TWI714377B - Target location positioning navigation system and navigation method - Google Patents

Abstract

A target location positioning navigation system and a navigation method are provided. The navigation system includes a server apparatus and a mobile apparatus. The mobile apparatus obtains a current location image and receives a destination location, and then transmits the current location image and the destination location to the server apparatus. The server apparatus identifies the current location image to obtain a current location corresponding to the current location image, obtains a recommended location according to a label data of the destination location, and plans multiple paths based on the current location, the destination location, and the recommended location, and then selecting a shortest path in the multiple paths for navigation

Description

Target location positioning navigation system and navigation method

The present invention relates to a navigation technology, and in particular to a target location positioning navigation system and navigation method for indoor positioning.

In the prior art, for indoor positioning and navigation technology in large physical fields, most of them use hardware devices such as WiFi, Bluetooth (Bluetooth, BLE), and beacons to receive signals for positioning. The positioning accuracy is easily affected by factors such as the signal interference of the consumer's vehicle, the installation location of the hardware device, the hardware power, the cost, and the signal being affected by obstacles. In addition, navigation maps are also prone to poor legibility due to textual prompts of latitude and longitude, and cannot be copied and distributed for commercial applications.

The present invention provides a target location positioning navigation system and navigation method, which can quickly guide the user to the target location, and can also push appropriate information about the situation.

The target location positioning navigation system of the present invention includes a server device and a mobile device. The server device includes a first communication unit, a first storage unit, and a first processing unit. The first processing unit is coupled to the first communication unit and the first storage unit. A location database is stored in the first storage unit. The mobile device includes a second communication unit, an image capture unit, a receiving unit, and a second processing unit. The second processing unit is coupled to the second communication unit, the image capturing unit and the receiving unit. The second communication unit establishes a connection with the first communication unit. In the mobile device, the second processing unit is configured to drive the image capturing unit to obtain the current location image, and receive the target location through the receiving unit, and then transmit the current location image and the target location to the server device through the connection. In the server device, the first processing unit is configured to: receive the current location image and the target location from the mobile device through the connection; identify the current location image to obtain the current location corresponding to the current location image from the location database; At least one recommended location is obtained from the location database for the label data of the target location; multiple paths are planned based on the current location, the target location, and the recommended location, where each path includes the current location, the target location, and the recommended location Location; and selecting the shortest path from the plurality of paths.

In an embodiment of the present invention, in the mobile device, the first processing unit is configured to: load the shortest path from the server device; determine the movement direction based on the shortest path; and output navigation information to the output unit based on the movement direction.

In an embodiment of the present invention, the receiving unit includes at least one of a touch panel and an audio capture unit, and the output unit includes at least one of a display unit and a speaker.

In an embodiment of the present invention, the location database includes tile data, index numbers, and label data corresponding to each of the multiple physical locations included in the physical field space.

In an embodiment of the present invention, the first storage unit further stores a navigation voice database.

The target location positioning and navigation method of the present invention includes: obtaining a current location image and a target location; identifying the current location image to obtain the current location corresponding to the current location image; obtaining at least one recommended location based on the tag data of the target location; The current location, the target location, and the recommended location are used to plan multiple paths, where each path includes the current location, the target location, and the recommended location; and a shortest path is selected from the paths for navigation.

Based on the above, the image is captured by the image capture unit, and image analysis is performed to identify the user's current location in the physical field space, and find the best path of movement from the current location to the target location, thereby guiding the user The direction of movement. Accordingly, the problem that the positioning accuracy is affected due to poor signal when traditional hardware devices are used to receive signals can be solved.

100: Target location positioning navigation system

110: Server device

111: first processing unit

112: The first communication unit

113: The first storage unit

114: Location Database

120: mobile device

121: second processing unit

122: second communication unit

123: second storage unit

124: Image capture unit

125: receiving unit

S205~S225: The steps of the target location positioning and navigation method

A0~A8, P, P_U, P_D, P_L, P_R: location

Fig. 1 is a block diagram of a target location positioning and navigation system according to an embodiment of the present invention.

Figure 2 is a flow chart of a target location positioning and navigation method according to an embodiment of the present invention Figure.

FIG. 3 is a schematic diagram of the definition of a proximity distance measurement method according to an embodiment of the invention.

Fig. 4 is a schematic diagram of path planning according to an embodiment of the present invention.

Fig. 1 is a block diagram of a target location positioning and navigation system according to an embodiment of the present invention. Please refer to FIG. 1, the target location positioning and navigation system 100 includes a server device 110 and a mobile device 120. The server device 110 and the mobile device 120 are connected via the Internet.

The server device 110 includes a first processing unit 111, a first communication unit 112 and a first storage unit 113. The first processing unit 111 is coupled to the first communication unit 112 and the first storage unit 113. A location database 114 is stored in the first storage unit 113. The location database 114 includes feature data, tile data, index numbers, and label data corresponding to the multiple physical locations included in the physical field space.

The mobile device 120 includes a second processing unit 121, a second communication unit 122, a second storage unit 123, an image capture unit 124, and a receiving unit 125. The second processing unit 121 is coupled to the second communication unit 122, the second storage unit 123, the image capturing unit 124 and the receiving unit 125.

In the target location positioning and navigation system 100, the mobile device 120 establishes a connection with the first communication unit 112 of the server device 110 through its second communication unit 122.

The first processing unit 111 and the second processing unit 121 are, for example, a central processing unit (Central Processing Unit, CPU), a physical processing unit (Physics Processing Unit, PPU), a programmable microprocessor (Microprocessor), and an embedded control chip , Digital Signal Processor (DSP), Application Specific Integrated Circuits (ASIC) or other similar devices.

The first communication unit 112 and the second communication unit 122, for example, support Wi-Fi, third-generation mobile communication technology (third-Generation, 3G), fourth-generation mobile communication technology (fourth-Generation, 4G), and global mobile communication system. (Global System for Mobile Communications) and other wireless communication protocol chips or circuits.

The first storage unit 113 and the second storage unit 123 are, for example, any type of fixed or removable random access memory (Random Access Memory, RAM), read-only memory (Read-Only Memory, ROM), or flash memory. Flash memory, hard disk or other similar devices or a combination of these devices. A plurality of code snippets are stored in the first storage unit 113 and the second storage unit 123 respectively. After the above-mentioned code snippets are installed, they will be executed by the first processing unit 111 and the second processing unit 121 respectively to achieve the following The target location positioning navigation method.

Specifically, in the mobile device 120, the second processing unit 121 is configured to read multiple code fragments in the second storage unit 123 to perform the following actions: drive the image capturing unit 124 to obtain the current location image, and Receive the destination location through the receiving unit 125, and then pass the mobile device 120 and the server device 110 The connection between the current location image and the destination location are sent to the server device 110.

In the server device 110, the first processing unit 111 is configured to read a plurality of code fragments in the first storage unit 113 to perform the following actions: through the connection between the mobile device 120 and the server device 110, Receive the current location image and the target location from the mobile device 120; identify the current location image to obtain the current location corresponding to the current location image from the location database 114; obtain at least one from the location database 114 according to the tag data of the target location Recommended location; planning multiple paths based on the current location, target location, and the recommended location, where each path includes the current location, target location, and the recommended location; and selecting the shortest path from the multiple paths.

Fig. 2 is a flowchart of a target location positioning and navigation method according to an embodiment of the present invention. The following description is provided in conjunction with the target location positioning and navigation system 100. 1 and FIG. 2, in step S205, the current location image and the target location are obtained.

For example, an application program for navigation is stored in the second storage unit 123 of the mobile device 120, and the application program is executed through the second processing unit 121 of the mobile device 120. When the application is activated (executed), the application directly obtains the right to use the image capturing unit 124, and during the running of the application, the image is captured directly through the image capturing unit 124 as the current location image. The application further provides a user interface for the user to enter the destination location. The second processing unit 121 receives the destination location through the receiving unit 125. The receiving unit 125 is, for example, at least one of a touch panel and an audio capturing unit.

For example, the application program reminds the user to input the destination location by voice, and at the same time drives the receiving unit 125 to receive the destination location. After that, the application program transmits the current location image and the target location to the server device 110 through the connection, and the server device 110 performs subsequent analysis for navigation.

Next, in step S210, the current location image is identified to obtain the current location corresponding to the current location image. That is, in the server device 110, the first storage unit 113 stores an identification module composed of one or more code fragments. The identification module is executed by the first processing unit 111 to find the location of the mobile device 120 by means of image analysis. The recognition module uses the Principal Components Analysis (PCA) method to extract features, and compares the current location image with the feature data corresponding to each physical location stored in the location database 114 to find out the current location The physical location of the location image is used as the current location.

After that, in step S215, the recommended location is obtained based on the tag data of the target location. For example, a recommendation module composed of one or more code fragments is also stored in the first storage unit 113 of the server device 110, and the recommendation module is executed by the first processing unit 111. The recommendation module retrieves label data corresponding to the target location from the location database 114, where the label data includes at least one label. Furthermore, based on at least one tag corresponding to the target location, one or more candidate locations matching the tag are searched for among the multiple physical locations stored in the location database 114. Here, each tag has a corresponding weight value. The recommendation module selects the recommended location from the candidate locations based on the weight value of each tag.

For example, the manufacturer can use the interface provided by the server device 110 to Enter label information. For example, the interface provided by the server device 110 has preset multiple tags (evaluation factors) for each physical location, and the manufacturer assigns each tag a weight value according to its needs. Refer to Table 1. Table 1 shows a label data. After the manufacturer sets the weight value of each label, the representative weight corresponding to the physical location is obtained based on these weight values. For example, add these weight values to obtain the representative weight.

The recommended module will be based on the received destination location from the location database 114 Read the label data corresponding to the destination location. Assuming that the label data corresponding to the destination location includes three labels of "product category", "ping effect" and "flow of people" (for example, the three labels are assigned weight values), then the three weights corresponding to the three labels Value to get a representative weight. After that, the location database 114 is searched for physical locations (candidate locations) with three tags of "product category", "ping effect", and "people flow". After that, a recommended location is selected among these candidate locations. For example, the recommended location is selected based on the representative weight of these candidate locations, and the candidate location with the same representative weight as the representative weight of the target location is selected as the recommended location. Alternatively, the candidate locations are ranked based on their representative weights from high to low, and the candidate locations whose representative weights are ranked in the top N (N is an integer greater than 1) are used as the recommended locations. Or, after obtaining candidate locations with the same representative weight as the target location, the candidate locations are further sorted according to the distance between each candidate location and the target location from short to far, and the first M with the closest distance (M is greater than 1) Integer) as the recommended location. In addition, one or more candidate locations whose representative weight is the same as that of the target location may be randomly selected as the recommended location.

Next, in step S220, multiple paths are planned based on the current location, the target location, and the recommended location. Here, each path planned includes the current location, the target location, and the recommended location. Moreover, in step S225, a shortest route (best route) is selected from the routes for navigation.

The location image map is stored in the location database 114 in the server device 110. The server device 110 can collect the image data regularly, collect the actual images of the physical field space, and update the physical location characteristics of the location database 114 regularly. Information and location image map. Based on the AdaBoost and YOLO methods, it does image feature classification, object identification, detection positioning and label setting, and establishes the corresponding brick data, index number and label data for each physical location. According to the measurement of the area map data of each physical location in the physical field, the location image map is established by index numbering and x, y (row and column) coordinates.

Here, the D4 proximity distance (adjacency distance) measurement method is used to calculate the distance between locations.

FIG. 3 is a schematic diagram of the definition of a proximity distance measurement method according to an embodiment of the invention. Referring to Figure 3, the coordinates of location P are (x, y), and the coordinates of the four adjacent locations P_U, P_D, P_L, and P_R are:

N₄(P)。 Assume that P(x,y) and Q(s,t) are the locations and coordinates of two different positions. The distance between the two is calculated as follows: D ₄ (P,Q)=|xs|+|yt|; Q

N ₄ (P).

In addition, the server device 110 may also include a voice data processing module, through which the voice data processing module can establish a navigation voice database, and establish multi-language conversion and mapping into voice data.

On the user side, the user uses the image capture unit 124 of the mobile device 120 to capture images (current location images), and send the captured images to the server device 110. The server device 110 obtains the current location through image analysis.

The user further uses the mobile device 120 to set the destination location. For example, a user interface is provided in the mobile device 120, and the user interface provides a menu (such as a drop-down menu) for the user to select a destination location. And, the destination location is transmitted to the server device 110. After that, the mobile device 120 downloads the best route (the shortest route among the planned multiple routes) and navigation information from the server device 110, and then determines the direction of movement based on the shortest route. Output navigation information in the output unit. Navigation information includes text navigation data, voice playback data, and picture brick and picture files. The output unit includes at least one of a display unit and a speaker.

Fig. 4 is a schematic diagram of path planning according to an embodiment of the present invention. Please refer to FIG. 4, in this embodiment, 9 locations (A0~A8) are used for description, but it is not limited thereto. Assuming that the user opens the application for navigation in the mobile device 120 while in location A3, the application will drive the image capturing unit 124 to capture an image of the current location, and the server device 110 will identify the user The current location is location A3 (current location). In addition, the user has selected location A8 as the destination location through the application. The server device 110 obtains the recommended location according to the location A8, and assumes that the locations A2 and A4 are recommended locations. After that, the server device 110 obtains multiple paths according to location A3 (current location), location A8 (destination location), and locations A2 and A4 (recommended location), and takes the shortest path among these paths as the best path. Here, the best path is {3,4,1,2,5,8}. The mobile device 120 downloads the best route and corresponding navigation information, and calculates the mobile direction according to the best route. Based on the direction of movement, the corresponding text navigation data, voice broadcast data, and picture bricks are output.

For example, the coordinate of the index number "3" of location A3 is P(0,1), that is, x=0, y=1; the coordinate Q(1,1) of the index number "4" of the next moving location A4, that is x=1, y=1. The coordinate x is used to judge the left and right movement direction, and the coordinate y is used to judge the vertical movement direction. P(x)-Q(x) less than 0 represents the moving direction to the left, P(x)-Q(x) greater than 0 represents the moving direction to the right. If P(y)-Q(y) is less than 0, it means moving upward, and if P(y)-Q(y) is greater than 0, it means moving downward. Based on this, the direction of movement to the next location can be determined.

In summary, the present invention is a technology for navigation using image analysis. Capture the image through the image capture unit, capture the image through the image capture unit, and perform image analysis to identify the user's current location in the physical field space, and find the best path for the current location to move to the destination location , To guide the user in the direction of movement. Accordingly, the problem that the positioning accuracy is affected due to poor signal when traditional hardware devices are used to receive signals can be solved. This technology can be used as a navigation and retail sales marketing strategy tool application for large-scale physical door markets. It can quickly guide users to target public services or related locations, and can also push relevant information about the appropriate situation, which reduces The workload of on-site service personnel repeatedly answering similar questions, on the other hand, increases the fun of exploring in the field, thereby extending the stay time.

100: Target location positioning navigation system

110: Server device

111: first processing unit

112: The first communication unit

113: The first storage unit

114: Location Database

120: mobile device

121: second processing unit

122: second communication unit

123: second storage unit

124: Image capture unit

125: receiving unit

Claims (10)

A target location positioning and navigation system, including: A server-side device, including: A first communication unit; A first storage unit storing a location database; and A first processing unit coupled to the first communication unit and the first storage unit; and A mobile device, including: A second communication unit, establishing a connection with the first communication unit; An image capture unit; A receiving unit: and A second processing unit, coupled to the second communication unit, the image capturing unit, and the receiving unit; In the mobile device, the second processing unit is configured to: Drive the image capturing unit to obtain a current location image, and receive a destination location through the receiving unit, and then transmit the current location image and the destination location to the server device through the connection; In the server device, the first processing unit is configured to: Receive the current location image and the destination location from the mobile device through the connection; Identify the current location image to obtain a current location corresponding to the current location image from the location database; Obtain at least one recommended location from the location database according to a label data of the location of the project; Plan multiple paths based on the current location, the target location, and the recommended location, where each of the paths includes the current location, the target location, and the recommended location; and Select a shortest path from these paths. According to the target location positioning and navigation system described in claim 1, wherein in the mobile device, the first processing unit is configured to: Load the shortest path from the server device; Judging a moving direction based on the shortest path; and Based on the moving direction, a navigation information is output to an output unit. According to the target location positioning navigation system described in claim 2, wherein the receiving unit includes at least one of a touch panel and an audio capture unit, and the output unit includes at least one of a display unit and a speaker. For example, the target location positioning and navigation system described in item 1 of the scope of patent application, wherein the location database includes a feature data, a picture brick data, and an index number corresponding to each of the multiple physical locations included in a physical field space And a label information. In the target location positioning and navigation system as described in item 1 of the scope of patent application, the first storage unit further stores a navigation voice database. A target location positioning and navigation method, including: Obtain a current location image and a destination location; Identifying the current location image to obtain a current location corresponding to the current location image; Obtain at least one recommended location according to a label data of the location of the item; Plan multiple paths based on the current location, the target location, and the recommended location, where each of the paths includes the current location, the target location, and the recommended location; and Choose a shortest route from these routes for navigation. The target location positioning and navigation method as described in item 6 of the scope of patent application further includes: Enable a navigation program in a mobile device; and An image capturing unit of the mobile device is driven by the navigation program, so that the image capturing unit obtains the current location image. For the target location positioning and navigation method described in item 6 of the scope of patent application, the step of obtaining the recommended location according to the tag data of the target location includes: Retrieve the label data corresponding to the target location from a location database, where the label data includes at least one label; Based on the at least one tag corresponding to the target location, searching for one or more candidate locations matching the at least one tag among the multiple physical locations stored in the location database, wherein each of the tags has a corresponding A weight value of; and Based on the weight value of each of the tags, the recommended location is selected from the candidate locations. For example, the target location positioning and navigation method described in item 6 of the scope of patent application, after the step of selecting the shortest path from the paths, further includes: Judging a moving direction based on the shortest path; and A navigation information is output based on the moving direction. For example, the target location positioning navigation method described in the scope of patent application, wherein the navigation information includes a text navigation data, a voice playback data and a picture brick file.

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