CN108369778A - A navigation method and device - Google Patents

Abstract

The embodiment of the present invention discloses an indoor navigation method and device. The method includes: receiving a navigation instruction; acquiring a description information of a passing route from the recorded description information of at least one passing route to respond to the navigation instruction, wherein, The description information of each said route includes the order of at least one sub-path forming said route and the length information and direction information of each said sub-path; The passing sequence of the sub-path and the length information and direction information of the sub-paths are used to reversely navigate the user. It can be seen that by implementing the embodiment of the present invention, the navigation device can perform reverse navigation for the user according to the length information and direction information of the sub-path to be navigated recorded by itself, so that the user does not need to navigate through the network, and the environment during the navigation process is reduced. Network deployment requirements.

Description

A kind of air navigation aid and equipment Technical field

The present embodiments relate to field of navigation technology, and in particular to a kind of air navigation aid and equipment.

Background technique

With economic fast development, more and more buildings (such as large-scale shopping center, parking lot, subway station, airport, hospital) are appeared in city.Since the careat of building is larger and indoor environment structure is more complex, people find the position for wanting to reach in these buildings and usually require to take a lot of time.The position for wanting to reach to help people rapidly, accurately to find in building, indoor navigation technology are come into being.

A kind of common indoor navigation technology is the indoor navigation technology based on WI-FI.In the indoor navigation technology based on WI-FI, needs to carry out network deployment to environment, i.e., dispose a certain number of WI-FI hot spots in the environment.Navigation equipment according to the intensity of the signal for the WI-FI plume emission disposed in environment, could the position current to user position, and then navigated according to the current position of user to user.Although this indoor navigation technology accurately can carry out indoor navigation to user, this indoor navigation technology need to carry out network deployment to environment, more demanding to the network deployment of environment.

Summary of the invention

The embodiment of the invention discloses a kind of air navigation aid and equipment, the network deployment request in navigation procedure to environment can reduce.

First aspect of the embodiment of the present invention discloses a kind of air navigation aid, which comprises

Receive navigation instruction；

A description information by way of path is obtained in the description information in path from at least one of record, to respond the navigation instruction, wherein, the description information described in each by way of path includes composition at least one subpath by way of path by way of sequence and the length information and directional information of every subpath；

The subpath for including by way of the description information in path according to described one by way of sequence and subpath Length information and directional information, inversely navigated to user.

It is described that a description information by way of path is obtained in the description information in path from at least one of record in the first possible implementation of first aspect of the embodiment of the present invention, comprising:

Described in the composition for including by way of the description information in path according to each of record by way of path each single sub path length information, calculate the total length by way of path；

By way of the total length in path according to each, the smallest description information by way of path of total length is chosen from all description informations by way of path of record.

In conjunction with the first possible implementation of first aspect of the embodiment of the present invention, in second of possible implementation of first aspect of the embodiment of the present invention, before the reception navigation instruction, the method also includes:

Detect the user traffic direction and the user the traffic direction range ability；

Directional information of the traffic direction of the user as the subpath for including in the description information in path is recorded, and records the user in length information of the range ability as the subpath of the traffic direction.

In the third possible implementation of first aspect of the embodiment of the present invention, description information described in each by way of path further includes the composition corresponding Mean Oscillation amplitude of each single sub path by way of path, it is described that a description information by way of path is obtained in the description information in path from at least one of record, comprising:

The corresponding Mean Oscillation amplitude of each single sub path described in the composition for including by way of the description information in path according to each of record by way of path calculates the quantity of the subpath for being higher than default Oscillation Amplitude by way of Mean Oscillation amplitude described in path；

It is higher than the quantity of the subpath of default Oscillation Amplitude by way of Mean Oscillation amplitude described in path according to each, the smallest description information by way of path of quantity that the Mean Oscillation amplitude is higher than the subpath of default Oscillation Amplitude is chosen from all description informations by way of path of record.

In conjunction with the third possible implementation of first aspect of the embodiment of the present invention, in the 4th kind of possible implementation of first aspect of the embodiment of the present invention, before the reception navigation instruction, the method also includes:

The traffic direction that detects the user, the user are in the range ability of the traffic direction and the corresponding Mean Oscillation amplitude of the traffic direction of the user；

Record directional information of the traffic direction of the user as the subpath for including in the description information in path, and the user is recorded in length information of the range ability as the subpath of the traffic direction, and the corresponding Mean Oscillation amplitude of traffic direction for recording the user is corresponding flat as the subpath Equal Oscillation Amplitude.

In the 5th kind of possible implementation of first aspect of the embodiment of the present invention, description information described in each by way of path further includes the composition corresponding average brightness value of each single sub path by way of path, it is described that a description information by way of path is obtained in the description information in path from at least one of record, comprising:

By way of the corresponding average brightness value of each single sub path in path described in the composition for including by way of the description information in path according to each of record, the quantity by way of average brightness value described in path lower than the subpath of predetermined luminance value is calculated；

Quantity according to each by way of average brightness value described in path lower than the subpath of predetermined luminance value chooses a quantity the smallest description information by way of path of the average brightness value lower than the subpath of predetermined luminance value from all description informations by way of path of record.

In conjunction with the 5th kind of possible implementation of first aspect of the embodiment of the present invention, in the 6th kind of possible implementation of first aspect of the embodiment of the present invention, before the reception navigation instruction, the method also includes:

Detect the traffic direction of the user, the user the range ability and the user of the traffic direction the corresponding average brightness value of traffic direction；

Record directional information of the traffic direction of the user as the subpath for including in the description information in path, and the user is recorded in length information of the range ability as the subpath of the traffic direction, and the corresponding average brightness value of traffic direction for recording the user is as the corresponding average brightness value of the subpath.

In conjunction with first aspect of the embodiment of the present invention, the possible implementation of the first of first aspect of the embodiment of the present invention, the possible implementation of second of first aspect of the embodiment of the present invention, the third possible implementation of first aspect of the embodiment of the present invention, 4th kind of possible implementation of first aspect of the embodiment of the present invention, any implementation in 5th kind of possible implementation of first aspect of the embodiment of the present invention and the 6th kind of possible implementation of first aspect of the embodiment of the present invention, in the 7th kind of possible implementation of first aspect of the embodiment of the present invention, the description information by way of path further includes environmental labels information, the method also includes:

During inversely navigate to the user, the identification information of user's current environment is detected；

Judge whether the identification information of user's current environment matches with the environmental labels information；

If not matching that, the prompt information for prompting operating path wrong is exported.

In conjunction with first aspect of the embodiment of the present invention, the possible implementation of the first of first aspect of the embodiment of the present invention, the possible implementation of second of first aspect of the embodiment of the present invention, the third possible implementation of first aspect of the embodiment of the present invention, 4th kind of possible implementation of first aspect of the embodiment of the present invention, any implementation in 5th kind of possible implementation of first aspect of the embodiment of the present invention and the 6th kind of possible implementation of first aspect of the embodiment of the present invention, in the 8th kind of possible implementation of first aspect of the embodiment of the present invention, the subpath for including by way of the description information in path according to described one by way of sequence and subpath length information and directional information, it is inversely navigated to user, include:

The approach sequence for the subpath that description information by an approach path includes is inverted, obtain forming the approach sequence of at least one subpath of reverse guidance path, and the length information and directional information for the every single sub path for according to the description information by way of path including, obtain the length information and directional information of every single sub path of the reverse guidance path；

According to the approach sequence of the subpath of the reverse guidance path, and navigated according to the length information and directional information of every single sub path of the reverse guidance path to user.

Second aspect of the embodiment of the present invention discloses a kind of path recording method, which comprises

Detect user operation information, the operation information include the user traffic direction and the user the traffic direction range ability；

The traffic direction of the user is recorded as to the directional information of the subpath in composition approach path, and the user is recorded as to the length information of the subpath in the range ability of the traffic direction.

In the first possible implementation of second aspect of the embodiment of the present invention, the operation information further includes the corresponding Mean Oscillation amplitude of traffic direction of the user, the method also includes:

The corresponding Mean Oscillation amplitude of the traffic direction of the user is recorded as the corresponding Mean Oscillation amplitude of the subpath.

In second of possible implementation of second aspect of the embodiment of the present invention, the operation information further includes the corresponding average brightness value of traffic direction of the user, the method also includes:

The corresponding average brightness value of the traffic direction of the user is recorded as the corresponding average brightness value of the subpath.

In the third possible implementation of second aspect of the embodiment of the present invention, the operation information further includes the corresponding environmental labels information of traffic direction of the user, the method also includes:

The corresponding environmental labels information of the traffic direction of the user is recorded as the corresponding environmental labels information of the subpath.

The third aspect of the embodiment of the present invention discloses a kind of navigation equipment, and the equipment includes:

Receiving module, for receiving navigation instruction；

Obtain module, for obtaining a description information by way of path in the description information in path from at least one of record, to respond the navigation instruction, wherein, the description information described in each by way of path includes composition at least one subpath by way of path by way of sequence and the length information and directional information of every subpath；

Navigation module, subpath for including by way of the description information in path according to described one by way of sequence and the length information and directional information of subpath, inversely navigated to user.

In the first possible implementation of the third aspect of the embodiment of the present invention, the acquisition module includes:

First computing unit, described in the composition for including by way of the description information in path according to each of record by way of path each single sub path length information, calculate the total length by way of path；

First selection unit chooses the smallest description information by way of path of total length for the total length according to each by way of path from all description informations by way of path of record.

In conjunction with the first possible implementation of the third aspect of the embodiment of the present invention, in second of possible implementation of the third aspect of the embodiment of the present invention, the equipment further include:

First detection module, for the receiving module receive navigation instruction before, detect the user traffic direction and the user the traffic direction range ability；

First logging modle for recording directional information of the traffic direction of the user as the subpath for including in the description information in path, and records the user in length information of the range ability as the subpath of the traffic direction.

In the third possible implementation of the third aspect of the embodiment of the present invention, the description information described in each by way of path further includes the composition corresponding Mean Oscillation amplitude of each single sub path by way of path, and the acquisition module includes:

Second computing unit, the corresponding Mean Oscillation amplitude of each single sub path described in composition for including by way of the description information in path according to each of record by way of path calculates the quantity of the subpath for being higher than default Oscillation Amplitude by way of Mean Oscillation amplitude described in path；

Second selection unit, for being higher than the quantity of the subpath of default Oscillation Amplitude by way of Mean Oscillation amplitude described in path according to each, the smallest description information by way of path of quantity that the Mean Oscillation amplitude is higher than the subpath of default Oscillation Amplitude is chosen from all description informations by way of path of record.

In conjunction with the third possible implementation of the third aspect of the embodiment of the present invention, in the 4th kind of possible implementation of the third aspect of the embodiment of the present invention, the equipment further include:

Second detection module, the traffic direction, the user for detecting the user before the receiving module receives navigation instruction are in the range ability of the traffic direction and the corresponding Mean Oscillation amplitude of the traffic direction of the user；

Second logging modle, for recording directional information of the traffic direction of the user as the subpath for including in the description information in path, and the user is recorded in length information of the range ability as the subpath of the traffic direction, and the corresponding Mean Oscillation amplitude of traffic direction for recording the user is as the corresponding Mean Oscillation amplitude of the subpath.

In the 5th kind of possible implementation of the third aspect of the embodiment of the present invention, the description information described in each by way of path further includes the composition corresponding average brightness value of each single sub path by way of path, and the acquisition module includes:

Third computing unit, by way of the corresponding average brightness value of each single sub path in path described in composition for including by way of the description information in path according to each of record, the quantity by way of average brightness value described in path lower than the subpath of predetermined luminance value is calculated；

Third selection unit, for the quantity according to each by way of average brightness value described in path lower than the subpath of predetermined luminance value, a quantity the smallest description information by way of path of the average brightness value lower than the subpath of predetermined luminance value is chosen from all description informations by way of path of record.

In conjunction with the 5th kind of possible implementation of the third aspect of the embodiment of the present invention, in the 6th kind of possible implementation of the third aspect of the embodiment of the present invention, the equipment further include:

Third detection module, for before the receiving module receives navigation instruction, detect the traffic direction of the user, the user the range ability and the user of the traffic direction the corresponding average brightness value of traffic direction；

Third logging modle, for recording directional information of the traffic direction of the user as the subpath for including in the description information in path, and the user is recorded in length information of the range ability as the subpath of the traffic direction, and the corresponding average brightness value of traffic direction for recording the user is as the corresponding average brightness value of the subpath.

In conjunction with the first possible implementation of the third aspect of the embodiment of the present invention, the third aspect of the embodiment of the present invention, second of possible implementation of the third aspect of the embodiment of the present invention, the third possible implementation of the third aspect of the embodiment of the present invention, the third aspect of the embodiment of the present invention the 4th kind of possible implementation, Any implementation in 5th kind of possible implementation of the third aspect of the embodiment of the present invention and the 6th kind of possible implementation of the third aspect of the embodiment of the present invention, in the 7th kind of possible implementation of the third aspect of the embodiment of the present invention, the description information by way of path further includes environmental labels information, the equipment further include:

4th detection module, for detecting the identification information of user's current environment during inversely navigate to the user；

Judgment module, for judging whether the identification information of user's current environment matches with the environmental labels information；

Output module exports the prompt information for prompting operating path wrong when identification information and the environmental labels information for judging user's current environment when the judgment module do not match that.

In conjunction with the third aspect of the embodiment of the present invention, the possible implementation of the first of the third aspect of the embodiment of the present invention, the possible implementation of second of the third aspect of the embodiment of the present invention, the third possible implementation of the third aspect of the embodiment of the present invention, 4th kind of possible implementation of the third aspect of the embodiment of the present invention, any implementation in 5th kind of possible implementation of the third aspect of the embodiment of the present invention and the 6th kind of possible implementation of the third aspect of the embodiment of the present invention, in the 8th kind of possible implementation of the third aspect of the embodiment of the present invention, the navigation module includes:

Acquiring unit, the approach sequence of subpath for including by the description information in an approach path is inverted, obtain forming the approach sequence of at least one subpath of reverse guidance path, and the length information and directional information for the every single sub path for according to the description information by way of path including, obtain the length information and directional information of every single sub path of the reverse guidance path；

Navigation elements for the approach sequence of the subpath according to the reverse guidance path, and navigate to user according to the length information and directional information of every single sub path of the reverse guidance path.

Fourth aspect of the embodiment of the present invention discloses a kind of navigation equipment, including processor, the input unit being connected with the processor, and the memory being connected with the processor, it is characterized in that, batch processing code and record at least one are stored in the memory by way of the description information in path, wherein, description information described in each by way of path includes composition at least one subpath by way of path by way of sequence and the length information and directional information of every subpath, wherein, the processor is for calling the program code stored in the memory, for performing the following operations:

Navigation instruction is received by the input unit；

At least one recorded from the memory obtains one by way of path in the description information in path Description information, to respond the navigation instruction；

The subpath for including by way of the description information in path according to described one by way of sequence and subpath length information and directional information, inversely navigated to user.

In the first possible implementation of fourth aspect of the embodiment of the present invention, the processor recorded from the memory at least one in the description information in path obtain an approach path description information, comprising:

Described in the composition that each recorded according to the memory includes by way of the description information in path by way of path each single sub path length information, calculate the total length by way of path；

By way of the total length in path according to each, the smallest description information by way of path of total length is chosen from all description informations by way of path that the memory records.

In conjunction with the first possible implementation of fourth aspect of the embodiment of the present invention, in second of possible implementation of fourth aspect of the embodiment of the present invention, the navigation equipment further includes sensor, the sensor is connected by interface with the processor, and the processor also executes following operation:

Control the sensor detect the user traffic direction and the user the traffic direction range ability；

It controls the memory and records directional information of the traffic direction of the user as the subpath for including in the description information in path, and record the user in length information of the range ability as the subpath of the traffic direction.

In the third possible implementation of fourth aspect of the embodiment of the present invention, description information described in each of the memory record by way of path further includes the composition corresponding Mean Oscillation amplitude of each single sub path by way of path, the processor recorded from the memory at least one in the description information in path obtain an approach path description information, comprising:

The corresponding Mean Oscillation amplitude of each single sub path described in the composition that each recorded according to the memory includes by way of the description information in path by way of path calculates the quantity of the subpath for being higher than default Oscillation Amplitude by way of Mean Oscillation amplitude described in path；

It is higher than the quantity of the subpath of default Oscillation Amplitude by way of Mean Oscillation amplitude described in path according to each, the smallest description information by way of path of quantity that the Mean Oscillation amplitude is higher than the subpath of default Oscillation Amplitude is chosen from all description informations by way of path that the memory records.

In conjunction with the third possible implementation of fourth aspect of the embodiment of the present invention, in the 4th kind of possible implementation of fourth aspect of the embodiment of the present invention, the equipment further includes sensor, and the sensor passes through Interface is connected with the processor, and the processor also executes following operation:

It controls the sensor and detects the traffic direction of the user, the user in the range ability of the traffic direction and the corresponding Mean Oscillation amplitude of the traffic direction of the user；

It controls the memory and records directional information of the traffic direction of the user as the subpath for including in the description information in path, and the user is recorded in length information of the range ability as the subpath of the traffic direction, and the corresponding Mean Oscillation amplitude of traffic direction for recording the user is as the corresponding Mean Oscillation amplitude of the subpath.

In the 5th kind of possible implementation of fourth aspect of the embodiment of the present invention, description information described in each of the memory record by way of path further includes the composition corresponding average brightness value of each single sub path by way of path, the processor recorded from the memory at least one in the description information in path obtain an approach path description information, comprising:

By way of the corresponding average brightness value of each single sub path in path described in the composition that each recorded according to the memory includes by way of the description information in path, the quantity by way of average brightness value described in path lower than the subpath of predetermined luminance value is calculated；

Quantity according to each by way of average brightness value described in path lower than the subpath of predetermined luminance value chooses a quantity the smallest description information by way of path of the average brightness value lower than the subpath of predetermined luminance value from all description informations by way of path that the memory records.

In conjunction with the 5th kind of possible implementation of fourth aspect of the embodiment of the present invention, in the 6th kind of possible implementation of fourth aspect of the embodiment of the present invention, the equipment further includes sensor, and the sensor is connected by interface with the processor, and the processor also executes following operation:

Control the sensor detect the traffic direction of the user, the user the range ability and the user of the traffic direction the corresponding average brightness value of traffic direction；

It controls the memory and records directional information of the traffic direction of the user as the subpath for including in the description information in path, and the user is recorded in length information of the range ability as the subpath of the traffic direction, and the corresponding average brightness value of traffic direction for recording the user is as the corresponding average brightness value of the subpath.

In conjunction with the first possible implementation of fourth aspect of the embodiment of the present invention, fourth aspect of the embodiment of the present invention, second of possible implementation of fourth aspect of the embodiment of the present invention, the third possible implementation of fourth aspect of the embodiment of the present invention, the 4th kind of possible implementation of fourth aspect of the embodiment of the present invention, the 5th kind of possible implementation of fourth aspect of the embodiment of the present invention and fourth aspect of the embodiment of the present invention The 6th kind of possible implementation in any implementation, in the 7th kind of possible implementation of fourth aspect of the embodiment of the present invention, the equipment further includes photographic device and output device, the photographic device and the output device are connected by interface with the processor, the description information by way of path of the memory record further includes environmental characteristic information, and the processor also executes following operation:

During inversely navigate to user, the identification information that the photographic device detects user's current environment is controlled；

The environmental labels information for judging that whether the identification information of user's current environment records with the memory matches；

When mismatching, prompt information of the output device output for prompting operating path wrong is controlled.

In conjunction with fourth aspect of the embodiment of the present invention, the possible implementation of the first of fourth aspect of the embodiment of the present invention, the possible implementation of second of fourth aspect of the embodiment of the present invention, the third possible implementation of fourth aspect of the embodiment of the present invention, 4th kind of possible implementation of fourth aspect of the embodiment of the present invention, any implementation in 5th kind of possible implementation of fourth aspect of the embodiment of the present invention and the 6th kind of possible implementation of fourth aspect of the embodiment of the present invention, in the 8th kind of possible implementation of fourth aspect of the embodiment of the present invention, the subpath that the processor includes by way of the description information in path according to described one by way of sequence and subpath length information and directional information, it is inversely navigated to user, include:

The approach sequence for the subpath that description information by an approach path includes is inverted, obtain forming the approach sequence of at least one subpath of reverse guidance path, and the length information and directional information for the every single sub path for according to the description information by way of path including, obtain the length information and directional information of every single sub path of the reverse guidance path；

According to the approach sequence of the subpath of the reverse guidance path, and navigated according to the length information and directional information of every single sub path of the reverse guidance path to user.

The 5th aspect of the embodiment of the present invention discloses a kind of route recording equipment, and the equipment includes:

Detection module, for detecting the operation information of user, the operation information include the user traffic direction and the user the traffic direction range ability；

Logging modle, the directional information of the subpath for the traffic direction of the user to be recorded as to composition approach path, and the user is recorded as to the length information of the subpath in the range ability of the traffic direction.

In the first possible implementation of the 5th aspect of the embodiment of the present invention, the operation information is also wrapped The corresponding Mean Oscillation amplitude of traffic direction of the user is included, the logging modle is also used to the corresponding Mean Oscillation amplitude of the traffic direction of the user being recorded as the corresponding Mean Oscillation amplitude of the subpath.

In second of possible implementation of the 5th aspect of the embodiment of the present invention, the operation information further includes the corresponding average brightness value of traffic direction of the user, the logging modle is also used to the corresponding average brightness value of the traffic direction of the user being recorded as the corresponding average brightness value of the subpath.

In the third possible implementation of the 5th aspect of the embodiment of the present invention, the operation information further includes the corresponding environmental labels information of traffic direction of the user, the logging modle is also used to the corresponding environmental labels information of the traffic direction of the user being recorded as the corresponding environmental labels information of the subpath.

The 6th aspect of the embodiment of the present invention discloses a kind of route recording equipment, including processor, the sensor being connected with the processor, and the memory being connected with the processor, it is characterized in that, batch processing code is stored in the memory, the processor is for calling the program code stored in the memory, for performing the following operations:

Control the operation information of the sensor senses user, the operation information include the user traffic direction and the user the traffic direction range ability；

The directional information that the traffic direction of the user is recorded as the subpath in composition approach path by the memory is controlled, and the user is recorded as to the length information of the subpath in the range ability of the traffic direction.

In the first possible implementation of the 6th aspect of the embodiment of the present invention, the operation information further includes the corresponding Mean Oscillation amplitude of traffic direction of the user, and the processor also executes following operation:

It controls the memory and the corresponding Mean Oscillation amplitude of the traffic direction of the user is recorded as the corresponding Mean Oscillation amplitude of the subpath.

In second of possible implementation of the 6th aspect of the embodiment of the present invention, the operation information further includes the corresponding average brightness value of traffic direction of the user, and the processor also executes following operation:

It controls the memory and the corresponding average brightness value of the traffic direction of the user is recorded as the corresponding average brightness value of the subpath.

In the third possible implementation of the 6th aspect of the embodiment of the present invention, the operation information further includes the corresponding environmental labels information of traffic direction of the user, and the processor also executes following operation:

It controls the memory and the corresponding environmental labels information of the traffic direction of the user is recorded as the corresponding environmental labels information of the subpath.

In the embodiment of the present invention, navigation equipment receive navigation instruction after, by from at least one of record by way of In the description information in path obtain an approach path description information, and according to the description information in the approach path of acquisition include composition the approach path subpath by way of sequence and subpath length information and directional information, inversely navigated to user.It can be seen that, by implementing the embodiment of the present invention, navigation equipment can be according to the length information and directional information of the approach sequence and subpath of the subpath in the approach path of self record, obtain the length information and directional information by way of sequence and subpath of the subpath of reverse guidance path, and the length information and directional information that display screen or loudspeaker disposably export each subpath of reverse guidance path are passed through according to the approach of each subpath of reverse guidance path sequence, inversely to be navigated to user；Or, navigation equipment can pass through the traffic direction and range ability of the sensor real-time detection user of navigation equipment, and according to the approach of the subpath of reverse guidance path sequence, to carry out user reverse navigation in real time in conjunction with the length information and directional information of the subpath of reverse guidance path, without navigating by network, the environment network deployment request in navigation procedure is reduced.

Detailed description of the invention

To describe the technical solutions in the embodiments of the present invention more clearly, the drawings to be used in the embodiments are briefly described below, apparently, drawings in the following description are only some embodiments of the invention, for those of ordinary skill in the art, without creative efforts, it is also possible to obtain other drawings based on these drawings.

Fig. 1 is a kind of flow diagram of air navigation aid disclosed by the embodiments of the present invention；

Fig. 1 a is a kind of schematic diagram in approach path disclosed by the embodiments of the present invention；

Fig. 1 b is the schematic diagram in another way path disclosed by the embodiments of the present invention；

Fig. 1 c is the schematic diagram in a kind of approach path and reverse guidance path disclosed by the embodiments of the present invention；

Fig. 1 d is the schematic diagram in another way path and reverse guidance path disclosed by the embodiments of the present invention；

Fig. 1 e is a kind of schematic diagram of reverse guidance path disclosed by the embodiments of the present invention；

Fig. 2 is the flow diagram of another air navigation aid disclosed by the embodiments of the present invention；

Fig. 3 is the flow diagram of another air navigation aid disclosed by the embodiments of the present invention；

Fig. 4 is the flow diagram of another air navigation aid disclosed by the embodiments of the present invention；

Fig. 5 is the flow diagram of another path recording method disclosed by the embodiments of the present invention；

Fig. 6 is a kind of structural schematic diagram of navigation equipment disclosed by the embodiments of the present invention；

Fig. 7 is the structural schematic diagram of another navigation equipment disclosed by the embodiments of the present invention；

Fig. 8 is the structural schematic diagram of another navigation equipment disclosed by the embodiments of the present invention；

Fig. 9 is the structural schematic diagram of another navigation equipment disclosed by the embodiments of the present invention；

Figure 10 is the structural schematic diagram of another navigation equipment disclosed by the embodiments of the present invention；

Figure 11 is the structural schematic diagram of another navigation equipment disclosed by the embodiments of the present invention；

Figure 12 is a kind of structural schematic diagram of route recording equipment disclosed by the embodiments of the present invention；

Figure 13 is the structural schematic diagram of another route recording equipment disclosed by the embodiments of the present invention.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, shall fall within the protection scope of the present invention.

The embodiment of the invention discloses a kind of air navigation aid and equipment, the hardware configuration requirement in navigation procedure to environment can reduce.It is described in detail separately below.

In the embodiment of the present invention, navigation equipment can navigate to user in the interior architectures such as parking lot, shopping mall, museum.By taking parking lot as an example, navigation equipment can detect the traffic direction and range ability of user by the sensor of itself configuration, and according to the traffic direction and range ability that detect obtain a user from Entrance to parking stall by way of path, and record the approach path.When user needs parking lot out, user can input navigation instruction in navigation equipment.After the navigation instruction that navigation equipment receives user's input, inversely being navigated usage record and (i.e. using parking stall as starting point, being navigated using Entrance as terminal to user) to user by way of path, to guide user's backtracking.

Referring to Fig. 1, Fig. 1 is a kind of flow diagram of air navigation aid disclosed by the embodiments of the present invention.As shown in Figure 1, the air navigation aid may comprise steps of:

S101, navigation equipment receive navigation instruction.

Wherein, the navigation equipment may include but be not limited to the equipment such as smart phone (such as Android phone, iOS mobile phone), tablet computer, palm PC, UMPC (Ultra-mobile Personal Computer, Ultra-Mobile PC), net book, smart glasses, smart watches, Intelligent bracelet and vehicle mounted guidance.

In the embodiment of the present invention, optionally, which can be inputted by user by the function button of the navigation equipment or navigation instruction and can be and be sent to navigation equipment by wearable device by user, and the embodiment of the present invention is without limitation.

S102, navigation equipment obtain a description information by way of path in the description information in path from at least one of record, to respond the navigation instruction.

In the embodiment of the present invention, after navigation equipment receives navigation instruction, the description information in an approach path will be obtained in the description information in path from least one that navigation equipment records, to respond received navigation instruction.Wherein, description information of each by way of path of navigation equipment record include form at least one subpath by way of path by way of sequence, and form the length information and directional information of every single sub path in the approach path.

In the embodiment of the present invention, before navigation equipment receives navigation instruction, navigation equipment can record the approach path of user.Optionally, the user that one approach path can be navigation equipment record (takes action in one-time continuous operation, as driven, running, walking etc.) in institute's approach path, for example, user one-time continuous operation in from A point reach B point, C point is reached from B point again, then navigation equipment will record an approach path from A point through B point arrival C point.Optionally, one approach path can be navigation equipment after receiving the instruction of path start recording, the path recorded before receiving path to terminate recording instruction, wherein, start recording instruction in path is used to indicate the path of navigation equipment record user's approach, and path terminates recording instruction and is used to indicate the path that navigation equipment stops recording user's approach.Optionally, it whether can be more than preset time to determine whether stopping recording the approach path of user in a certain position time out of service according to user, if user is out of service after A point continuous operation arrival B point, arrival B point, if within a preset time, user brings into operation, and it is out of service after B point continuous operation arrival C point, user's arrival C point, and dwell time is more than preset time, then navigation equipment will record one and reach B point from A point, then the approach path of C point is reached from B point.

In the embodiment of the present invention, one by way of path can by a single sub path or a plurality of subpath according to user by way of sequentially forming.Wherein, one single sub path corresponds to a directional information, the adjacent corresponding directional information of two single sub paths is not identical, the directional information of subpath can for absolute direction information (such as, four corners of the world direction), or the directional information of subpath can be relative direction information (for example, can for relative to adjacent subpath to the left or to the left), the embodiment of the present invention is without limitation.

By taking the directional information of subpath is absolute direction as an example, as shown in Figure 1a, Fig. 1 a is a kind of schematic diagram in approach path disclosed by the embodiments of the present invention, shown in Fig. 1 a by way of path by way of sequence for first by way of Path 1 is again by way of path 2, and path 1 corresponds to a traffic direction (northwards), the corresponding traffic direction (eastwards) in path 2, and the traffic direction corresponding with path 2 of path 1 is not identical.It therefore, include two single sub paths, respectively path 1 and path 2 by way of path shown in Fig. 1 a, subpath is first by way of path 1 again by way of path 2 by way of sequence, and the directional information in path 1 is that northwards, the directional information in path 2 is eastwards.

By taking the directional information of subpath is relative direction information as an example, as shown in Figure 1 b, Fig. 1 b is the schematic diagram in another way path disclosed by the embodiments of the present invention, by way of path by way of sequentially for first by way of path 1 again by way of path 2 shown in Fig. 1 b, and the corresponding traffic direction (forward) in path 1, path 2 corresponds to a traffic direction (traffic direction relative to path 1 is to the right), and the traffic direction corresponding with path 2 of path 1 is not identical.Therefore, by way of path include two single sub paths shown in Fig. 1 b, respectively path 1 and path 2, subpath by way of sequence for first by way of path 1 again by way of path 2, the directional information in path 1 be forward, the directional information in path 2 be relative to path 1 directional information to the right.

As an alternative embodiment, in above-mentioned steps S102, the specific embodiment that navigation equipment obtains in the description information in path a description information by way of path from at least one of record can be with are as follows:

Step 11), navigation equipment obtain the description information for recording a time approach path immediate from current time from at least one of record in the description information in path.

In this embodiment, navigation equipment stores the corresponding record time of the description information respectively by way of path.

In practical applications, the description information that the approach path finally recorded is commonly used in user is inversely navigated.For example, when user goes to work, since Entrance, record is travelled to the description information in the approach path of a certain empty parking space, user After Hours, user need to be driven from empty parking space to parking exit, and at this moment user needs inversely to be navigated using the approach path finally recorded.The description information for choosing a record time approach path immediate from current time automatically by navigation equipment may be implemented by step 11), the description information that user selects the approach path finally recorded from the description information in a plurality of approach path manually is avoided, it is more intelligent.

As an alternative embodiment, in above-mentioned steps S102, the specific embodiment that navigation equipment obtains in the description information in path a description information by way of path from at least one of record be can comprise the following steps that

The composition that the description information of step 21), navigation equipment according to each of record by way of path includes calculates the total length by way of path by way of the length information of each single sub path in path；

Step 22), navigation equipment, by way of the total length in path, choose the smallest description information by way of path of total length according to each from all description informations by way of path of record.

Wherein, by executing step 21) and step 22), navigation equipment automatically can select the shortest description information by way of path of a paths for user, in order to guide user rapidly to arrive at the destination.

As an alternative embodiment, before navigation equipment executes step S101, can also carry out following steps in the indoor navigation method described in Fig. 1:

The range ability of step 31), the traffic direction of navigation equipment detection user and user in the traffic direction；

Step 32), directional information of the traffic direction as the subpath for including in the description information in path of navigation equipment record user, and user is recorded in length information of the range ability as the subpath of traffic direction.

Wherein, by executing step 31) and step 32), navigation equipment can record directional information of the traffic direction of user as the subpath by way of path, and user is recorded in the length information that the range ability of traffic direction is the subpath, so that navigation equipment can navigate to user according to the information of record.

As a kind of optional embodiment, when description information of each by way of path further includes forming the corresponding Mean Oscillation amplitude of each single sub path by way of path, in above-mentioned steps S102, the specific embodiment that navigation equipment obtains in the description information in path a description information by way of path from at least one of record be can comprise the following steps that

Each single sub path corresponding Mean Oscillation amplitude of the composition that the description information of step 41), navigation equipment according to each of record by way of path includes by way of path, the Mean Oscillation amplitude in path that calculates are higher than the quantity of the subpath of default Oscillation Amplitude；

The Mean Oscillation amplitude in path is higher than the quantity for presetting the subpath of Oscillation Amplitude according to each for step 42), navigation equipment, and the smallest description information by way of path of quantity that Mean Oscillation amplitude is higher than the subpath of default Oscillation Amplitude is chosen from all description informations by way of path of record.

Wherein, by executing step 41) and step 42), navigation equipment can the corresponding Mean Oscillation amplitude of subpath according to each of record by way of path, provide one for user and flattest navigate by way of path to user.

As an alternative embodiment, before navigation equipment executes step S101, can also carry out following steps in the indoor navigation method described in Fig. 1:

Step 51), the navigation equipment detection traffic direction of user, user traffic direction range ability with And the corresponding Mean Oscillation amplitude of traffic direction of user；

Step 52), navigation equipment record directional information of the traffic direction of user as the subpath for including in the description information in path, and user is recorded in length information of the range ability as the subpath of traffic direction, and the corresponding Mean Oscillation amplitude of traffic direction for recording user is as the corresponding Mean Oscillation amplitude of the subpath.

Wherein, by executing step 51) and step 52), navigation equipment can recorde Mean Oscillation amplitude of the user by way of every single sub path when, so as to so that the corresponding Mean Oscillation amplitude of subpath of the navigation equipment according to each of record by way of path, for user provide one it is flattest by way of path be that user is inversely navigated.

As a kind of optional embodiment, when description information of each by way of path further includes forming the corresponding average brightness value of each single sub path by way of path, in above-mentioned steps S102, the specific embodiment that navigation equipment obtains in the description information in path a description information by way of path from at least one of record be can comprise the following steps that

The composition that the description information of step 61), navigation equipment according to each of record by way of path includes calculates the quantity that the average brightness value in path is lower than the subpath of predetermined luminance value by way of the corresponding average brightness value of each single sub path in path；

The average brightness value in path chooses a quantity the smallest description information by way of path of the average brightness value lower than the subpath of predetermined luminance value lower than the quantity of the subpath of predetermined luminance value from all description informations by way of path of record according to each for step 62), navigation equipment.

Wherein, by executing step 61) and step 62), the corresponding average light brightness value of subpath of the navigation equipment according to each of record by way of path provides the best path of light for user and navigates.

As an alternative embodiment, before navigation equipment executes step S101, can also carry out following steps in the indoor navigation method described in Fig. 1:

Step 71), the traffic direction of navigation equipment detection user, user are in the range ability of traffic direction and the corresponding average brightness value of the traffic direction of user；

Step 72), navigation equipment record directional information of the traffic direction of user as the subpath for including in the description information in path, and user is recorded in length information of the range ability as the subpath of traffic direction, and the corresponding average brightness value of traffic direction for recording user is as the corresponding average brightness value of the subpath.

Wherein, by executing step 71) and step 72), navigation equipment be able to record user by way of every The corresponding average light brightness value of subpath, so as to make navigation equipment, by way of the corresponding average light brightness value of the subpath in path, provide the best path of light according to each of record for user and navigate.

S103, navigation equipment, by way of sequence and the length information and directional information of subpath, inversely navigate to user according to the subpath for including in the description information by way of path of acquisition.

In the embodiment of the present invention, navigation equipment obtains one after the description information in path in the description information in path from at least one of record, it, by way of sequence and the length information and directional information of subpath, will inversely be navigated to user according to the subpath for including by way of the description information in path of acquisition.

As a kind of optional embodiment, navigation equipment can comprise the following steps that according to the subpath for including by way of the description information in path of acquisition by way of sequence and the length information and directional information of subpath, the specific embodiment inversely navigated to user

The approach sequence for the subpath that the description information in the approach path that step 81) navigation equipment will acquire includes is inverted, obtain forming the approach sequence of at least one subpath of reverse guidance path, and the length information and directional information for the every single sub path for according to the description information by way of path of acquisition including, obtain the length information and directional information of every single sub path of the reverse guidance path；

Step 82) navigation equipment and navigates to user according to the length information and directional information of every single sub path of the reverse guidance path according to the approach sequence of the subpath of the reverse guidance path.

In this embodiment, optionally, when executing step 82), navigation equipment can export the length information and directional information of each subpath in reverse guidance path according to the approach sequence of each subpath of reverse guidance path in display screen, to navigate to user.Or, navigation equipment can be by loudspeaker according to the length information and directional information of each subpath by way of the reverse guidance path of Sequential output of each subpath of reverse guidance path, to navigate to user.

For example, as illustrated in figure 1 c, Fig. 1 c is a kind of schematic diagram in approach path and reverse guidance path disclosed by the embodiments of the present invention.It wherein, is path 1 and path 2 by way of the subpath that path includes, the length information in path 1 is 50 meters, the corresponding directional information in path 1 is northwards, the length information in path 2 is 100 meters, and the corresponding directional information in path 2 is that eastwards, the approach sequence of subpath is first approach path 1 approach path 2 again.Navigation equipment is got after the description information by way of path, according to the principle opposite by way of sequence of subpath, the approach sequence of the subpath in approach path is inverted (i.e. first approach path 2 again approach path 1), obtain the approach sequence of the subpath of reverse guidance path, and the directional information in path 1 and path 2 is carried out reversed, it keeps the length information in path 1 and path 2 constant, obtains reverse guidance path as illustrated in figure 1 c.As illustrated in figure 1 c, in the reverse guidance path shown in Fig. 1 c, the corresponding side in path 2 of reverse guidance path It is westwards that the corresponding directional information in path 1 of reverse guidance path is to the south to information；The corresponding length information in path 2 of reverse guidance path is 100 meters, and the corresponding length information in path 1 of reverse guidance path is 50 meters.Navigation equipment will guide the user first westwards to move ahead 100 meters when navigating to user according to the path approach sequence in first approach path 2 approach path 1 again, then to the south move ahead 50 meters.

Optionally, if the reverse corresponding directional information of guidance path is absolute direction information, absolute direction information can be converted to relative direction information, be navigated using relative direction information by navigation equipment when being navigated using reverse guidance path to user.Such as, when navigation equipment navigates to user using the reverse guidance path of Fig. 1 c, if the direction of the current face of user is northwards, then the corresponding directional information in path 2 of the reverse guidance path of navigation equipment output is to the left, the corresponding directional information in path 1 of the reverse guidance path of navigation equipment output is to the left relative to the direction currently faced.

Again for example, as shown in Figure 1 d, Fig. 1 d is another schematic diagram by way of path and reverse guidance path disclosed by the embodiments of the present invention.Wherein, the subpath for including by way of path shown in Fig. 1 d is path 1 and path 2, the length information in path 1 is 50 meters, the corresponding directional information in path 1 is forward, the length information in path 2 is 100 meters, the corresponding directional information in path 2 is to the right, the approach sequence of subpath is first approach path 1 approach path 2 again relative to path 1.Navigation equipment is got after the description information by way of path, according to the principle opposite by way of sequence of subpath, the approach sequence of the subpath in approach path is inverted (i.e. first approach path 2 again approach path 1), obtain the approach sequence of the subpath of reverse guidance path, and path 2 is carried out reversely relative to the directional information in path 1, obtain directional information (relative to path 2 to the left) of the path 1 relative to path 2, and keep the length information in path 1 and path 2 constant, obtain reverse guidance path as shown in Figure 1 d.In the reverse guidance path shown in Fig. 1 d, the corresponding directional information in path 2 of reverse guidance path is that forward, the corresponding directional information in path 1 of reverse guidance path is to the left；The corresponding length information in path 2 of reverse guidance path is 100 meters, and the corresponding length information in path 1 of reverse guidance path is 50 meters.Navigation equipment will guide the user first to moving ahead 100 meters when navigating using the reverse guidance path to user according to the path approach sequence in first approach path 2 approach path 1 again, then move ahead 50 meters to the left.When being navigated using the reverse guidance path to user, user need to voluntarily adjust starting face direction.

Optionally, when executing step 82), navigation equipment can be indicated the starting traffic direction of user according to the directional information of the subpath of the approach sequence and reverse guidance path of the subpath of reverse guidance path；And, the distance that navigation equipment can be run by the traffic direction and user of the sensor device real-time detection user of itself configuration in the traffic direction, the directional information and length information of the subpath of the distance and reverse guidance path that are run in the traffic direction with the traffic direction of the user arrived according to real-time detection, user Direction guide is carried out to user in real time.

For example, as shown in fig. le, Fig. 1 e is a kind of schematic diagram of reverse guidance path disclosed by the embodiments of the present invention.The subpath that reverse guidance path includes shown in Fig. 1 e is path 1 and path 2, wherein, the corresponding directional information in path 1 is northwards, the corresponding length information in path 1 is 50, the corresponding directional information in path 2 is eastwards, the corresponding length information in path 2 is 100, and the approach sequence of subpath is first approach path 1 approach path 2 again.After navigation equipment starts navigation, navigation equipment will be prompted to user and northwards run 50 meters；Whether the traffic direction that navigation equipment can detect user is direction northwards, if it is not, the then exportable prompt information for prompting traffic direction wrong of navigation equipment；If so, navigation equipment continues to test the distance that user northwards runs；When the difference at a distance from the length in path 1 and user northwards run is less than or equal to preset threshold, navigation equipment carries out direction guide to user in real time to the corresponding traffic direction of user's guided path 2, to realize.For example, if preset threshold is 5, after navigation equipment can prompt user northwards to run 5 meters, running 100 meters eastwards when navigation equipment is 45 meters according to the distance that user northwards runs.

As an alternative embodiment, the description information by way of path further includes environmental labels information, navigation equipment can also carry out following steps:

Step 91) detects the identification information of user's current environment during inversely navigate to user；

Step 92) judges whether the identification information of user's current environment matches with environmental labels information；

If step 93) does not match that, the prompt information for prompting operating path wrong is exported.

In this embodiment, the description information by way of path further includes one or more environmental labels information, which can be text information or the image information of environmental labels object etc., and the embodiment of the present invention is without limitation.

In this embodiment, optionally, environmental labels information can correspond to the relative position (relative position, such as can be at the 40th meter of subpath) in the subpath in path.If environmental labels information, at the 40th meter of the subpath in approach path, the subpath in approach path is 50 meters, then when inversely being navigated to user, environmental labels information is at the 10th meter of the subpath.For navigation equipment during inversely navigate to user, when navigation equipment detects user when the range ability of the subpath is 10 meters, navigation equipment detects environmental labels information, and optionally, navigation equipment can detect environmental labels information by photographic device.When navigation equipment detects environmental labels information, judge whether the environmental labels information detected matches with the environmental labels information of record, if mismatching, exports the prompt information for prompting operating path wrong.

In practical applications, the traffic direction or range ability for the user that navigation equipment detects might have error, cause user that can not be run in correct path according to the instruction of navigation.It can recorde the environmental labels information of the predeterminated position in path by implementing the embodiment, when user reaches the predeterminated position, it can detect again in current environment and then show that operating path is wrong if it does not exist with the presence or absence of the corresponding environmental labels information of predeterminated position.As it can be seen that passing through implementation steps 91)~step 93), it more accurately can inversely be navigated to user.

As an alternative embodiment, the description information by way of path further includes operation angle information, navigation equipment can also carry out following steps:

Step 101) detects user currently compared to the operation angle information of horizontal direction during inversely navigate to user；

The operation angle information that step 102) judges that whether currently detected operation angle information includes with the description information in the approach path of acquisition matches；

If step 103) does not match that, the prompt information for prompting operating path wrong is exported.

In this embodiment, the description information by way of path may include one or more operation angle information, which may include the angle value with horizontal direction, and the directional information compared to horizontal direction.Such as, if user is when preceding to compared to horizontal direction 30 degree of direction operation obliquely, then user can be detected currently compared to the operation angle information of horizontal direction by angular transducer in navigation equipment are as follows: the angle value with horizontal direction is 30 degree, and direction is upward in the horizontal direction.

In this embodiment, optionally, the relative position (relative position, such as can be at the 40th meter of subpath) in the subpath in path can be corresponded to by way of the operation angle information that the description information in path includes.For example, if at the 40th meter of the subpath in the corresponding approach path of operation angle information 1, the subpath in approach path is 50 meters, then navigation equipment is during inversely navigate to user, when navigation equipment detects user when the range ability of the subpath is 10 meters, navigation equipment judges whether currently detected operation angle information matches with operation angle information 1, if mismatching, exports the prompt information for prompting operating path wrong.Such as, if operation angle information 1 is 30 degree of angle value with horizontal direction, and direction is upward in the horizontal direction, then when navigation equipment detects that the current operation angle information of user be with the angle value of horizontal direction is 30 degree, and direction be it is downward in the horizontal direction when, navigation equipment just determines that currently detected operation angle information matches with operation angle information 1, and otherwise, navigation equipment determines that currently detected operation angle information is not matched that with operation angle information 1.

Pass through implementation steps 101)~step 103), it more accurately can inversely be navigated to user.

In the method depicted in fig. 1, navigation equipment receives after navigation instruction, the description information in an approach path will be obtained in the description information in path from at least one of record, and according to the description information in the approach path of acquisition include composition the approach path subpath by way of sequence and subpath length information and directional information, inversely navigated to user.It can be seen that, by implementing the embodiment of the present invention, navigation equipment can be according to the length information and directional information of the approach sequence and subpath of the subpath in the approach path of self record, obtain the length information and directional information by way of sequence and subpath of the subpath of reverse guidance path, and the length information and directional information that display screen or loudspeaker disposably export each subpath of reverse guidance path are passed through according to the approach of each subpath of reverse guidance path sequence, inversely to be navigated to user；Or, navigation equipment can pass through the traffic direction and range ability of the sensor real-time detection user of navigation equipment, and according to the approach of the subpath of reverse guidance path sequence, to carry out user reverse navigation in real time in conjunction with the length information and directional information of the subpath of reverse guidance path, without navigating by network, the environment network deployment request in navigation procedure is reduced.

Referring to Fig. 2, Fig. 2 is the flow diagram of another air navigation aid disclosed by the embodiments of the present invention.As shown in Fig. 2, the air navigation aid may comprise steps of:

The range ability of S201, the traffic direction of navigation equipment detection user and user in the traffic direction.

In the embodiment of the present invention, optionally, if user wants the description information in record approach path, user can click the function button of navigation equipment, to input path recording instruction.After navigation equipment receives path recording instruction, step S201 will be executed, with response path recording instruction.

In the embodiment of the present invention, optionally, navigation equipment can scan current environmental labels information by photographic device, if current environment identification information matches with default identification information, navigation equipment executes step S201.For example, if default identification information includes Entrance icon, when photographic device scanning is to Entrance icon, navigation equipment executes step S201.

In the embodiment of the present invention, navigation equipment can measure the traffic direction of user by direction sensors such as electronic compass；Or, navigation equipment can detect the traffic direction of user by detection vehicle steering wheel direction of rotation if navigation equipment is in-vehicle navigation apparatus.

In the embodiment of the present invention, navigation equipment can measure user in the acceleration of the traffic direction by acceleration transducer, seek user in the range ability of the traffic direction further according to acceleration；Or, navigation equipment can directly detect user in the range ability of the traffic direction by displacement sensor；Or, navigation equipment can be by the circle number of detection automobile tire rotation and according to the week of automobile tire if navigation equipment is in-vehicle navigation apparatus It is long, to detect user in the range ability of traffic direction.

Directional information of the traffic direction as the subpath for including in the description information in path of S202, navigation equipment record user, and user is recorded in length information of the range ability as the subpath of the traffic direction.

For example, if detecting, user has northwards advanced 10 meters, advance eastwards again 20 meters, then directional information northwards can be recorded as the directional information of a subpath by way of path by navigation equipment, and 10 meters are recorded as the length information of the subpath, directional information eastwards is recorded as to the directional information of another subpath by way of path, and 20 meters are recorded as the length information of another subpath.Wherein, approach path is made of subpath according to the approach sequence of user.

Again for example, if detecting, user turns right and has advanced 10 meters, it turns left and has advanced 20 meters again, then directional information to the right can be recorded as the directional information of a subpath by way of path by navigation equipment, and 10 meters are recorded as the length information of the subpath, directional information to the left is recorded as to the directional information of another subpath by way of path, and 20 meters are recorded as the length information of another subpath.

S203, navigation equipment receive navigation instruction.

The composition that the description information of S204, navigation equipment according to each of record by way of path includes calculates the total length by way of path by way of the length information of each single sub path in path.

In the embodiment of the present invention, after navigation equipment receives navigation instruction, the composition that includes by the description information according to each of record by way of path calculates the total length by way of path, by way of the length information of each single sub path in path to respond the navigation instruction.

S205, navigation equipment, by way of the total length in path, choose the smallest description information by way of path of total length according to each from all description informations by way of path of record.

In the embodiment of the present invention, for example, if approach path includes approach path A and approach path B, approach path A includes subpath 1 and subpath 2, approach path B includes subpath 3 and subpath 4 and subpath 5, the length information of subpath 1 is 50 meters, 2 length information of subpath is 60 meters, 3 length information of subpath is 70 meters, 4 length information of subpath is 50 meters, and 5 length information of subpath is 10 meters, then the total length of approach path A is 110 meters, the total length of approach path B is 130 meters, then navigation equipment will choose the description information of approach path A.

S206, navigation equipment, by way of sequence and the length information and directional information of subpath, inversely navigate to user according to the subpath for including by way of the description information in path of acquisition.

In practical applications, user often go to it is indoor some fix position, for example, user often from Entrance travels vehicle to a fixed parking stall, then it is Entrance that a plurality of starting point may be recorded in navigation equipment, and terminal is the description information in the approach path on fixed parking stall.By implementing method described in Fig. 2, navigation equipment automatically can select the shortest description information by way of path of a paths as the description information to guidance path for user, in order to guide user rapidly to arrive at the destination.

Referring to Fig. 3, Fig. 3 is the flow diagram of another air navigation aid disclosed by the embodiments of the present invention.As shown in figure 3, the air navigation aid may comprise steps of:

S301, the traffic direction of navigation equipment detection user, user are in the range ability of traffic direction and the corresponding Mean Oscillation amplitude of the traffic direction of user.

In the embodiment of the present invention, optionally, if user wants the description information in record approach path, user can click the function button of navigation equipment, to input path recording instruction.After navigation equipment receives path recording instruction, by response path recording instruction, step S301 is executed.

In the embodiment of the present invention, optionally, navigation equipment can scan current environmental labels information by photographic device, if current environment identification information matches with default identification information, navigation equipment executes step S301.For example, if default identification information includes Entrance icon, when photographic device scanning is to Entrance icon, navigation equipment executes step S301.

In the embodiment of the present invention, navigation equipment can measure the traffic direction of user by direction sensors such as electronic compass；Or, navigation equipment can detect the traffic direction of user by detection vehicle steering wheel direction of rotation if navigation equipment is in-vehicle navigation apparatus.

In the embodiment of the present invention, navigation equipment can measure user in the acceleration of the traffic direction by acceleration transducer, seek user in the range ability of the traffic direction further according to acceleration；Or, navigation equipment can directly detect user in the range ability of the traffic direction by displacement sensor；Or, navigation equipment can be by the circle number of detection automobile tire rotation and according to the perimeter of automobile tire, to detect user in the range ability of traffic direction if navigation equipment is in-vehicle navigation apparatus.

In the embodiment of the present invention, navigation equipment can detect Oscillation Amplitude of the user in traffic direction operation by being configured at the Oscillation Amplitude detection device of navigation equipment with the preset time cycle；When the traffic direction for detecting user changes, Oscillation Amplitude of the navigation equipment according to the user detected with the preset time cycle when the traffic direction is run, to calculate Mean Oscillation amplitude of the user in traffic direction operation as the corresponding Mean Oscillation amplitude of the traffic direction.

S302, navigation equipment record the traffic direction of user as the son for including in the description information in path The directional information in path, and user is recorded in length information of the range ability as subpath of traffic direction, and the corresponding Mean Oscillation amplitude of traffic direction for recording user is as the corresponding Mean Oscillation amplitude of subpath.

For example, if detecting, user has northwards advanced 10 meters, and the Mean Oscillation amplitude detected when the party marches forward is 7 centimetres, advance eastwards again 20 meters, and the Mean Oscillation amplitude detected when the party marches forward is 6 centimetres, then directional information northwards is recorded as the directional information of a subpath by way of path by navigation equipment, 10 meters is recorded as the length information of the subpath, and 7 centimetres of Mean Oscillation amplitude is recorded as to the Mean Oscillation amplitude of the subpath；Directional information eastwards is recorded as the directional information of another subpath by way of path by navigation equipment, 20 meters is recorded as the length information of another subpath, and 6 centimetres of Mean Oscillation amplitude is recorded as to the Mean Oscillation amplitude of another subpath.Wherein, approach path is made of subpath according to the approach sequence of user.

Again for example, if detecting, user turns right and has advanced 10 meters, and the Mean Oscillation amplitude detected when the party marches forward is 7 centimetres, it turns left and has advanced 20 meters again, and the Mean Oscillation amplitude detected when the party marches forward is 6 centimetres, then directional information to the right is recorded as the directional information of a subpath by way of path by navigation equipment, 10 meters is recorded as the length information of the subpath, and 7 centimetres of Mean Oscillation amplitude is recorded as to the Mean Oscillation amplitude of the subpath；Directional information to the left is recorded as the directional information of another subpath by way of path by navigation equipment, 20 meters is recorded as the length information of another subpath, and 6 centimetres of Mean Oscillation amplitude is recorded as to the Mean Oscillation amplitude of another subpath.

S303, navigation equipment receive navigation instruction.

Each single sub path corresponding Mean Oscillation amplitude of the composition that the description information of S304, navigation equipment according to each of record by way of path includes by way of path, the Mean Oscillation amplitude in path that calculates are higher than the quantity of the subpath of default Oscillation Amplitude.

In the embodiment of the present invention, navigation equipment receives after navigation instruction, the corresponding Mean Oscillation amplitude of each single sub path of the composition for including by the description information according to each of record by way of path by way of path, the quantity that the Mean Oscillation amplitude in path is higher than the subpath of default Oscillation Amplitude is calculated, to respond the navigation instruction.

The Mean Oscillation amplitude in path is higher than the quantity for presetting the subpath of Oscillation Amplitude according to each for S305, navigation equipment, and the smallest description information by way of path of quantity that Mean Oscillation amplitude is higher than the subpath of default Oscillation Amplitude is chosen from all description informations by way of path of record.

In the embodiment of the present invention, for example, if approach path includes approach path A and approach path B, approach path A includes subpath 1 and subpath 2, and approach path B includes subpath 3 and subpath 4 With subpath 5, the corresponding Mean Oscillation amplitude of subpath 1 is 3 centimetres, the corresponding Mean Oscillation amplitude of subpath 2 is 3 centimetres, the corresponding Mean Oscillation amplitude of subpath 3 is 6 centimetres, the corresponding Mean Oscillation amplitude of subpath 4 is 7 centimetres, the corresponding Mean Oscillation amplitude of subpath 5 is 4 centimetres, if default Oscillation Amplitude is 5 centimetres, the quantity for the subpath that then Mean Oscillation amplitude is higher than default Oscillation Amplitude in the A of approach path is 0, it is 2 that Mean Oscillation amplitude, which is higher than the quantity of the subpath of default Oscillation Amplitude, in the B of approach path, then navigation equipment will choose the description information of approach path A.

S306, navigation equipment, by way of sequence and the length information and directional information of subpath, inversely navigate to user according to the subpath for including by way of the description information in path of acquisition.

In practical applications, the Oscillation Amplitude that user runs on uneven road may be bigger than the Oscillation Amplitude run on flat road.For example, the Oscillation Amplitude that user runs on uneven road is bigger than the Oscillation Amplitude run on flat road if user's driving is run.It can be seen that, pass through method described in implementing Fig. 3, navigation equipment can recorde Oscillation Amplitude of the user by way of every single sub path when, so as to the corresponding Oscillation Amplitude of subpath according to each of record by way of path, for user provide one it is flattest by way of path be that user is inversely navigated.

Referring to Fig. 4, Fig. 4 is the flow diagram of another air navigation aid disclosed by the embodiments of the present invention.As shown in figure 4, the air navigation aid may comprise steps of:

S401, the traffic direction of navigation equipment detection user, user are in the range ability of traffic direction and the corresponding average brightness value of the traffic direction of user.

In the embodiment of the present invention, optionally, if user wants the description information in record approach path, user can click the function button of navigation equipment, to input path recording instruction.After navigation equipment receives path recording instruction, by response path recording instruction, step S301 is executed.

In the embodiment of the present invention, optionally, navigation equipment can scan current environmental labels information by photographic device, if current environment identification information matches with default identification information, navigation equipment executes step S301.For example, if default identification information includes Entrance icon, when photographic device scanning is to Entrance icon, navigation equipment executes step S301.

In the embodiment of the present invention, navigation equipment can measure the traffic direction of user by direction sensors such as electronic compass；Or, navigation equipment can detect the traffic direction of user by detection vehicle steering wheel direction of rotation if navigation equipment is in-vehicle navigation apparatus.

In the embodiment of the present invention, navigation equipment can measure user in the traffic direction by acceleration transducer Acceleration seeks user in the range ability of the traffic direction further according to acceleration；Or, navigation equipment can directly detect user in the range ability of the traffic direction by displacement sensor；Or, navigation equipment can be by the circle number of detection automobile tire rotation and according to the perimeter of automobile tire, to detect user in the range ability of traffic direction if navigation equipment is in-vehicle navigation apparatus.

In the embodiment of the present invention, navigation equipment can detect the light luminance value of environment, the corresponding average brightness value of traffic direction to obtain user by light sensor.

S402, navigation equipment record directional information of the traffic direction of user as the subpath for including in the description information in path, and user is recorded in length information of the range ability as the subpath of traffic direction, and the corresponding average brightness value of traffic direction for recording user is as the corresponding average brightness value of the subpath.

For example, if detecting, user has northwards advanced 10 meters, and the average brightness value detected when the party marches forward is 300 luxs, advance eastwards again 20 meters, and the average brightness value detected when the party marches forward is 200 luxs, then directional information northwards can be recorded as the directional information of a subpath by way of path by navigation equipment, 10 meters are recorded as the length information of the subpath, and the average brightness value of 300 luxs is recorded as to the average brightness value of the subpath；Directional information eastwards is recorded as the directional information of another subpath by way of path by navigation equipment, and 20 meters is recorded as the length information of another subpath, and the average brightness value of 200 luxs is recorded as to the average brightness value of another subpath.Wherein, approach path is made of subpath according to the approach sequence of user.

Again for example, if detecting, user turns right and has advanced 10 meters, and the average brightness value detected when the party marches forward is 300 luxs, it turns left and has advanced 20 meters again, and the average brightness value detected when the party marches forward is 200 luxs, then directional information to the right can be recorded as the directional information of a subpath by way of path by navigation equipment, 10 meters are recorded as the length information of the subpath, and the average brightness value of 300 luxs is recorded as to the average brightness value of the subpath；Directional information to the left is recorded as the directional information of another subpath by way of path by navigation equipment, and 20 meters is recorded as the length information of another subpath, and the average brightness value of 200 luxs is recorded as to the average brightness value of another subpath.

S403, navigation equipment receive navigation instruction.

The composition that the description information of S404, navigation equipment according to each of record by way of path includes calculates the quantity that the average brightness value in path is lower than the subpath of predetermined luminance value by way of the corresponding average brightness value of each single sub path in path.

In the embodiment of the present invention, navigation equipment receive navigation instruction after, by according to each of record by way of The composition that the description information in path includes calculates the quantity that the average brightness value in path is lower than the subpath of predetermined luminance value, by way of the corresponding average brightness value of each single sub path in path to respond the navigation instruction.

The average brightness value in path chooses a quantity the smallest description information by way of path of the average brightness value lower than the subpath of predetermined luminance value lower than the quantity of the subpath of predetermined luminance value from all description informations by way of path of record according to each for S405, navigation equipment.

In the embodiment of the present invention, for example, if approach path includes approach path A and approach path B, approach path A includes subpath 1 and subpath 2, approach path B includes subpath 3 and subpath 4 and subpath 5, the corresponding average brightness value of subpath 1 is 300 luxs, the corresponding average brightness value of subpath 2 is 300 luxs, the corresponding average brightness value of subpath 3 is 10 luxs, the corresponding average brightness value of subpath 4 is 100 luxs, the corresponding average brightness value of subpath 5 is 300 luxs, if predetermined luminance value is 200 luxs, the quantity for the subpath that then average brightness value is higher than predetermined luminance value in the A of approach path is 0, it is 2 that average brightness value, which is higher than the quantity of the subpath of predetermined luminance value, in the B of approach path, then navigation equipment will choose retouching for approach path A State information.

S406, navigation equipment, by way of sequence and the length information and directional information of subpath, inversely navigate to user according to the subpath for including by way of the description information in path of acquisition.

By implementing method described in Fig. 4, navigation equipment be able to record user by way of the corresponding light luminance value of every single sub path, so as to the corresponding light luminance value of subpath according to each of record by way of path, the best path of light is provided for user and is navigated.

Referring to Fig. 5, Fig. 5 is a kind of flow diagram of path recording method disclosed by the embodiments of the present invention.As shown in figure 5, the path recording method may comprise steps of:

S501, route recording equipment detect the operation information of user.

In the embodiment of the present invention, route recording equipment may include but be not limited to the equipment such as smart phone (such as Android phone, iOS mobile phone), tablet computer, palm PC, UMPC (Ultra-mobile Personal Computer, Ultra-Mobile PC), net book, smart glasses, smart watches, Intelligent bracelet and vehicle mounted guidance.

Optionally, if user wants the path of record approach, user can click the function button of route recording equipment, to input path recording instruction.After route recording equipment receives path recording instruction, step S501 will be executed, with response path recording instruction.

In the embodiment of the present invention, optionally, route recording equipment can scan current environment by photographic device Identification information, if current environment identification information matches with default identification information, route recording equipment executes step S501.For example, if default identification information includes Entrance icon, when photographic device scanning is to Entrance icon, route recording equipment executes step S501.

In the embodiment of the present invention, operation information include user traffic direction and user the traffic direction range ability.Optionally, operation information includes that the traffic direction of user can be absolute direction (for example, four corners of the world direction) or relative direction (for example, to the left, to the right etc.).

In the embodiment of the present invention, route recording equipment can measure the traffic direction of user by direction sensors such as electronic compass；Or, route recording equipment can detect the traffic direction of user by detection vehicle steering wheel direction of rotation if route recording equipment is in-vehicle navigation apparatus.

In the embodiment of the present invention, route recording equipment can measure user in the acceleration of the traffic direction by acceleration transducer, seek user in the range ability of the traffic direction further according to acceleration；Or, route recording equipment can directly detect user in the range ability of the traffic direction by displacement sensor；Or, route recording equipment can be by the circle number of detection automobile tire rotation and according to the perimeter of automobile tire, to detect user in the range ability of traffic direction if route recording equipment is in-vehicle navigation apparatus.

The traffic direction for the user that operation information includes is recorded as the directional information of the subpath in composition approach path by S502, route recording equipment, and user that operation information includes is recorded as to the length information of subpath in the range ability of traffic direction.

By taking traffic direction is absolute direction as an example, for example, if detecting, user has northwards advanced 10 meters, advance eastwards again 20 meters, then directional information northwards can be recorded as the directional information of a subpath by way of path by route recording equipment, and 10 meters is recorded as the length information of the subpath；Directional information eastwards is recorded as the directional information of another subpath by way of path by route recording equipment, and 20 meters is recorded as the length information of another subpath.Wherein, approach path is made of subpath according to the approach sequence of user.

By taking traffic direction is relative direction as an example, for example, if detecting, user turns right and has advanced 10 meters, it turns left and has advanced 20 meters again, then directional information to the right can be recorded as the directional information of a subpath by way of path by route recording equipment, and 10 meters are recorded as the length information of the subpath, directional information to the left is recorded as to the directional information of another subpath by way of path, and 20 meters are recorded as the length information of another subpath.

As an alternative embodiment, operation information further includes the corresponding Mean Oscillation amplitude of traffic direction of user, route recording equipment also executes following steps:

The corresponding Mean Oscillation amplitude of the traffic direction of user is recorded as the corresponding Mean Oscillation amplitude of subpath.

In this embodiment, route recording equipment can detect Oscillation Amplitude of the user in traffic direction operation by being configured at the Oscillation Amplitude detection device of route recording equipment with the preset time cycle；When the traffic direction for detecting user changes, Oscillation Amplitude of the route recording equipment according to the user detected with the preset time cycle when the traffic direction is run, to calculate Mean Oscillation amplitude of the user in traffic direction operation as the corresponding Mean Oscillation amplitude of the traffic direction.

By implementing the embodiment, route recording equipment can recorde Mean Oscillation amplitude of the user by way of every single sub path when, so as to so that the corresponding Mean Oscillation amplitude of subpath of the navigation equipment navigated according to each of record by way of path, one is provided for user and flattest is navigated by way of path to user.

As an alternative embodiment, operation information further includes the corresponding average brightness value of traffic direction of user, route recording equipment also executes following steps:

The corresponding average brightness value of the traffic direction of user is recorded as the corresponding average brightness value of subpath.

In this embodiment, route recording equipment can detect the light luminance value of environment, the corresponding average brightness value of traffic direction to obtain user by light sensor.

By implementing the embodiment, route recording equipment be able to record user by way of the corresponding average light brightness value of every single sub path, so as to so that the corresponding average light brightness value of subpath of the navigation equipment navigated according to each of record by way of path, provides the best path of light for user and navigates.

As an alternative embodiment, operation information further includes the corresponding environmental labels information of traffic direction of user, route recording equipment also executes following steps:

The corresponding environmental labels information of the traffic direction of user is recorded as the corresponding environmental labels information of subpath.

In this embodiment, route recording equipment can detect the identification information of environment by imaging sensor with preset period of time, the corresponding environmental labels information of traffic direction to obtain user.

By implementing the embodiment, route recording equipment be able to record user by way of the corresponding environmental labels information of every single sub path, so as to so that navigation equipment when navigating for user, whether detection current environment identification information matches with the environmental labels information of record, and when detect do not match that when, the path for notifying user to run in time is wrong, is that user navigates so as to make navigation equipment more accurately.

As an alternative embodiment, operation information further includes the corresponding operation angle information of traffic direction of user, route recording equipment also executes following steps:

The corresponding operation angle information of the traffic direction of user is recorded as the corresponding operation angle information of subpath.

By implementing the embodiment, being conducive to navigation equipment according to the operation angle information of record is more accurately that user navigates.

By implementing method described in Fig. 5, route recording equipment can record directional information of the traffic direction of user as the subpath by way of path, and user is recorded in the length information that the range ability of traffic direction is the subpath, so that navigation equipment can navigate to user according to the information that route recording equipment records.

Referring to Fig. 6, Fig. 6 is a kind of structural schematic diagram of navigation equipment disclosed by the embodiments of the present invention.As shown in fig. 6, the navigation equipment may include receiving module 601, obtain module 602 and navigation module 603, in which:

Receiving module 601, for receiving navigation instruction.

Obtain module 602, for obtaining a description information by way of path in the description information in path from at least one of record, to respond the received navigation instruction of receiving module 601, wherein, description information of each by way of path includes the length information and directional information by way of sequence and every single sub path for forming at least one subpath by way of path.

As an alternative embodiment, obtaining module 602 can be specifically used for:

The description information for recording a time approach path immediate from current time is obtained in the description information in path from at least one of record.

By implementing the embodiment, it may be implemented to choose record description information of the time from the immediate approach path of current time automatically by navigation equipment, the description information that user selects approach path from the description information in a plurality of approach path manually is avoided, it is more intelligent.

Navigation module 603, for, by way of sequence and the length information and directional information of subpath, inversely being navigated to user according to the subpath for including by way of the description information in path for obtaining the acquisition of module 602.

As an alternative embodiment, navigation module 603 includes:

Acquiring unit 6031, the approach sequence for the subpath that the description information in the approach path for will acquire the acquisition of module 602 includes is inverted, obtain forming the approach sequence of at least one subpath of reverse guidance path, and according to the length information and directional information of the description information every single sub path that includes for obtaining the approach path that module 602 obtains, the length information and directional information of every single sub path of the reverse guidance path are obtained；

Navigation elements 6032 for the approach sequence of the subpath according to the reverse guidance path, and navigate to user according to the length information and directional information of every single sub path of the reverse guidance path.

Referring to Figure 7 together, Fig. 7 is the structural schematic diagram of another navigation equipment disclosed by the embodiments of the present invention.Wherein, navigation equipment shown in Fig. 7 is that navigation equipment as shown in Figure 6 optimizes.Compared with navigation equipment shown in fig. 6, navigation equipment shown in Fig. 7 is in addition to all modules for including navigation equipment shown in fig. 6, it can also include first detection module 604 and the first logging modle 605, wherein obtaining module 602 includes the first computing unit 6021 and the first selection unit 6022.Wherein:

First detection module 604, for receiving module 601 receive navigation instruction before, detect user traffic direction and user traffic direction range ability.

First logging modle 605, for recording directional information of the traffic direction for the user that first detection module 604 detects as the subpath for including in the description information in path, and user that first detection module 604 detects is recorded in length information of the range ability as the subpath of traffic direction.

Obtaining module 602 includes:

First computing unit 6021, the composition that description information of each by way of path for being recorded according to the first logging modle 605 includes calculate the total length by way of path by way of the length information of at least one subpath in path.

First selection unit 6022, each for being calculated according to the first computing unit 6021 choose the smallest description information by way of path of total length by way of the total length in path from all description informations by way of path that the first logging modle 605 records.

In practical applications, user often goes to some indoor fixation position, for example, user often travels from Entrance by vehicle to a fixed parking stall, it is Entrance that a plurality of starting point may be then recorded in navigation equipment, and terminal is the description information in the approach path on fixed parking stall.By implementing navigation equipment described in Fig. 7, navigation equipment automatically can select the shortest description information by way of path of a paths for user, in order to guide user rapidly to arrive at the destination.

It is the structural schematic diagram of another navigation equipment disclosed by the embodiments of the present invention also referring to Fig. 8, Fig. 8.Wherein, navigation equipment shown in Fig. 8 is that navigation equipment as shown in Figure 6 optimizes.Compared with navigation equipment shown in fig. 6, navigation equipment shown in Fig. 8 can also include the second detection module 606 and the second logging modle 607 in addition to all modules for including navigation equipment shown in fig. 6, wherein obtain module 602 Including the second computing unit 6023 and the second selection unit 6024.Wherein:

Second detection module 606, the traffic direction, user for detecting user before receiving module 601 receives navigation instruction are in the range ability of traffic direction and the corresponding Mean Oscillation amplitude of the traffic direction of user.

Second logging modle 607, for recording directional information of the traffic direction for the user that the second detection module 606 detects as the subpath for including in the description information in path, and the user that detects of the second detection module 606 is recorded in length information of the range ability as the subpath of traffic direction, and record the corresponding Mean Oscillation amplitude of traffic direction for the user that the second detection module 606 detects as the corresponding Mean Oscillation amplitude of the subpath.

Obtaining module 602 includes:

Second computing unit 6023, each single sub path corresponding Mean Oscillation amplitude of the composition that description information of each by way of path for being recorded according to the second logging modle 607 includes by way of path, the Mean Oscillation amplitude in path that calculates are higher than the quantity of the subpath of default Oscillation Amplitude.

Second selection unit 6024, Mean Oscillation amplitude is higher than the quantity of the subpath of default Oscillation Amplitude in path for each for being calculated according to the second computing unit 6023, and selection Mean Oscillation amplitude is higher than the smallest description information by way of path of quantity for presetting the subpath of Oscillation Amplitude from all description informations by way of path that the second logging modle 607 records.

In practical applications, the Oscillation Amplitude that user runs on uneven road may be bigger than the Oscillation Amplitude run on flat road.For example, the Oscillation Amplitude that user runs on uneven road is bigger than the Oscillation Amplitude run on flat road if user's driving is run.It can be seen that, by implementing navigation equipment described in Fig. 8, navigation equipment can recorde Oscillation Amplitude of the user by way of every single sub path when, so as to the corresponding Oscillation Amplitude of subpath according to each of record by way of path, for user provide one it is flattest by way of path be that user is inversely navigated.

It is the structural schematic diagram of another navigation equipment disclosed by the embodiments of the present invention also referring to Fig. 9, Fig. 9.Wherein, navigation equipment shown in Fig. 9 is that navigation equipment as shown in Figure 6 optimizes.Compared with navigation equipment shown in fig. 6, navigation equipment shown in Fig. 9 is in addition to all modules for including navigation equipment shown in fig. 6, it can also include third detection module 608 and third logging modle 609, wherein obtaining module 602 includes third computing unit 6025 and third selection unit 6026.Wherein:

Third detection module 608, for detecting user's before receiving module 601 receives navigation instruction Traffic direction, user are in the range ability of traffic direction and the corresponding average brightness value of the traffic direction of user.

Third logging modle 609, for recording directional information of the traffic direction for the user that third detection module 608 detects as the subpath for including in the description information in path, and user that third detection module 608 detects is recorded in length information of the range ability as the subpath of traffic direction, and the corresponding average brightness value of traffic direction for recording the user that third detection module 608 detects is as the corresponding average brightness value of the subpath.

Obtaining module 602 includes:

Third computing unit 6025, the composition that description information of each by way of path for being recorded according to third logging modle 609 includes calculates the quantity that the average brightness value in path is lower than the subpath of predetermined luminance value by way of the corresponding average brightness value of each single sub path in path.

Third selection unit 6026, average brightness value is lower than the quantity of the subpath of predetermined luminance value in path for each for being calculated according to third computing unit 6025, and selection average brightness value is lower than the smallest description information by way of path of quantity of the subpath of predetermined luminance value from all description informations by way of path that third logging modle 609 records.

By implementing navigation equipment described in Fig. 9, navigation equipment be able to record user by way of the corresponding light luminance value of every single sub path, so as to the corresponding light luminance value of subpath according to each of record by way of path, the best path of light is provided for user and is navigated.

It is the structural schematic diagram of another navigation equipment disclosed by the embodiments of the present invention also referring to Figure 10, Figure 10.Wherein, navigation equipment shown in Fig. 10 is that navigation equipment as shown in Figure 6 optimizes.Compared with navigation equipment shown in fig. 6, navigation equipment shown in Fig. 10 can also include the 4th detection module 610, judgment module 611 and output module 612 in addition to all modules for including navigation equipment shown in fig. 6.Wherein:

4th detection module 610, for detecting the identification information of user's current environment during navigation module 603 inversely navigate to user.

In the embodiment of the present invention, the description information by way of path further includes environmental labels information.

Judgment module 611, for judging whether the identification information of user's current environment matches with environmental labels information.

Output module 612 exports the prompt information for prompting operating path wrong when identification information and environmental labels information for judging user's current environment when judgment module 611 do not match that.

In practical applications, the traffic direction or range ability for the user that navigation equipment detects might have error, cause user that can not be run in correct path according to the instruction of navigation.It can recorde the environmental labels information of the predeterminated position in path by implementing the embodiment, when user reaches the predeterminated position, it can detect again in current environment and then show that operating path is wrong if it does not exist with the presence or absence of the corresponding environmental labels information of predeterminated position.As it can be seen that more accurately can inversely be navigated to user by implementing navigation equipment described in Figure 10.

As an alternative embodiment, the description information by way of path further includes operation angle information, the 4th detection module 610 is also used to during inversely navigate to user, detects user currently compared to the operation angle information of horizontal direction.

Judgment module 611, the operation angle information for being also used to judge that whether currently detected operation angle information includes with the description information in the approach path of acquisition match.

Output module 612 is also used to when the operation angle information that judgment module 611 judges that the description information in the approach path of currently detected operation angle information and acquisition includes does not match that, then prompt information of the output for prompting operating path wrong.

By implementing the embodiment, more accurately can inversely be navigated to user.

Figure 11 is please referred to, Figure 11 is the structural schematic diagram of another navigation equipment disclosed by the embodiments of the present invention.Wherein, it is provided in an embodiment of the present invention lead indoor boat equipment can be used for implementing various embodiments of the present invention shown in above-mentioned FIG. 1 to FIG. 4 realization method, for ease of description, illustrate only part relevant to various embodiments of the present invention, it is disclosed by specific technical details, please refer to various embodiments of the present invention shown in FIG. 1 to FIG. 4.Wherein, navigation equipment shown in Figure 11 may include:

Processor 1 and the input module 3 being connected by interface 2 with processor 1 and the memory 5 being connected by bus 4 with processor 1.Wherein, memory 5 is used to store a set of program code and records at least one description information by way of path, wherein, description information of each by way of path includes the length information and directional information by way of sequence and every single sub path for forming at least one subpath by way of path；Processor 1 is for calling the program code stored in memory 5, for performing the following operations:

Navigation instruction is received by input unit 3；

At least one recorded from memory 5 obtains a description information by way of path in the description information in path, to respond navigation instruction；

According to the subpath for including by way of the description information in path of acquisition by way of sequence and subpath Length information and directional information inversely navigate to user.

In the embodiment of the present invention, input unit 3 can be touch screen, and by keyboard etc., the embodiment of the present invention is without limitation.

As a kind of optional embodiment, navigation equipment may also include output device 6, output device 6 is connected by interface 2 with processor 1, the output device 6 can be loudspeaker or display screen, processor 1 can control the route of loudspeaker output voice direction instruction or display screen by display screen display navigation when inversely being navigated to user.

As an alternative embodiment, at least one concrete mode for obtaining a description information by way of path in the description information in path that processor 1 is recorded from memory 5 can be with are as follows:

Processor 1 recorded from memory 5 at least one in the description information in path obtain record a time approach path immediate from current time description information.

As an alternative embodiment, at least one concrete mode for obtaining a description information by way of path in the description information in path that processor 1 is recorded from memory 5 can be with are as follows:

The composition that description information of each recorded according to memory 5 by way of path includes calculates the total length by way of path by way of the length information of at least one subpath in path；

According to each by way of the total length in path, the smallest description information by way of path of total length is chosen from all description informations by way of path that memory 5 records.

As an alternative embodiment, navigation equipment further includes sensor 7, sensor 7 is connected by interface 2 with processor 1, and processor 1 also executes following operation:

Control sensor 7 detect user traffic direction and user traffic direction range ability；

It controls memory 5 and records directional information of the traffic direction as the subpath for including in the description information in path of user, and record user in length information of the range ability as the subpath of traffic direction.

Wherein, sensor 7 includes the direction sensor for detecting traffic direction and the velocity sensor for detecting range ability.Wherein, direction sensor may include that gyroscope, acceleration transducer, electronic compass etc. are any one or more of.And in order to detect ambient brightness value, sensor 7 can also include light sensor, and in order to detect the Oscillation Amplitude of user, sensor 7 may also include vibration amplitude sensor, and in order to detect the operation angle of user, sensor 7 may also include angular transducer.

As a kind of optional embodiment, description information of each by way of path that memory 5 records further includes the corresponding Mean Oscillation amplitude of each single sub path formed by way of path, processor 1 record from memory 5 at least one in the description information in path description information of the acquisition one by way of path it is specific Mode can be with are as follows:

Each single sub path corresponding Mean Oscillation amplitude of the composition that description information of each recorded according to memory 5 by way of path includes by way of path, the Mean Oscillation amplitude in path that calculates are higher than the quantity of the subpath of default Oscillation Amplitude；

It is higher than the quantity of the subpath of default Oscillation Amplitude by way of Mean Oscillation amplitude described in path according to each, the smallest description information by way of path of quantity that the Mean Oscillation amplitude is higher than the subpath of default Oscillation Amplitude is chosen from all description informations by way of path that memory 5 records.

As an alternative embodiment, processor 1 also executes following operation:

It controls sensor 7 and detects the traffic direction of user, user in the range ability of traffic direction and the corresponding Mean Oscillation amplitude of the traffic direction of user；

It controls memory 5 and records directional information of the traffic direction of user as the subpath for including in the description information in path, and user is recorded in length information of the range ability as the subpath of traffic direction, and the corresponding Mean Oscillation amplitude of traffic direction for recording user is as the corresponding Mean Oscillation amplitude of the subpath.

As a kind of optional embodiment, description information of each that memory 5 records by way of path further includes the corresponding average brightness value of each single sub path formed by way of path, processor 1 responds navigation instruction, and the concrete mode that at least one recorded from memory 5 obtains a description information by way of path in the description information in path can be with are as follows:

The composition that description information of each recorded according to memory 5 by way of path includes calculates the quantity that the average brightness value in path is lower than the subpath of predetermined luminance value by way of the corresponding average brightness value of each single sub path in path；

Quantity according to each by way of average brightness value described in path lower than the subpath of predetermined luminance value chooses a quantity the smallest description information by way of path of the average brightness value lower than the subpath of predetermined luminance value from all description informations by way of path that memory 5 records.

As an alternative embodiment, processor 1 also executes following operation:

It controls sensor 7 and detects the traffic direction of user, user in the range ability of traffic direction and the corresponding average brightness value of the traffic direction of user；

The traffic direction of the control record user of memory 5 is the directional information for the subpath for including in the description information in path, and user is recorded in length information of the range ability as the subpath of traffic direction, and the corresponding average brightness value of traffic direction for recording user is as the corresponding average brightness value of the subpath.

As an alternative embodiment, navigation equipment further includes photographic device 8, photographic device 8 is connected by interface with processor 1, and the description information by way of path that memory 5 records further includes environmental characteristic information, and processor 1 also executes following operation:

During inversely navigate to user, control photographic device 8 detects the identification information of user's current environment；

The environmental labels information for judging that whether the identification information of user's current environment records with memory 5 matches；

When mismatching, control output device 6 exports the prompt information for prompting operating path wrong.

As an alternative embodiment, the description information by way of path that memory 5 records further includes operation angle information, processor 1 also executes following operation:

During inversely navigate to user, control sensor 7 detects user currently compared to the operation angle information of horizontal direction；

Judge whether currently detected operation angle information matches with the operation angle information for including by way of the description information in path of acquisition；

When not matching that, then prompt information of the output of output device 6 for prompting operating path wrong is controlled.

As an alternative embodiment, processor 1 according to the subpath for including by way of the description information in path of acquisition by way of sequence and the length information and directional information of subpath, the concrete mode inversely navigated to user can be with are as follows:

The approach sequence for the subpath that the description information in the approach path that will acquire includes is inverted, obtain forming the approach sequence of at least one subpath of reverse guidance path, and the length information and directional information for the every single sub path for according to the description information by way of path of acquisition including, obtain the length information and directional information of every single sub path of the reverse guidance path；

According to the approach sequence of the subpath of the reverse guidance path, and navigated according to the length information and directional information of every single sub path of the reverse guidance path to user.

In the navigation equipment described in Fig. 6~Figure 11, navigation equipment can be according to the length information and directional information of the approach sequence and subpath of the subpath in the approach path of self record, obtain the length information and directional information by way of sequence and subpath of the subpath of reverse guidance path, and the length information and directional information that display screen or loudspeaker disposably export each subpath of reverse guidance path are passed through according to the approach of each subpath of reverse guidance path sequence, inversely to be navigated to user；Or, navigation equipment can be by the traffic direction and range ability of the sensor real-time detection user of navigation equipment, and according to the subpath of reverse guidance path Approach sequence, to carry out user reverse navigation in real time in conjunction with the length information and directional information of the subpath of reverse guidance path, without navigating by network, reduce the environment network deployment request in navigation procedure.

2, Figure 12 is a kind of structural schematic diagram of route recording equipment disclosed by the embodiments of the present invention referring to Figure 1.As shown in figure 12, which may include detection module 1201 and logging modle 1202, in which:

Detection module 1201, for detecting the operation information of user, the operation information include user traffic direction and user traffic direction range ability.

Logging modle 1202, the directional information of the subpath for the traffic direction of user to be recorded as to composition approach path, and user is recorded as to the length information of subpath in the range ability of traffic direction.

As an alternative embodiment, operation information further includes the corresponding Mean Oscillation amplitude of traffic direction of user, logging modle 1202 is also used to the corresponding Mean Oscillation amplitude of the traffic direction of user being recorded as the corresponding Mean Oscillation amplitude of subpath.

By implementing the embodiment, logging modle 1202 can recorde Mean Oscillation amplitude of the user by way of every single sub path when, so as to so that the corresponding Mean Oscillation amplitude of subpath of the navigation equipment navigated according to each of record by way of path, one is provided for user and flattest is navigated by way of path to user.

As an alternative embodiment, operation information further includes the corresponding average brightness value of traffic direction of user, logging modle 1202 is also used to the corresponding average brightness value of the traffic direction of user being recorded as the corresponding average brightness value of subpath.

By implementing the embodiment, logging modle 1202 be able to record user by way of the corresponding average light brightness value of every single sub path, so as to so that the corresponding average light brightness value of subpath of the navigation equipment navigated according to each of record by way of path, provides the best path of light for user and navigates.

As an alternative embodiment, operation information further includes the corresponding environmental labels information of traffic direction of user, logging modle 1202 is also used to the corresponding environmental labels information of the traffic direction of user being recorded as the corresponding environmental labels information of subpath.

By implementing the embodiment, logging modle 1202 be able to record user by way of the corresponding environmental labels information of every single sub path, so as to so that navigation equipment when navigating for user, detects current environment mark Know whether information matches with the environmental labels information of record, and when detecting that it is that user navigates so as to make navigation equipment more accurately that the path for notifying user to run in time is wrong when not matching that.

As an alternative embodiment, operation information further includes the corresponding operation angle information of traffic direction of user, logging modle 1202 is also used to the corresponding operation angle information of the traffic direction of user being recorded as the corresponding operation angle information of subpath.

By implementing the embodiment, being conducive to navigation equipment according to the operation angle information of record is more accurately that user navigates.

By implementing route recording equipment described in Figure 12, logging modle can record directional information of the traffic direction of user as the subpath by way of path, and it can record user in the length information that the range ability of traffic direction is the subpath, so that navigation equipment can navigate to user according to the information that logging modle records.

3, Figure 13 is a kind of structural schematic diagram of route recording equipment disclosed by the embodiments of the present invention referring to Figure 1.Wherein, route recording equipment provided in an embodiment of the present invention can be used for implementing the method that the above-mentioned embodiment of the present invention shown in fig. 6 is realized and illustrate only part relevant to various embodiments of the present invention for ease of description, it is disclosed by specific technical details, please refer to the embodiment of the present invention shown in fig. 6.Wherein, route recording equipment shown in Figure 13 may include:

Processor 1 and the sensor 3 being connected by interface 2 with processor 1 and the memory 5 being connected by bus 4 with processor 1.Wherein, memory 5 is used to store a set of program code；Processor 1 is for calling the program code stored in memory 5, for performing the following operations:

Control sensor 3 detect user operation information, the operation information include user traffic direction and user traffic direction range ability；

The traffic direction of user is recorded as the directional information of the subpath in composition approach path by control memory 5, and user is recorded as to the length information of subpath in the range ability of traffic direction.

In the embodiment of the present invention, sensor 3 includes the direction sensor for detecting traffic direction and the velocity sensor for detecting range ability.Wherein, direction sensor may include that gyroscope, acceleration transducer, electronic compass etc. are any one or more of.And in order to detect ambient brightness value, sensor 3 can also include light sensor；In order to detect the Oscillation Amplitude of user, sensor 3 may also include vibration amplitude sensor；In order to detect environmental labels information, sensor 3 may also include imaging sensor；In order to detect the operation angle of user, sensor 3 may also include angular transducer.

As an alternative embodiment, the traffic direction that the operation information further includes the user corresponds to Mean Oscillation amplitude, processor 1 also executes following operation:

It controls memory 5 and the corresponding Mean Oscillation amplitude of the traffic direction of user is recorded as the corresponding Mean Oscillation amplitude of subpath.

As an alternative embodiment, operation information further includes the corresponding average brightness value of traffic direction of user, processor 1 also executes following operation:

It controls memory 5 and the corresponding average brightness value of the traffic direction of user is recorded as the corresponding average brightness value of subpath.

As an alternative embodiment, operation information further includes the corresponding environmental labels information of traffic direction of user, processor 1 also executes following operation:

It controls memory 5 and the corresponding environmental labels information of the traffic direction of user is recorded as the corresponding environmental labels information of subpath.

As an alternative embodiment, operation information further includes the corresponding operation angle information of traffic direction of user, processor 1 also executes following operation:

It controls memory 5 and the corresponding operation angle information of the traffic direction of user is recorded as the corresponding operation angle information of subpath.

By implementing route recording equipment described in Figure 13, route recording equipment can record directional information of the traffic direction of user as the subpath by way of path, and it can record user in the length information that the range ability of traffic direction is the subpath, so that navigation equipment can navigate to user according to the information that logging modle records.

It should be noted that in the above-described embodiments, all emphasizing particularly on different fields to the description of each embodiment, the part being not described in some embodiment, reference can be made to the related descriptions of other embodiments.Secondly, those skilled in the art should also know that, the embodiments described in the specification are all preferred embodiments, and related actions and modules are not necessarily necessary for the present invention.

The steps in the embodiment of the present invention can be sequentially adjusted, merged and deleted according to actual needs.

Module or unit in equipment of the embodiment of the present invention can be combined, divided and deleted according to actual needs.

Module described in the embodiment of the present invention, universal integrated circuit, such as CPU (Central Processing Unit, central processing unit) can be passed through, or pass through ASIC (Application Specific Integrated Circuit, specific integrated circuit) Lai Shixian.

Those of ordinary skill in the art will appreciate that realize all or part of the process in above-described embodiment method, It is that relevant hardware can be instructed to complete by computer program, the program can be stored in computer-readable storage medium, and the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic disk, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access Memory, RAM) etc..

In short, the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not intended to limit the scope of the present invention.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.

Claims (39)

A navigation method, characterized in that the method comprises: receive navigation instructions; Obtaining the description information of a passing route from the recorded description information of at least one passing route to respond to the navigation instruction, wherein each piece of description information of the passing route includes the passing of at least one sub-path forming the passing route sequence and length information and direction information of each of said sub-paths; According to the passing sequence of the sub-paths included in the description information of the one passing route and the length information and direction information of the sub-paths, reverse navigation is performed for the user. The method according to claim 1, wherein said obtaining the description information of a passing route from the recorded description information of at least one passing route comprises: Calculate the total length of the route according to the length information of each sub-path that constitutes the route included in the recorded description information of each route; According to the total length of each of the passing paths, the description information of a passing path with the smallest total length is selected from the description information of all the recorded passing paths. The method according to claim 2, wherein before receiving the navigation instruction, the method further comprises: Detecting the running direction of the user and the running distance of the user in the running direction; Recording the running direction of the user as the direction information of the sub-path included in the description information of the passing route, and recording the running distance of the user in the running direction as the length information of the sub-path. The method according to claim 1, characterized in that, the description information of each said passing path also includes the average vibration amplitude corresponding to each sub-path making up said passing path, and said at least one passing path recorded from Obtain the description information of a passing path in the description information, including: Calculate the number of sub-paths in the route whose average vibration amplitude is higher than a preset vibration amplitude in the route according to the average vibration amplitude corresponding to each sub-path included in the recorded description information of each route. ; According to the number of sub-paths whose average vibration amplitude is higher than the preset vibration amplitude in each of the passing paths, select the sub-path whose average vibration amplitude is higher than the preset vibration amplitude from the description information of all recorded passing paths The description information of a passing path with the smallest quantity. The method according to claim 4, wherein before receiving the navigation instruction, the method further comprises: Detecting the user's running direction, the user's running distance in the running direction, and the average vibration amplitude corresponding to the user's running direction; Recording the running direction of the user as the direction information of the sub-path included in the description information of the passing route, and recording the running distance of the user in the running direction as the length information of the sub-path, and recording the user's The average vibration amplitude corresponding to the running direction is used as the average vibration amplitude corresponding to the sub-path. The method according to claim 1, characterized in that, the description information of each said passing path also includes the average luminance value corresponding to each sub-path making up said passing path, and said at least one passing path recorded from Obtain the description information of a passing path in the description information, including: According to the average luminance value corresponding to each sub-path composing the path included in the recorded description information of each path, calculate the number of sub-paths in the path whose average luminance value is lower than a preset luminance value ; According to the number of subpaths whose average luminance value is lower than a preset luminance value in each of the passing paths, select the subpath whose average luminance value is lower than a preset luminance value from the recorded description information of all passing paths The description information of a passing path with the smallest quantity. The method according to claim 6, wherein before receiving the navigation instruction, the method further comprises: Detecting the user's running direction, the user's running distance in the running direction, and the average brightness value corresponding to the user's running direction; Recording the running direction of the user as the direction information of the sub-path included in the description information of the passing route, and recording the running distance of the user in the running direction as the length information of the sub-path, and recording the user's The average brightness value corresponding to the running direction is used as the average value corresponding to the sub-path Brightness value. The method according to any one of claims 1-7, wherein the description information of the passing route further includes environment identification information, and the method further includes: During the reverse navigation process for the user, detecting the identification information of the environment where the user is currently located; judging whether the identification information of the user's current environment matches the environment identification information; If they do not match, output a prompt message for prompting that the running path is wrong. The method according to any one of claims 1 to 7, characterized in that, according to the passing sequence of the sub-paths and the length information and direction information of the sub-paths in the description information of the route, the user is reversed. Navigation, including: Inverting the route order of the sub-paths included in the description information of the one route route to obtain the route order of at least one sub-path that constitutes the reverse navigation route, and according to the length of each sub-path included in the description information of the route route Information and direction information, obtaining the length information and direction information of each sub-path of the reverse navigation path; According to the order of the sub-paths of the reverse navigation path, and according to the length information and direction information of each sub-path of the reverse navigation path, the user is navigated. A path recording method, characterized in that the method comprises: Detecting the running information of the user, where the running information includes the running direction of the user and the running distance of the user in the running direction; Recording the running direction of the user as the direction information of the sub-paths constituting the route path, and recording the running distance of the user in the running direction as the length information of the sub-paths. The method according to claim 10, wherein the running information further includes the average vibration amplitude corresponding to the running direction of the user, and the method further comprises: The average vibration amplitude corresponding to the running direction of the user is recorded as the average vibration amplitude corresponding to the sub-path. The method according to claim 10, wherein the running information further includes an average brightness value corresponding to the user's running direction, and the method further includes: The average brightness value corresponding to the running direction of the user is recorded as the average brightness value corresponding to the sub-path. The method according to claim 10, wherein the running information further includes environment identification information corresponding to the running direction of the user, and the method further includes: The environment identification information corresponding to the running direction of the user is recorded as the environment identification information corresponding to the sub-path. A navigation device, characterized in that the device comprises: A receiving module, configured to receive navigation instructions; An acquisition module, configured to acquire the description information of one route from the recorded description information of at least one route to respond to the navigation instruction, wherein each piece of description information of the route includes at least The passing order of a sub-path and the length information and direction information of each said sub-path; The navigation module is configured to perform reverse navigation for the user according to the passing order of the sub-paths included in the description information of the route and the length information and direction information of the sub-paths. The device according to claim 14, wherein the acquiring module comprises: A first calculation unit, configured to calculate the total length of the route according to the length information of each sub-path that constitutes the route included in the recorded description information of each route; The first selection unit is configured to select the description information of a route with the smallest total length from the description information of all recorded routes according to the total length of each route. The device according to claim 15, further comprising: A first detection module, configured to detect the user's running direction and the user's running distance in the running direction before the receiving module receives a navigation instruction; The first recording module is configured to record the running direction of the user as the direction information of the sub-path included in the description information of the passed route, and record the running distance of the user in the running direction as the Describe the length information of the subpath. The device according to claim 14, wherein the description information of each said path also includes the average vibration amplitude corresponding to each sub-path forming said path, and said acquisition module includes: The second calculation unit is used to calculate the average vibration amplitude in the route that is higher than the preset the number of subpaths of the vibration amplitude; The second selection unit is configured to select the average vibration amplitude higher than the preset vibration amplitude from the recorded description information of all the passing paths according to the number of sub-paths with the average vibration amplitude higher than the preset vibration amplitude in each of the passing paths. The descriptive information of a passing path with the smallest number of sub-paths of the preset vibration amplitude. The device according to claim 17, further comprising: The second detection module is configured to detect the user's running direction, the user's running distance in the running direction, and the average vibration amplitude corresponding to the user's running direction before the receiving module receives the navigation instruction; The second recording module is configured to record the running direction of the user as the direction information of the sub-path included in the description information of the passed route, and record the running distance of the user in the running direction as the length information of the sub-path , and record the average vibration amplitude corresponding to the running direction of the user as the average vibration amplitude corresponding to the sub-path. The device according to claim 14, characterized in that, the description information of each said passing path also includes the average luminance value corresponding to each sub-path forming said passing path, and said acquiring module comprises: The third calculation unit is used to calculate the average luminance value in the route that is lower than the preset the number of subpaths for luminance values; The third selection unit is used to select the average brightness from the recorded description information of all the paths passed by according to the number of sub-paths whose average brightness value is lower than the preset brightness value in each of the paths passed by. The descriptive information of a passing path whose luminance value is lower than the preset luminance value has the smallest number of sub-paths. The device of claim 19, further comprising: A third detection module, configured to detect the user's running direction, the user's running distance in the running direction, and the average brightness value corresponding to the user's running direction before the receiving module receives the navigation instruction; A third recording module, configured to record the running direction of the user as the direction information of the sub-path included in the description information of the passing route, and record the running distance of the user in the running direction as the length information of the sub-path , and record the average brightness value corresponding to the running direction of the user as the average brightness value corresponding to the sub-path. The device according to any one of claims 14-20, wherein the description information of the passing route further includes environment identification information, and the device further includes: A fourth detection module, configured to detect the identification information of the environment where the user is currently located during the reverse navigation process for the user; A judging module, configured to judge whether the identification information of the user's current environment matches the environment identification information; An output module, configured to output, when the judging module judges that the identification information of the user's current environment does not match the environment identification information, output prompt information for prompting that the running path is wrong. The device according to any one of claims 14-20, wherein the navigation module comprises: The acquisition unit is configured to invert the route order of the sub-paths included in the description information of the one route route, obtain the route order of at least one sub-path that constitutes the reverse navigation route, and obtain the route order of at least one sub-path included in the description information of the route route, and length information and direction information of each sub-path, obtaining length information and direction information of each sub-path of the reverse navigation path; The navigation unit is configured to navigate the user according to the sequence of the sub-paths of the reverse navigation path and according to the length information and direction information of each sub-path of the reverse navigation path. A navigation device comprising a processor, an input device connected to the processor, and The memory connected to the processor is characterized in that the memory stores a set of program codes and records the description information of at least one passing path, wherein the description information of each passing path includes The passing sequence of at least one sub-path and the length information and direction information of each of the sub-paths, wherein the processor is used to call the program code stored in the memory to perform the following operations: receiving navigation instructions via the input device; Obtaining description information of a passing route from the description information of at least one passing route recorded in the memory, in response to the navigation instruction; According to the passing sequence of the sub-paths included in the description information of the one passing route and the length information and direction information of the sub-paths, reverse navigation is performed for the user. The device according to claim 23, wherein the processor obtains the description information of a route route from the description information of at least one route route recorded in the memory, comprising: Calculating the total length of the passing path according to the length information of each sub-path forming the passing path included in the description information of each passing path recorded in the memory; According to the total length of each of the passing paths, the description information of a passing path with the smallest total length is selected from the description information of all the passing paths recorded in the memory. The device according to claim 24, wherein the navigation device further comprises a sensor, the sensor is connected to the processor through an interface, and the processor also performs the following operations: controlling the sensor to detect the running direction of the user and the running distance of the user in the running direction; The memory is controlled to record the running direction of the user as the direction information of the sub-path included in the description information of the passing route, and record the running distance of the user in the running direction as the length information of the sub-path. The device according to claim 23, wherein the description information of each path recorded in the memory further includes the average vibration amplitude corresponding to each sub-path forming the path, and the processor obtains the Obtaining the description information of a route path from the description information of at least one route route recorded in the memory includes: According to the average vibration amplitude corresponding to each sub-path comprising the passing path included in the description information of each passing path recorded in the memory, calculate the sub-path whose average vibration amplitude is higher than the preset vibration amplitude in the passing path the number of paths; According to the number of sub-paths with the average vibration amplitude higher than the preset vibration amplitude in each of the passing paths, select the average vibration amplitude higher than the preset vibration amplitude from the description information of all the passing paths recorded in the memory The description information of a passing path with the smallest number of sub-paths. The device according to claim 26, wherein the device further comprises a sensor, the sensor is connected to the processor through an interface, and the processor further performs the following operations: controlling the sensor to detect the user's running direction, the user's running distance in the running direction, and the average vibration amplitude corresponding to the user's running direction; controlling the memory to record the running direction of the user as the direction information of the sub-path included in the description information of the passed route, and recording the running distance of the user in the running direction as the length information of the sub-path, and recording The average vibration amplitude corresponding to the user's running direction is used as the average vibration amplitude corresponding to the sub-path. The device according to claim 23, wherein the description information of each path recorded in the memory further includes an average luminance value corresponding to each sub-path composing the path, and the processor obtains from Obtaining the description information of a route path from the description information of at least one route route recorded in the memory includes: According to the average luminance value corresponding to each sub-path composing the path included in the description information of each path recorded in the memory, calculate the sub-path whose average luminance value is lower than the preset luminance value in the path the number of paths; According to the number of sub-paths whose average brightness value is lower than a preset brightness value in each of the passing paths, select the average brightness value lower than a preset brightness value from the description information of all passing paths recorded in the memory The description information of a passing path with the smallest number of sub-paths. The device according to claim 28, wherein the device further comprises a sensor, the sensor is connected to the processor through an interface, and the processor further performs the following operations: controlling the sensor to detect the user's running direction, the user's movement in the running direction; the average luminance value corresponding to the running distance and the running direction of the user; controlling the memory to record the running direction of the user as the direction information of the sub-path included in the description information of the passed route, and recording the running distance of the user in the running direction as the length information of the sub-path, and recording The average brightness value corresponding to the user's running direction is used as the average brightness value corresponding to the sub-path. The device according to any one of claims 23-29, characterized in that the device further comprises a camera and an output device, the camera and the output device are connected to the processor through an interface, the The description information of the passing route recorded in the memory also includes environmental characteristic information, and the processor further performs the following operations: During the reverse navigation process for the user, controlling the camera device to detect identification information of the environment where the user is currently located; judging whether the identification information of the user's current environment matches the environment identification information recorded in the memory; When there is no match, the output device is controlled to output prompt information for prompting that the running path is wrong. The device according to any one of claims 23-29, characterized in that, the processor, according to the passing order of the sub-paths included in the description information of the route and the length information and direction information of the sub-paths, Perform reverse navigation, including: Inverting the route order of the sub-paths included in the description information of the one route route to obtain the route order of at least one sub-path that constitutes the reverse navigation route, and according to the length of each sub-path included in the description information of the route route Information and direction information, obtaining the length information and direction information of each sub-path of the reverse navigation path; According to the order of the sub-paths of the reverse navigation path, and according to the length information and direction information of each sub-path of the reverse navigation path, the user is navigated. A path recording device, characterized in that the device includes: A detection module, configured to detect the running information of the user, the running information including the running direction of the user and the running distance of the user in the running direction; A recording module, configured to record the running direction of the user as the method of sub-paths forming the path path direction information, and record the running distance of the user in the running direction as the length information of the sub-path. The device according to claim 32, wherein the running information also includes the average vibration amplitude corresponding to the user's running direction, and the recording module is also used to record the average vibration amplitude corresponding to the user's running direction The amplitude is recorded as the average vibration amplitude corresponding to the subpath. The device according to claim 32, wherein the running information further includes the average luminance value corresponding to the user's running direction, and the recording module is also used to record the average luminance value corresponding to the user's running direction The value is recorded as the average brightness value corresponding to the subpath. The device according to claim 32, wherein the running information further includes environment identification information corresponding to the user's running direction, and the recording module is also used to identify the environment corresponding to the user's running direction The information is recorded as the environment identification information corresponding to the sub-path. A path recording device, comprising a processor, a sensor connected to the processor, and a memory connected to the processor, wherein a set of program codes are stored in the memory, and the processor is used for The program code stored in the memory is called to perform the following operations: controlling the sensor to detect the user's running information, the running information including the user's running direction and the user's running distance in the running direction; The memory is controlled to record the running direction of the user as the direction information of the sub-paths constituting the route path, and record the running distance of the user in the running direction as the length information of the sub-paths. The device according to claim 36, wherein the running information further includes the average vibration amplitude corresponding to the running direction of the user, and the processor further performs the following operations: The memory is controlled to record the average vibration amplitude corresponding to the running direction of the user as the average vibration amplitude corresponding to the sub-path. The device according to claim 36, wherein the operating information further includes the The average brightness value corresponding to the user's running direction, the processor also performs the following operations: controlling the memory to record the average brightness value corresponding to the user's running direction as the average brightness value corresponding to the sub-path. The device according to claim 36, wherein the running information further includes environment identification information corresponding to the running direction of the user, and the processor further performs the following operations: The memory is controlled to record the environment identification information corresponding to the user's running direction as the environment identification information corresponding to the sub-path.