displayed in the navigation software or the navigation system to facilitate navigation object viewing.
  • the light tag may be associated with a store or building in which the light tag is located in the navigation software or navigation system to associate the navigation object with a prompt, for example, a voice prompt may be made to the navigation object: Continue to travel 50 meters forward and arrive at the next light label at the *** store.”
  • the navigation method of the present invention can provide higher accuracy than conventional GPS navigation, and can be used in the absence of a GPS signal or a GPS signal that is not very good.
  • One scenario in which the navigation method of the present invention is particularly applicable is navigation in a bustling commercial block or shopping mall in which a user can achieve accurate accuracy during walking by light tags installed on the door of the store or on the building. Navigation, while GPS navigation is often difficult to meet the accuracy required in this case.
  • a certain number of optical tags can be set on the planned flight path of the drone for navigating the flight of the drone.
  • a number of light tags can be placed between urban buildings.
  • a number of optical tags can be placed at appropriate intervals along one or both sides of the street, preferably above the street lights and trees on the street, and can pass information over them for installation on the drone
  • the image acquisition device collects this information.
  • Light labels can also be mounted directly to 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 defect of poor GPS navigation accuracy.
  • the optical tag network-based navigation method of the present invention other existing navigation methods, such as GPS navigation, inertial navigation, visual navigation, and the like, may be combined.
  • GPS navigation and/or inertial navigation and/or visual navigation can be used to assist, so that the advantages of various navigation methods can be comprehensively utilized to provide the user with High quality navigation service.
  • any optical tag (or light source) that can be used to communicate information can be used.
  • the present invention can be applied to a light source that transmits information through different stripes based on a rolling shutter effect of CMOS, and can also be applied to an optical label as described in the patent CN105740936A, and can also be applied to various types of CCD photosensitive devices.
  • An optical tag that identifies the transmitted information or may also be suitable for use in an array of optical tags (or light sources).
  • appearances of the phrases “in the various embodiments”, “in some embodiments”, “in one embodiment”, or “in an embodiment” are not necessarily referring to the same implementation. example.
  • the particular features, structures, or properties may be combined in any suitable manner in one or more embodiments.
  • the particular features, structures, or properties shown or described in connection with one embodiment may be combined, in whole or in part, with the features, structures, or properties of one or more other embodiments without limitation, as long as the combination is not Logical or not working.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
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Abstract

基于光标签网络的导航方法，其中，光标签网络包括服务器和多个光标签，多个光标签中的每一个能够用于传递其标识信息，服务器用于存储光标签的标识信息和位置信息，基于光标签网络的导航方法包括：确定导航对象的起始点和目的点（S1）；基于起始点和目的点，并结合光标签网络，为导航对象提供规划的行进路线（S2），行进路线的沿途具有一个或多个光标签；在导航过程中获得基于光标签的位置信息而得到的导航对象的位置信息（S3）；以及基于导航对象的位置信息继续为导航对象提供导航（S4）。

Description

基于光标签网络的导航方法和相应的计算设备 技术领域
本发明涉及光信息技术和位置服务领域，更具体地涉及基于光标签网络的导航方法。
背景技术
条形码和二维码已经被广泛采用来对信息进行编码。当用特定设备或软件扫描这些条形码和二维码时，相应的信息就会被识别出来。然而，条形码和二维码的识别距离很受限制。例如，对于二维码而言，当用手机摄像头对其进行扫描时，该手机通常必须置于一个比较近的距离内，该距离通常只是二维码的宽度的15倍左右。因此，对于远距离识别(例如相当于二维码宽度的200倍的距离)，条形码和二维码通常不能实现，或者必须定制非常大的条形码和二维码，但这会带来成本的提升，并且在许多情形下由于其他各种限制是不可能实现的。
光标签也可以称为光通信装置，其通过发出不同的光来传递信息，其具有远距、可见光条件要求宽松、指向性强、可定位的优势，并且光标签所传递的信息可以随时间动态变化，从而可以提供更大的信息容量(例如在中国专利公开CN105740936A等中所描述的光通信装置)。相比于传统的二维码，光标签具有更强的信息交互能力，更远的识别距离，从而可以为用户和商家提供巨大的便利性。
随着光标签的应用和普及，如何综合利用周围环境中不断部署的多个光标签来共同提供例如位置与信息查询、导航与定位之类的服务，具有很大的研究和商业价值。
发明内容
本发明的目的在于提供一种基于光标签网络的导航方法。
本发明的一个方面提供了一种基于光标签网络的导航方法，所述光标签网络包括服务器和多个光标签，所述多个光标签中的每一个能够用于传递其标识信息，所述服务器用于存储所述光标签的标识信息和位置信息，所述方法包括：
确定导航对象的起始点和目的点；
基于所述起始点和目的点为所述导航对象提供规划的行进路线，该行进路线的沿途具有一个或多个光标签；
在导航过程中获得基于光标签的位置信息而得到的所述导航对象的位置信息；以及
基于所述导航对象的位置信息继续为所述导航对象提供导航。
优选地，通过如下方式得到所述导航对象的位置信息：
所述导航对象通过其携带的图像采集设备采集光标签传递的信息，以获得光标签的标识信息；
所述导航对象通过光标签的标识信息从所述服务器获得光标签的位置信息；
所述导航对象确定其与光标签的相对位置关系；以及
基于所述导航对象与光标签的相对位置关系以及光标签的位置信息，得到所述导航对象的位置信息。
优选地，所述导航对象通过相对定位来确定其与光标签的相对位置关系。
优选地，所述基于所述导航对象的位置信息继续为所述导航对象提供导航包括：
基于所述导航对象的位置信息判断所述导航对象是否已经偏离了所述规划的行进路线；
如果没有偏离，则基于所述规划的行进路线继续进行导航；
如果已经偏离了，则基于所述导航对象的位置信息和所述目的点，并结合光标签网络，为所述导航对象重新提供规划的行进路线。
优选地，所述基于所述起始点和目的点为所述导航对象提供规划的行进路线包括：
使用所述起始点和目的点确定可行路线；以及
基于每条可行路线上的光标签部署情况，为所述导航对象提供一条或多条规划的行进路线。
优选地，通过如下方式获得所述起始点：
所述导航对象通过其携带的图像采集设备采集光标签传递的信息，以获得光标签的标识信息；
所述导航对象通过光标签的标识信息从所述服务器获得光标签的位 置信息；
所述导航对象确定其与光标签的相对位置关系；以及
基于所述导航对象与光标签的相对位置关系以及光标签的位置信息，得到所述导航对象的位置信息，以作为所述起始点。
优选地，所述导航方法还包括：基于所述规划的行进路线沿途的多个光标签之间的相对位置关系，指示所述导航对象如何从一个光标签行进至下一个光标签。
优选地，所述导航方法还包括：将光标签与光标签所处的门店或建筑物关联起来，以便在导航过程中对所述导航对象进行关联提示。
优选地，所述导航方法还包括：在导航过程中结合使用GPS导航、惯性导航或视觉导航中的一种或多种。
优选地，所述导航对象为持有图像采集设备的用户或安装有图像采集设备的能够自主移动的机器。
本发明的另一个方面提供了一种计算设备，其包括处理器和存储器，所述存储器中存储有计算机程序，所述计算机程序在被所述处理器执行时能够用于实现上述的导航方法。
本发明的再一个方面提供了一种存储介质，其中存储有计算机程序，所述计算机程序在被执行时能够用于实现上述的导航方法。
附图说明
以下参照附图对本发明实施例作进一步说明，其中：
图1为根据本发明一个实施例的光标签网络的示意图；
图2为根据本发明一个实施例的基于光标签网络的导航方法的流程示意图。
具体实施方式
为了使本发明的目的，技术方案及优点更加清楚明白，以下结合附图通过具体实施例对本发明进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
在本发明的实施例中，光标签可以是能够通过发出不同的光来传输不同的信息的任一光通信装置。在一个实施例中，光标签可包括至少一个光源和控制器，控制器用于控制所述光源发出的不同的光来传递不同的信 息。例如，控制器可以通过改变光源发出的光的属性来使得光源发出不同的光。光的属性可以是光学成像器件(例如CMOS或CCD成像器件)能够感知的任何属性；例如其可以是光的强度、颜色、波长等人眼可感知的属性，也可以是人眼不可感知的其他属性，例如在人眼可见范围外的电磁波长的强度、颜色或波长改变，或者是上述属性的任一组合。因此，光的属性变化可以是单个属性发生变化，也可以是两个或更多个属性的组合发生变化。当选择光的强度作为属性时，可以简单地通过选择开启或关闭光源来实现。
在该光标签中可以使用各种形式的光源，只要其某一属性能够被光学成像器件感知即可。光源中可以包括各种常见的光学器件，例如导光板、柔光板、漫射器等。例如，光源可以是一个LED灯、由多个LED灯构成的阵列、显示屏幕或者其中的一部分，甚至光的照射区域(例如光在墙壁上的照射区域)也可以作为光源。该光源的形状可以是各种形状，例如圆形、球形、正方形、矩形、条状、等等。
在一个实施例中，该光标签的控制器可以控制每个光源发出的光的属性，以便传递信息。例如，可以通过控制每个光源的开启和关闭来表示二进制数字信息的“0”或“1”，从而该光标签中多个光源可以用于表示一个二进制数字信息序列。如本领域技术人员可以理解的，每个光源不仅可以用于表示一个二进制数，还可以用于表示三进制或更大进制的数据。例如，可以通过将光源所发出的光的强度设置为从三种或更多种水平中进行选择，或者通过将光源所发出的光的颜色设置为从三种或更多种颜色中进行选择，甚至通过采用强度与颜色的组合，来使得每个光源能表示三进制或更大进制的数据。因此，相比于传统二维码，光标签可以显著提高数据编码密度。
在又一实施例中，该光标签的控制器可以控制光源以一定频率改变其所发出的光的属性，因此，本发明的光标签可以在不同的时间表示不同的数据信息，例如，不同的二进制数字信息序列。如此，当使用光学成像设备对本发明的光标签进行连续拍摄时(例如，以30帧/秒的速率)，其每一帧图像都可以用于表示一组信息序列，从而相比于传统的静态二维码，可以进一步显著地提高其数据编码密度。
在本申请的实施例中，可以使用本领域常见的光学成像设备或图像采集设备对光标签进行成像，从每帧图像确定所传递的信息，例如二进制数 据1或数据0的信息序列，从而实现光标签向光学成像器件的信息传递。光学成像设备或图像采集设备可以包括图像采集元件、处理器和存储器等。光学成像设备或图像采集设备例如可以是具有拍摄功能的移动终端，包括手机、平板电脑、智能眼镜等，其可以包括图像采集装置和图像处理模块。用户在距离光标签视距范围内通过肉眼发现光标签，通过使移动终端成像传感器朝向光标签，扫描该光标签并进行信息捕获与判读处理。当光标签的控制器控制光源以一定频率改变其所发出的光的属性时，移动终端的图像采集频率可以被设置为大于或等于光源的属性变换频率的2倍。通过对所采集的图像帧进行解码操作，可以完成识别解码的过程。在一个实施例中，为了避免图像帧的重复、遗漏等，可以在光标签所传递的信息中包括序列号、校验位、时间戳等。根据需要，可以在多个图像帧中给出起始帧或结束帧，或者二者兼有，用于指示多个图像帧的一个完整周期的开始或结束位置，该起始帧或结束帧可以被设定为显示某个特殊的数据组合，例如：全0或全1，或者任何不会与实际可能显示的信息相同的特殊组合。
以CMOS成像器件为例，当通过CMOS成像器件拍摄光源的连续的多帧图像时，可以通过控制器进行控制，使得光源的工作模式之间的切换时间间隔等于CMOS成像器件一个完整帧成像的时间长度，从而实现光源与成像器件的帧同步。假定每个光源每帧传输1比特的信息，那么对于30帧/每秒的拍摄速度，每个光源每秒钟可以传递30比特的信息，编码空间达到2 30，该信息可以包括例如，起始帧标记(帧头)、光标签的ID、口令、验证码、网址信息、地址信息、时间戳或其不同的组合等等。可以按照结构化方法，设定上述各种信息的顺序关系，形成数据包结构。每接收到一个完整的该数据包结构，视为获得一组完整数据(一个数据包)，进而可以对其进行数据读取和校验分析。表1给出根据本发明的一个实施例的示例数据包结构：
表1
帧头 属性字段(可选) 数据字段 校验位 帧尾
相比于传统的二维码，上述光标签通过发出不同的光来传递信息，其具有远距、可见光条件要求宽松、指向性强、可定位的优势，并且光标签所传递的信息可以随时间迅速变化，从而可以提供大的信息容量。因此，光标签具有更强的信息交互能力，从而可以为用户和商家提供巨大的便利 性。
为了基于光标签向用户和商家提供对应的服务，每个光标签可以被分配一个标识信息(ID)，该标识信息用以由光标签的制造者、管理者及使用者等唯一地识别或标识光标签。通常，可由光标签发布其标识信息，而使用者可以使用例如手机上内置的图像采集设备或成像装置对光标签进行图像采集来获得该光标签传递的信息(例如标识信息)，从而可以基于该信息来访问相应的服务，例如，访问与光标签的标识信息相关联的网页、获取与标识信息相关联的其他信息(例如，与该标识信息对应的光标签的位置信息)、等等。
现参考图1，示出了根据本发明一个实施例的光标签网络的示意图。该光标签网络包括多个光标签和至少一个服务器。每个光标签中通常包括至少一个光源和控制器，该控制器控制光源以不同的模式发光从而传递不同信息，该信息例如可以包含该光标签的标识信息。光标签可以是固定式光标签或移动式光标签。固定式光标签通常指位置基本保持不变的光标签，例如，安装在商店门头、建筑物上的光标签。移动式光标签通常指位置随时可变的光标签，例如，安装在例如汽车等可移动装置上的光标签，佩戴在人身上的光标签。如图1所示，与每个光标签相关的信息可保存在服务器上。例如，可以在服务器上保存每个光标签的标识信息(ID)、位置信息以及可选的其他信息，例如该光标签是固定式还是移动式、与该光标签相关的服务信息、与该光标签相关的其他描述信息或属性，如光标签的物理尺寸信息、物理形状信息、朝向信息等。光标签也可以具有统一的或默认的物理尺寸信息和物理形状信息等。服务器可以是在计算装置上运行的软件程序、一台计算装置或者由多台计算装置构成的集群。光标签可以是离线的，也即，光标签不需要与服务器进行通信。当然，可以理解，能够与服务器进行通信的在线光标签也是可行的。
光标签的位置信息可包括绝对位置和/或相对位置。绝对位置是指该光标签在物理世界中的实际位置，例如可以通过地理坐标信息来指示。光标签的相对位置是指该光标签相对于另一光标签的位置。在一个示例中，光标签的相对位置可以通过该光标签相对于另一光标签的空间位移来表示，也即，通过该光标签在以与其对应的另一光标签(下文也可称为参考光标签)为原点的坐标系中的位置来表示，例如，相对位置可表示为(x,y,z:refID)，其中refID为作为坐标系原点的光标签的标识信息，即该光标签所 相对的参考光标签的标识信息，x,y,z分别表示相对于该坐标系原点的三个方向的位移。优选地，每个光标签可以具有一个或多个相对位置。针对每个光标签，可以在服务器中存储其绝对位置，或者存储其相对位置，或者同时存储上述两者。在知道了多个光标签的绝对位置时，可以推算出它们之间的相对位置。类似地，在知道了两个光标签的相对位置以及其中一个光标签的绝对位置时，可以推算出另一个光标签的绝对位置。每个光标签的绝对位置也可以通过递归地遍历光标签的相对位置来获取。例如，对于某个光标签，如果所对应的其中一个参考光标签的绝对位置已经被确定，则可以根据该光标签针对该参考光标签的相对位置和该参考光标签自身的绝对位置来获得该光标签的绝对位置。如果该光标签对应的所有参考光标签的绝对位置都未确定，则以每个参考光标签为起点，遍历该参考光标签的所有相对位置，如果其中一个相对位置对应的参考光标签的绝对位置已知，则可根据该相对位置及该已知的绝对位置获得作为起点的参考光标签的绝对位置，从而进一步获得该光标签的绝对位置。上述过程可以不断重复直到获得某个已被确定的绝对位置为止。
在一些实施例中，可以将光标签网络中的某些光标签设置为基准光标签，这些基准光标签具有相关联的绝对位置，该绝对位置可以包含精确的物理位置信息。例如，可以预先布设一定量的位置固定的基准光标签，或者可以通过精确的定位设备获取某些光标签的物理位置信息，并将这些光标签设置为基准光标签。这样，光标网络中的其余光标签可以利用这些基准光标签作为直接的或间接的参考光标签，进而利用上述递归过程获取其绝对位置。
在构建了光标签网络之后，可以通过扫描光标签网络中任一光标签来获得相应的服务。例如，用户可以通过手机来扫描光标签以采集光标签发布的信息，并从中识别出光标签的标识信息，之后，可以通过该标识信息从服务器获得该光标签的位置信息，该位置信息可以用于进行精准定位和导航。在基于光标签进行定位和导航时，优选地使用固定式光标签。
在一个实施例中，用户在使用手机扫描光标签时，可以通过相对定位(也可称为反向定位)的方式来确定用户(更准确地说，该用户的手机)与光标签的相对位置关系。基于用户与光标签的相对位置关系以及光标签本身的位置信息，可以确定用户的位置信息，从而可以实现用户的定位和导航。
可以使用本领域已知的各种相对定位方式来确定用户与光标签的相对位置关系。在一个实施例中，用户可使用随身携带的手机上内置的成像装置对光标签进行图像采集，基于所采集的图像获得用户与光标签的相对距离，并且可以通过手机内置的传感器获得手机当前的朝向信息，基于该朝向信息获得用户与光标签的相对方向(优选地，可以进一步结合光标签在图像中的位置来更为精确地确定用户与光标签的相对方向)，从而，可以基于用户与光标签的相对距离和相对方向来获得它们之间的相对位置关系。目前市场销售的很多成像装置上通常配备有双目摄像头或深度摄像头，利用配备有双目摄像头或深度摄像头的成像装置对光标签进行图像采集，可以容易地获得该成像装置与光标签之间的相对距离。在另一个实施例中，为了确定用户与光标签的相对距离，可以在服务器中存储光标签的物理尺寸信息。当用户识别出了光标签的标识信息之后，可以使用标识信息从服务器获得该物理尺寸信息。基于光标签的物理尺寸信息以及光标签在用户手机上的成像大小，可以使用成像公式计算出用户与光标签的相对距离(成像越大，距离越近；成像越小，距离越远)。在一个实施例中，光标签也可以具有统一的物理尺寸或形状并且用户手机知悉该物理尺寸或形状。在另一个实施例中，为了确定用户与光标签的相对方向，可以在服务器中存储光标签的朝向信息。当用户识别出了光标签的标识信息之后，可以使用标识信息从服务器获得该朝向信息，之后，基于光标签的朝向信息以及光标签在用户手机上的成像的透视变形，可以计算出用户与光标签的相对方向。
在另一个实施例中，在进行相对定位时，可以使用至少两个光标签，并基于各个光标签的位置信息以及用户与各个光标签的相对距离，通过三角定位法确定用户的位置信息。需要注意的是，当使用两个光标签进行三角定位时，通常会获得两个候选位置。在这种情况下，可能需要从这两个候选位置中进行选择。在一个实施方式中，可以结合用户的手机本身的定位信息(例如，GPS信息)来选择其中一个候选位置。例如，可以选择与GPS信息更为接近的一个候选位置。在另一个实施方式中，可以进一步考虑各个光标签的朝向信息或者手机的朝向信息，来选择其中一个候选位置。可以理解，在使用三个或更多个光标签的情况下，理论上只会获得一个候选位置。
由于光标签本身具有精确的位置信息，因此，使用基于光标签的相对 定位能够获得比传统GPS定位更为精确的用户位置信息，特别是当用户与光标签距离较近时(例如，用户在商业街区行走时通过扫描街区两侧的门店或建筑物上布置的光标签来进行相对定位)，误差会非常小。
需要说明的是，上文虽然以持有手机的用户为例进行了说明，但是可以理解，进行相对定位或导航的对象可以不是用户，而可以是能够自主移动的机器，例如，无人机、无人驾驶汽车、机器人等。该能够自主移动的机器上可以安装有图像采集设备，并可以以与手机类似的方式与光标签进行交互，从而获得其自身的位置信息。
基于上述光标签网络以及其所提供的相对定位功能，可以实现一种基于光标签网络的导航方法。根据本发明的一个实施例的基于光标签网络的导航方法如图2所示，其包括：步骤S1，确定导航对象的起始点和目的点；步骤S2，基于起始点和目的点，并结合光标签网络，为导航对象提供规划的行进路线，该行进路线的沿途具有一个或多个光标签；步骤S3，在导航过程中获得基于光标签的位置信息而得到的导航对象的位置信息；以及步骤S4，基于导航对象的位置信息，继续为导航对象提供导航。
下文详细描述上述方法中的各个步骤。
步骤S1，确定导航对象的起始点和目的点。
用户可手动设置导航起始点(例如，手动输入、在地图上选取，等等)，或者将通过设备传感器获得的当前位置(例如，通过手机中的GPS模块提供的当前位置)设置为默认的导航起始点。在一个实施例中，导航对象可以通过获取扫描附近的光标签，结合光标签的位置信息和相对定位结果，来获得其当前位置作为导航起始点。
类似地，用户可手动设置导航目的地(例如，手动输入、在地图上选取，等等)。在一个实施例中，用户可以在光标签网络图上选择目的光标签来作为导航目的地。
如前文所述，该导航对象可以是持有图像采集设备的用户或者是安装有图像采集设备的能够自主移动的机器，例如，无人机。
步骤S2，基于起始点和目的点，并结合光标签网络，为导航对象提供规划的行进路线。
在获得了导航起始点和目的点之后，可以基于光标签网络中的光标签的部署情况，为导航对象提供规划的行进路线，该行进路线的沿途具有一个或多个光标签。例如，可以在使用起始点和目的点确定了若干条可行路 线之后，基于每条路线上的光标签部署情况，为导航对象提供一条或多条推荐的规划行进路线。在其他条件相同的情况下，优选地推荐沿途部署了较多光标签的行进路线，以便于在行进过程持续地通过沿途的光标签为导航对象进行导航。
步骤S3，在导航过程中获得基于光标签的位置信息而得到的导航对象的位置信息。
导航对象在行进过程中，可以通过扫描沿途的光标签来采集光标签发布的信息，并从中识别出光标签的标识信息，之后，可以通过该标识信息从服务器获得该光标签的位置信息。另外，在导航对象扫描光标签时，可以通过相对定位的方式来确定其与光标签的相对位置关系。基于导航对象与光标签的相对位置关系以及光标签本身的位置信息，可以确定出导航对象的位置信息。导航系统或导航软件可以获得导航对象的该位置信息，以便能够基于该位置信息进行后续的导航操作。可以理解，导航对象在行进过程中扫描的光标签不一定是原来规划的行进路线沿途的光标签，例如，用户在行进过程可能已经偏离了规划的行进路线。并且，导航对象在行进过程中不一定扫描规划的行进路线沿途的所有光标签，而是可以基于实际需要选择性进行扫描，例如，在到达路口时扫描附近的某个光标签。
步骤S4，基于导航对象的位置信息，继续为导航对象提供导航。
导航系统或导航软件在获得了导航对象的位置信息之后，可以基于该位置信息，继续为导航对象提供导航。例如，可以基于导航对象的位置信息确定导航对象是否已经偏离了原来规划的行进路线，如果没有，可以基于原来规划的行进路线继续进行导航；如果已经偏离了，则可以基于导航对象的位置信息，并结合光标签网络，为导航对象重新提供规划的行进路线。
在一个实施例中，上述导航方法还包括：基于规划的行进路线沿途的多个光标签之间的相对位置关系，指示导航对象如何从一个光标签行进至下一个光标签。例如，可以确定出规划的行进路线沿途的多个光标签之间的相对距离、相对方向等，并可选地结合实际的道路情况，为导航对象提供行进指示，该指示可以是导航软件或导航系统上的图形指示、语音指示、等等。在一个实施例中，可以在导航软件或导航系统中将光标签部署图与地图进行叠加显示，从而方便导航对象查看。在另一个实施例中，可以在导航软件或导航系统中将光标签与光标签所处的门店或建筑物关联起来， 以便对导航对象进行关联提示，例如，可以向导航对象进行语音提示：“向前继续行进50米后到达位于***门店的下一光标签”。
本发明的导航方法相比于常见的GPS导航能够提供更高的精度，并且可以在缺乏GPS信号或GPS信号不是很良好的情况下使用。本发明的导航方法特别适用的一个场景是在繁华的商业街区或商场中的导航，在该商业街区中，用户可以在行走过程中通过商店门头或建筑物上安装的光标签来实现精确的导航，而GPS导航通常难以满足这种情况下所需的精度。
另外，传统的GPS导航并不能提供高度信息，这在需要高度信息的导航场景(例如，在具有若干楼层的大型商场中导航)中是很不方便的，而本申请的基于光标签网络的导航方法可以使用光标签来向用户提供其所在的高度信息或楼层信息，从而解决了上述问题。
本发明的导航方法特别适用的另一个场景是对能够自主移动的机器(例如，无人机)进行导航，这种导航通常要求比较高的精度。在对无人机进行导航时，可以在无人机的规划飞行路线上设置一定数量的光标签，用于对无人机的飞行进行导航。在一个实施例中，可以在城市建筑物之间布置一定数量的光标签。例如，可以沿街道的一侧或两侧以适当的间距布置一定数量的光标签，这些光标签优选地高于路灯以及街道上的树木，并可以向其上空传递信息，以供无人机上安装的图像采集设备采集该信息。光标签也可以直接安装到路灯的顶部。如此，可以通过光标签网络对无人机的飞行进行精确地导航，克服了GPS导航精度差的缺陷。
在一个实施例中，在本发明的基于光标签网络的导航方法中，可以结合其他现有的导航方式，例如GPS导航、惯性导航、视觉导航等。例如，在导航对象从一个光标签向下一个光标签的行进过程中，可以使用GPS导航和/或惯性导航和/或视觉导航进行辅助，从而可以综合利用各种导航方式的优势，为用户提供高质量的导航服务。
在本发明的实施例中，可以使用任何能够用于传递信息的光标签(或光源)。例如，本发明可以适用于基于CMOS的滚动快门效应而通过不同的条纹来传递信息的光源，也可以适用于如专利CN105740936A中所描述的光标签，也可以适用于各种能通过CCD感光器件来识别所传递的信息的光标签，或者也可以适用于光标签(或光源)的阵列。
本文中针对“各个实施例”、“一些实施例”、“一个实施例”、或“实施例”等的参考指代的是结合所述实施例所描述的特定特征、结构、或性 质包括在至少一个实施例中。因此，短语“在各个实施例中”、“在一些实施例中”、“在一个实施例中”、或“在实施例中”等在整个本文中各处的出现并非必须指代相同的实施例。此外，特定特征、结构、或性质可以在一个或多个实施例中以任何合适方式组合。因此，结合一个实施例中所示出或描述的特定特征、结构或性质可以整体地或部分地与一个或多个其他实施例的特征、结构、或性质无限制地组合，只要该组合不是非逻辑性的或不能工作。本文中出现的类似于“根据A”或“基于A”的表述意指非排他性的，也即，“根据A”可以涵盖“仅仅根据A”，也可以涵盖“根据A和B”，除非特别声明或者根据上下文明确可知其含义为“仅仅根据A”。在本申请中为了清楚说明，以一定的顺序描述了一些示意性的操作步骤，但本领域技术人员可以理解，这些操作步骤中的每一个并非是必不可少的，其中的一些步骤可以被省略或者被其他步骤替代。这些操作步骤也并非必须以所示的方式依次执行，相反，这些操作步骤中的一些可以根据实际需要以不同的顺序执行，或者并行执行，只要新的执行方式不是非逻辑性的或不能工作。
虽然本发明已经通过优选实施例进行了描述，然而本发明并非局限于这里所描述的实施例，在不脱离本发明范围的情况下还包括所做出的各种改变以及变化。

Claims (12)

  1. 一种基于光标签网络的导航方法，所述光标签网络包括服务器和多个光标签，所述多个光标签中的每一个能够用于传递其标识信息，所述服务器用于存储所述光标签的标识信息和位置信息，所述方法包括：
    确定导航对象的起始点和目的点；
    基于所述起始点和目的点为所述导航对象提供规划的行进路线，该行进路线的沿途具有一个或多个光标签；
    在导航过程中获得基于光标签的位置信息而得到的所述导航对象的位置信息；以及
    基于所述导航对象的位置信息继续为所述导航对象提供导航。
  2. 根据权利要求1所述的导航方法，其中，通过如下方式得到所述导航对象的位置信息：
    所述导航对象通过其携带的图像采集设备采集光标签传递的信息，以获得光标签的标识信息；
    所述导航对象通过光标签的标识信息从所述服务器获得光标签的位置信息；
    所述导航对象确定其与光标签的相对位置关系；以及
    基于所述导航对象与光标签的相对位置关系以及光标签的位置信息，得到所述导航对象的位置信息。
  3. 根据权利要求2所述的导航方法，其中，所述导航对象通过相对定位来确定其与光标签的相对位置关系。
  4. 根据权利要求1-3中任一项所述的导航方法，其中，所述基于所述导航对象的位置信息继续为所述导航对象提供导航包括：
    基于所述导航对象的位置信息判断所述导航对象是否已经偏离了所述规划的行进路线；
    如果没有偏离，则基于所述规划的行进路线继续进行导航；
    如果已经偏离了，则基于所述导航对象的位置信息和所述目的点，并结合光标签网络，为所述导航对象重新提供规划的行进路线。
  5. 根据权利要求1-3中任一项所述的导航方法，其中，所述基于所述起始点和目的点为所述导航对象提供规划的行进路线包括：
    使用所述起始点和目的点确定可行路线；以及
    基于每条可行路线上的光标签部署情况，为所述导航对象提供一条或多条规划的行进路线。
  6. 根据权利要求1-3中任一项所述的导航方法，其中，通过如下方式获得所述起始点：
    所述导航对象通过其携带的图像采集设备采集光标签传递的信息，以获得光标签的标识信息；
    所述导航对象通过光标签的标识信息从所述服务器获得光标签的位置信息；
    所述导航对象确定其与光标签的相对位置关系；以及
    基于所述导航对象与光标签的相对位置关系以及光标签的位置信息，得到所述导航对象的位置信息，以作为所述起始点。
  7. 根据权利要求1-3中任一项所述的导航方法，还包括：
    基于所述规划的行进路线沿途的多个光标签之间的相对位置关系，指示所述导航对象如何从一个光标签行进至下一个光标签。
  8. 根据权利要求1-3中任一项所述的导航方法，还包括：
    将光标签与光标签所处的门店或建筑物关联起来，以便在导航过程中对所述导航对象进行关联提示。
  9. 根据权利要求1-3中任一项所述的导航方法，还包括：
    在导航过程中结合使用以下导航方式中的一种或多种：
    GPS导航；
    惯性导航；或
    视觉导航。
  10. 根据权利要求1-3中任一项所述的导航方法，其中，所述导航对 象为持有图像采集设备的用户或安装有图像采集设备的能够自主移动的机器。
  11. 一种计算设备，包括处理器和存储器，所述存储器中存储有计算机程序，所述计算机程序在被所述处理器执行时能够用于实现权利要求1-10中任一项所述的导航方法。
  12. 一种存储介质，其中存储有计算机程序，所述计算机程序在被执行时能够用于实现权利要求1-10中任一项所述的导航方法。
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