CN114509072A - Indoor navigation method, device, storage medium, mobile terminal and system - Google Patents

Abstract

The embodiment of the application discloses an indoor navigation method, an indoor navigation device, a storage medium, a mobile terminal and an indoor navigation system, and relates to the field of navigation. Whether each road in a navigation line is jammed or not is mastered based on road condition information acquired by a server in real time, so that jammed road sections are avoided, and a user can quickly arrive at a destination; in addition, indoor navigation is carried out based on the mobile terminal, a user does not need to have high map recognition capability, and the navigation process is simpler and more convenient.

Description

Indoor navigation method, device, storage medium, mobile terminal and system

technical field

The present application relates to the field of navigation, and in particular, to an indoor navigation method, device, storage medium, mobile terminal and system.

Background technique

With the development of economy, the construction area of buildings is getting bigger and bigger. For example, for super-large shopping malls, the number and types of shops are also increasing. When users enter the shopping mall for the first time, it is easy to confuse the directions and cannot quickly find the required shops. At present, shopping malls generally provide an inquiry terminal, which will display the floor plan of the shopping mall. The user determines the location of the store according to the name of each store in the floor plan, and then goes to the store according to the guidance of the floor plan. However, this method of store navigation cannot cope with road conditions. Changes and require users to have strong map recognition capabilities, so how to help users quickly locate stores and navigate quickly is an urgent problem to be solved at present.

SUMMARY OF THE INVENTION

The embodiments of the present application provide an indoor navigation method, a device, a storage medium, and a mobile terminal, which can solve the problem in the prior art that users cannot conveniently implement positioning and navigation indoors. The technical solution is as follows:

In a first aspect, an embodiment of the present application provides an indoor navigation method, the method comprising:

determining the coordinates of the target room in the building; wherein, the building includes a plurality of rooms, and each room is provided with a radio frequency device;

obtaining the current coordinates of the mobile terminal in the building;

Planning a navigation route according to the current coordinates and the coordinates of the target room, and navigating according to the navigation route;

During the navigation process, the navigation route is adjusted in real time according to the road condition information from the server.

In a second aspect, an embodiment of the present application provides an indoor navigation device, the device comprising:

a determining unit for determining the coordinates of the target room in the building body; wherein the building body includes a plurality of rooms, and each room is provided with a radio frequency device;

an acquisition unit for acquiring the current coordinates of the mobile terminal in the building;

a planning unit, configured to plan a navigation route according to the current coordinates and the coordinates of the target room, and navigate according to the navigation route;

The adjustment unit is used to adjust the navigation route in real time according to the road condition information from the server during the navigation process.

In a third aspect, an embodiment of the present application provides a computer storage medium, where the computer storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the above method steps.

In a fourth aspect, an embodiment of the present application provides a mobile terminal, which may include: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded by the processor and execute the above method steps .

In a fifth aspect, an embodiment of the present application provides an indoor navigation system, including a mobile terminal, multiple radio frequency devices, and a server.

The beneficial effects brought by the technical solutions provided by some embodiments of the present application include at least:

Based on the beacon signals emitted by multiple radio frequency devices installed in the building, the current coordinates of the mobile terminal in the building are acquired in real time, and the navigation route is planned according to the coordinates and current coordinates of the target room determined by the user. The road condition information from the server adjusts the navigation route in real time until it reaches the target room, and solves the problem of inability to cope with changes in road conditions caused by positioning and navigating according to the plan in the prior art. Check whether there is congestion, so as to avoid the congested road section and make the user reach the destination quickly; in addition, the present application performs indoor navigation based on the mobile terminal, which does not require the user to have high map recognition ability, and the navigation process is simpler and more convenient.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic diagram of a system architecture provided by an embodiment of the present application;

2 is a schematic flowchart of an indoor navigation method provided by an embodiment of the present application;

3 is a schematic diagram of a principle for calculating the current coordinates of a mobile terminal provided by an embodiment of the present application;

4 is a schematic diagram of a motion trajectory of a mobile terminal provided by an embodiment of the present application;

5 is a schematic structural diagram of an indoor navigation device provided by the present application;

FIG. 6 is a schematic structural diagram of a mobile terminal provided by the present application.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

It should be noted that the indoor navigation method provided by the present application is generally performed by a mobile terminal, and accordingly, the indoor navigation device is generally set in the mobile terminal.

FIG. 1 shows an exemplary system architecture that can be applied to the indoor navigation method or indoor navigation device of the present application.

As shown in FIG. 1 , the system architecture may include: a mobile terminal, a radio frequency device and a server. A wireless communication link is used between the mobile terminal and each radio frequency device, and the wireless communication link includes a Bluetooth communication link, a wireless fidelity (WIreless-FIdelity, Wi-Fi) communication link or a microwave communication link. Communication between the server and each radio frequency device is performed through a wireless communication link or a wired communication link, which is not limited in this application.

The radio frequency device periodically sends out a beacon signal, and the beacon signal carries the device ID (for example: MAC address) of the radio frequency device. The mobile terminal can measure the received signal strength of the beacon signal and analyze the beacon signal to obtain the radio frequency device Device ID. Further, the beacon signal can also carry a signal strength matrix and the coordinates of the radio frequency device in the building. The signal strength matrix includes a plurality of data, and the plurality of data is the received signal strength and distance collected in advance at multiple positions around the radio frequency device. . Buildings include, but are not limited to, shopping malls, desks, or factories. The building includes multiple rooms, and each room is provided with a radio frequency device. Since the location of the radio frequency device is generally fixed, the coordinates of the radio frequency device are known. The server can interact with each radio frequency device to obtain the road condition information of each road in the building. When the building is a manufacturer, the server pre-stores the user's shopping records, motion trajectory information, radio frequency device connection records and shopping habits information, etc. In addition, the server also Inventory information of products in each room is stored so that suitable products can be recommended according to the user's shopping preferences. Further, the indoor electronic map of the building may also be stored in the server.

It should be noted that the mobile terminal and the server may be hardware or software. When the mobile terminal and the server are hardware, they can be implemented as a distributed server cluster composed of multiple servers, or can be implemented as a single server. When the mobile terminal and the server are software, they may be implemented as multiple software or software modules (for example, used to provide distributed services), or may be implemented as a single software or software module, which is not specifically limited herein.

Various communication client applications can be installed on the mobile terminal of the present application, such as: video recording application, video playback application, voice interaction application, search application, instant communication tool, email client, social platform software, etc.

A mobile terminal is a device with a display screen, including but not limited to a smart phone, a smart watch, a tablet computer, a portable computer, a smart wearable device, and the like.

The mobile terminal may also be equipped with a camera, and the camera is used to capture images, such as scanning a two-dimensional code. The display device may be a cathode ray tube display (CR for short), a light-emitting diode display (LED), an electronic ink screen, a liquid crystal display (LCD), a plasma display panel (plasma displaypanel, referred to as PDP) and so on. The user can use the display device on the mobile terminal to view the displayed text, picture, video and other information.

It should be understood that the numbers of mobile terminals, networks and servers in FIG. 1 are only illustrative. There can be any number of mobile terminals, networks and servers according to implementation needs.

The indoor navigation method provided by the embodiment of the present application will be described in detail below with reference to FIG. 2 . The indoor navigation device in this embodiment of the present application may be the mobile terminal shown in FIG. 1 .

Referring to FIG. 2 , a schematic flowchart of an indoor navigation method is provided in an embodiment of the present application. As shown in FIG. 2 , the method of the embodiment of the present application may include the following steps:

S201. Determine the coordinates of the target room in the building body.

The target room is the room the user wants to go to, and the target room is one of multiple rooms included in the building. The building body of the present application can be a shopping mall, office building, convention center or factory building, etc. The building body is generally a flat building, that is, a plurality of rooms included in the building body are located on the same floor, and each room is provided with a radio frequency device, and the position of the radio frequency device is fixed. Invariant; further, multiple repeater amplifiers can be set at different positions in the room to amplify the signal of the radio frequency device. The radio frequency device periodically sends out a beacon signal. The radio frequency device of the present application may be a wireless local area network device such as a WiFi hotspot and a Bluetooth device.

The mobile terminal loads and displays the pre-stored indoor electronic map of the building, and the method for acquiring the indoor electronic map by the mobile terminal includes: the mobile terminal scans a two-dimensional code set in the building through a camera, and the mobile terminal parses the two-dimensional code to obtain the indoor electronic map. The download link of the map, download the indoor electronic map of the building based on the download link; or when the mobile terminal is in the working mode, when the server detects that the mobile terminal is connected to the WiFi hotspot set in the building, it sends the mobile terminal to download the indoor electronic map prompt message, the mobile terminal displays the download prompt message through the display unit, and when the mobile terminal receives the confirmation download instruction from the user, it downloads the indoor electronic map from the server to the local for storage.

The indoor electronic map displayed by the mobile terminal includes the coordinates of each room, the name of each room (for example: business name, company name or warehouse name) and the road topology relationship between each room. The user inputs the name corresponding to the target room on the indoor electronic map interface through an input device (such as a touch screen or a keyboard, etc.) or clicks on the target room on the indoor electronic map, and the mobile terminal obtains the target room according to the indoor electronic map. After the mobile terminal detects that the user performs a trigger operation on the navigation control (for example, the navigation button) on the interface, it generates a navigation command. When the mobile terminal detects the navigation command, it starts the navigation mode. In the navigation mode, the mobile terminal monitors each The beacon signal of the radio frequency device and the analysis of the monitored beacon signal.

S202. Acquire the current coordinates of the mobile terminal in the building.

Wherein, the user holds the mobile terminal, the current coordinates of the user in the building are the current coordinates of the mobile terminal in the building, and the current coordinates are used as the coordinates of the starting point of navigation. The present application obtains the current coordinates of the mobile terminal in the building based on the indoor positioning method.

In one or more possible implementations, when the radio frequency device is a WiFi hotspot, the mobile terminal measures the device ID of the radio frequency device and the received signal strength of each radio frequency device at the current location, and the mobile terminal is pre-stored or pre-configured with the WiFi of the building. Fingerprint database. The WiFi fingerprint database stores the received signal strength of the radio frequency devices at multiple locations in the building and the device ID (eg MAC address) of the radio frequency devices. The mobile terminal compares the measurement data with the WiFi fingerprint database to obtain the current coordinates. Among them, in order to improve the positioning progress, the number and distribution density of the measured positions in the WiFi fingerprint database can be increased.

In one or more possible implementations, the distance between the mobile terminal and the at least two radio frequency devices is calculated according to the received signal strength, the coordinates of the at least two radio frequency devices in the building are obtained, and the calculated distance and each radio frequency device are obtained. The coordinates of the device calculate the current coordinates of the mobile terminal within the building.

Among them, at least two radio frequency devices are distributed around the mobile terminal, each radio frequency device periodically sends beacon signals to the outside, and the mobile terminal measures the received signal strength (Received Signal Strength Indication, RSSI) of each beacon signal, and calculates according to the received signal strength The distance between the mobile terminal and each radio frequency device. The calculation method may be: the beacon signal sent by the radio frequency device carries the signal strength matrix of the radio frequency device, the beacon signal may carry the device ID of the radio frequency device, the coordinates of the radio frequency device in the building and the signal strength matrix of the radio frequency device, the signal The strength matrix is the relationship between the received signal strength and distance measured in advance around the radio frequency device. For example, with the radio frequency device as the center, measure 8×8 data at 1m intervals. The data includes the received signal strength and distance. 64 pieces of data generate a signal strength matrix, and the mobile terminal searches the signal strength matrix of the radio frequency device according to the measured signal strength of the radio frequency device for the data with the closest value, and obtains the data from the mobile terminal to the radio frequency device according to the data. the distance between. In addition, the calculation method can also be: calculate the distance between the mobile terminal and the radio frequency device according to the following formula: d=10 ^{(|RSSI|-A)/(10*n)} ; wherein, d represents the distance, and RSSI represents the measured distance The received signal strength of , in dB; A represents the absolute value of the received signal strength at a distance of 1m from the radio frequency device, n represents the environmental attenuation factor, and n is an integer greater than 0.

After calculating the distance between the mobile terminal and at least two radio frequency devices at the current moment, the coordinates of the at least two radio frequency devices in the building are obtained. The coordinates are carried in the beacon signal of the mobile terminal, and the mobile terminal obtains the coordinates of the radio frequency device after analyzing the beacon signal; or the beacon signal sent by the radio frequency device only carries the device ID, and the mobile terminal queries the radio frequency according to the pre-downloaded indoor electronic map. The coordinates corresponding to the ID. Then, according to the calculated distance and the coordinates of each radio frequency device, the current coordinates of the mobile terminal at the current moment are calculated.

K1为线段AB的斜率，K1＝(b-y)/(a-x)，由于线段CD垂直于线段AB，因此线段CD的斜率为-1/K1；根据勾股定理，CE²＝R²-AE²，CE²＝S²-EB²＝S²-(AB-AE)²＝S²-(L-AE)²＝S²-L²-AE²+2L*AE，CE表示线段CE的长度，CE表示线段CE的长度，EB表示线段EB的长度，AB表示线段AB的长度，AE表示线段AE的长度；故AE＝(R²-S²+L²)/2L；For example, referring to FIG. 3 , the mobile terminal is currently located at position D, the distance between the mobile terminal and the radio frequency device A is R, the distance between the mobile terminal and the radio frequency device is S, and the coordinates of the radio frequency device A are (x, y), the coordinates of the radio frequency device B are (a, b), draw a circle with A as the center and R as the radius, and draw a circle with B as the center and S as the radius, the intersection of the two circles are C and D, and the connecting line segments AB and After the line segment CD intersects vertically with point E. length of line segment AB

K1 is the slope of the line segment AB, K1=(by)/(ax). Since the line segment CD is perpendicular to the line segment AB, the slope of the line segment CD is -1/K1; according to the Pythagorean theorem, CE ² =R ² -AE ² , CE ² =S ² -EB ² =S ² -(AB-AE) ² =S ² -(L-AE) ² =S ² -L ² -AE ² +2L*AE, CE represents the length of the line segment CE, CE represents the length of the line segment CE, EB represents the length of the line segment EB, AB represents the length of the line segment AB, and AE represents the length of the line segment AE; therefore AE=(R ² -S ² +L ² )/2L;

所以，设C的坐标为(Xc，Yc)，D的坐标为(Xd，Yd)，那么坐标的计算公式为：

Yc＝Y0+K2(Xc-X0)。

Yd＝Y0+K2(Xd-X0)。AE/L=(R ² -S ² +L ² )/2L ² ; let the coordinates of E be (X0, Y0), then X0=x+(ax)AE/L=x+(ax)(R ² -S ² +L ² )/(2L ² ); Y0=y+K1(X0-x); R ² =CE ² =R ² -(X0-x) ² -(Y0-y) ² ; R ² =CF ² + EF ² =(K2*EF) ² +EF ² =(1+K2 ² )EF ² ; therefore

Therefore, let the coordinates of C be (Xc, Yc) and the coordinates of D be (Xd, Yd), then the formula for calculating the coordinates is:

Yc=Y0+K2(Xc-X0).

Yd=Y0+K2(Xd-X0).

Further, the mobile terminal periodically measures the distance between at least two radio frequency devices, and then forms motion track information according to the coordinates calculated at each moment. The device ID of each RF device generates the RF device connection record.

For example, referring to the schematic diagram shown in FIG. 4 , the mobile terminal measures the current coordinates every 1s. At time t1, the measured distance to the radio frequency device AP1 is X1, and the distance to the radio frequency device AP2 is X2, and the coordinates (x1, y1) at time t1 are calculated according to the calculation process in FIG. 3; at time t2, the mobile terminal measures the The distance between the radio frequency devices AP1 is X2, and the distance to the radio frequency device AP2 is Y2, and then the coordinates (x2, y2) at time t2 are calculated according to the calculation process in FIG. 3; at time t3, the mobile terminal measures the radio frequency device AP1 The distance between them is X3, the distance to the radio frequency device AP2 is Y3, and then the coordinates (x3, y3) at time t2 are calculated according to the calculation process in FIG. 3; at time t4, the mobile terminal detects 4 radio frequency devices AP1~ For the beacon signal of AP 4, since the radio frequency devices AP1 and AP2 are far from the mobile terminal, the mobile terminal measures the signal strength of the beacon signals from the radio frequency devices AP1 and AP2 is very weak, and the mobile terminal will discard the signals of the two radio frequency devices. The beacon signal, the distance is calculated only according to the beacon signals of the radio frequency devices AP3 and AP4, that is, the mobile terminal will screen the measured values of each beacon signal measured, and discard the beacon signals whose signal strength is less than the threshold value, and will not be considered. , to reduce the data volume of the calculation process without affecting the accuracy of the calculated distance, the mobile terminal measures the distance between the radio frequency device AP3 to be X4, to the distance between the radio frequency device AP4 is Y4, then calculate t4 according to the calculation process of FIG. 3 The coordinates of the moment (x4, y4). Then, the motion track information generated by the mobile terminal includes the above-mentioned four coordinates and the time of each coordinate, and a radio frequency device connection record is generated according to the device ID and time of each radio frequency device.

S203 , planning a navigation route according to the current coordinates and the coordinates of the target room, and navigating according to the navigation route.

The mobile terminal uses the current coordinates as the starting coordinates and the target room as the ending coordinates, and plans a navigation route between the starting coordinates and the ending coordinates according to a preset path planning algorithm. The path planning algorithm may be based on the shortest distance or The navigation route is planned in the shortest time, and the mobile terminal displays the navigation route on the indoor electronic map, so that the user can go to the target room according to the navigation route. When the user moves with the mobile terminal, the movement direction mark and the current position mark are displayed on the electronic map. At the same time, the mobile terminal The navigation voice is issued by the generating unit, so that the user can quickly reach the target room according to the navigation route.

S204. During the navigation process, adjust the navigation route in real time according to the road condition information from the server.

Among them, the navigation route consists of multiple roads, and the road conditions of each road may change in real time, for example, the road is blocked due to road maintenance or crowding of people. The server periodically detects whether each road is blocked. The detection method may be: when the server detects that the number of mobile terminals connected to the radio frequency device exceeds the number threshold, it determines that the road near the room where the radio frequency device is located is blocked.

For example, as shown in FIG. 1 , the mobile terminal plans a route 1 between the current position A and the target room Z, and the mobile terminal goes to the target room Z along the route 1 . Before the mobile terminal reaches the radio frequency device AP1, the server detects that the number of mobile terminals connected to the radio frequency device AP1 exceeds the number threshold. At this time, it is determined that the road in front of the room where the radio frequency device AP is located is blocked, and the road is located in line 1. The mobile terminal sends the above road condition information, the mobile terminal analyzes the road condition information to determine that the road is blocked, and re-plans route 3 to avoid the blocked road.

Further, when the road is blocked due to temporary construction, the maintenance personnel or pedestrians report the location of the road to the server through the mobile terminal, the server notifies the mobile terminal of the above road condition information, and the mobile terminal parses the road condition information to determine that the road is blocked, and reset the road. Plan your route to avoid blocked roads.

For example, as shown in FIG. 1 , the mobile terminal plans a route 2 between the current position A and the target room Z, and the mobile terminal goes to the target room Z along the route 2 . Before the mobile terminal reaches the blocked road, the pedestrians near the road report the location of the road to the server through the radio frequency device, and the server determines that the road is blocked, the road is located in line 2, and the server sends the above road condition information to the mobile terminal, The mobile terminal analyzes the road condition information to determine that the road is blocked, and re-plans route 3 to avoid the blocked road.

In one or more possible embodiments, when entering into the target room is detected, it switches to the normal mode, establishes a wireless connection with the radio frequency device in the target room, and receives the product promotion information from the server through the wireless connection.

The method for detecting whether the mobile terminal has entered the target room may be: the mobile terminal measures the received signal strength of the radio frequency device in the target room, and when the received signal strength is greater than the strength threshold, it is determined that the mobile terminal has entered the target room, or the user is in the target room. When it is determined to enter the target room, a navigation end instruction is triggered based on the interface of the indoor electronic map, and the mobile terminal receives the navigation end instruction and determines to enter the target room. Then the mobile terminal ends the navigation process because the navigation mode is switched to the normal mode. The mobile terminal establishes a wireless connection with the radio frequency device in the target room, for example, establishes a WiFi connection or a Bluetooth connection, etc., the mobile terminal interacts with the server through the wireless connection, and the server obtains the user ID of the mobile terminal, and queries the user's status in the building according to the user ID. Shopping records, shopping habit information and the user's movement track information in the building to determine the user's shopping preferences, for example: according to the shopping record for the most purchased product category, or according to the movement track information to determine the user's longest stay time room; or Determine the user's shopping preference according to the preset shopping habits information, and push the product promotion information to the mobile terminal based on the shopping preference and the commodity inventory information of the target room. push.

When assessing the risk of bonds, the embodiment of the present application acquires, in real time, the current coordinates of the mobile terminal in the building, and the coordinates and current coordinates of the target room determined by the user based on the beacon signals emitted by multiple radio frequency devices installed in the building. Planning a navigation route. During the navigation process, the mobile terminal adjusts the navigation route in real time based on the road condition information from the server until it reaches the target room, so as to solve the problem of inability to cope with changes in road conditions caused by positioning and navigation according to the plan in the prior art. The road condition information obtained by the server in real time can grasp whether each road in the navigation route is congested, so as to avoid the congested road sections and enable the user to reach the destination quickly; in addition, the present application performs indoor navigation based on the mobile terminal, and does not require the user to have a high map identification capabilities, the navigation process is simpler and more convenient.

The following are apparatus embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

Please refer to FIG. 5 , which shows a schematic structural diagram of an indoor navigation device provided by an exemplary embodiment of the present application, hereinafter referred to as device 5 . The device 5 can be implemented as all or a part of the mobile terminal through software, hardware or a combination of the two. The apparatus 5 includes: a determination unit 501 , an acquisition unit 502 , a planning unit 503 , and an adjustment unit 504 .

A determination unit 501, configured to determine the coordinates of the target room in the building body; wherein the building body includes a plurality of rooms, and each room is provided with a radio frequency device;

an obtaining unit 502, configured to obtain the current coordinates of the mobile terminal in the building;

a planning unit 503, configured to plan a navigation route according to the current coordinates and the coordinates of the target room, and perform navigation according to the navigation route;

The adjustment unit 504 is configured to adjust the navigation route in real time according to the road condition information from the server during the navigation process.

In one or more possible embodiments, the acquiring the current coordinates of the mobile terminal in the building includes:

Calculate the distance between the mobile terminal and at least two radio frequency devices according to the received signal strength;

acquiring the coordinates of the at least two radio frequency devices in the building;

The current coordinates of the mobile terminal in the building are calculated according to the calculated distances and the coordinates of the respective radio frequency devices.

In one or more possible embodiments, the calculating the distance between the mobile terminal and at least two radio frequency devices according to the received signal strength includes:

receiving a beacon signal from a radio frequency device; wherein the beacon signal carries a signal strength matrix and coordinates of the radio frequency device within the building;

measuring the received signal strength of the beacon signal;

The distance between the mobile terminal and the radio frequency device is calculated according to the signal strength matrix and the received signal strength.

In one or more possible embodiments, the determining the coordinates of the target room in the building includes:

Loading and displaying the indoor electronic map of the building through the display unit;

Obtain the room name entered by the user on the indoor electronic map;

Based on the user's navigation instruction, the coordinates of the target room associated with the room name are determined, and the navigation mode is entered.

In one or more possible embodiments, it also includes:

a transceiver unit, configured to establish a wireless connection with a radio frequency device in the target room when the mobile terminal detects that the mobile terminal has entered the target room;

Merchandising information is received from the server based on the wireless connection.

In one or more possible embodiments, the detecting that the mobile terminal enters the target room includes:

The received signal strength of the beacon signal from the radio frequency device in the target room is measured, and when the received signal strength is greater than the strength threshold, it is determined that entry into the target room is detected.

In one or more possible embodiments, the measuring the received signal strength of the beacon signal from the radio frequency device in the target room includes:

Measure the received signal strength of the beacon signal from the RF device in the target room multiple times;

A weighted evaluation of the multiple measurements yields the final received signal strength.

It should be noted that, when the device 5 provided in the above embodiment executes the indoor navigation method, only the division of the above functional modules is used as an example for illustration. That is, the internal structure of the device is divided into different functional modules to complete all or part of the above functions. In addition, the indoor navigation device and the indoor navigation method embodiments provided by the above embodiments belong to the same concept, and the embodiment and implementation process thereof are detailed in the method embodiments, which will not be repeated here.

The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

Embodiments of the present application further provide a computer storage medium, where the computer storage medium can store multiple instructions, and the instructions are suitable for being loaded by a processor and executing the method steps of the embodiment shown in FIG. 2 above. For the process, reference may be made to the specific description of the embodiment shown in FIG. 2 , which will not be repeated here.

The present application also provides a computer program product, where the computer program product stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the indoor navigation method described in each of the above embodiments.

Please refer to FIG. 6 , which provides a schematic structural diagram of a mobile terminal according to an embodiment of the present application. As shown in FIG. 6 , the mobile terminal 600 may include: at least one processor 601 , at least one wireless interface 604 , user interface 603 , memory 605 , and at least one communication bus 602 .

Among them, the communication bus 602 is used to realize the connection and communication between these components.

The user interface 603 may include a display screen (Display) and a camera (Camera), and the optional user interface 603 may also include a standard wired interface and a wireless interface.

The mobile terminal is provided with a radio frequency antenna, and correspondingly, the wireless interface 604 may include a WI-FI interface, a Bluetooth interface, and the like.

The processor 601 may include one or more processing cores. The processor 601 uses various interfaces and lines to connect various parts of the entire mobile terminal 600, and executes by running or executing the instructions, programs, code sets or instruction sets stored in the memory 605, and calling the data stored in the memory 605. Various functions of the mobile terminal 600 and processing data. Optionally, the processor 601 may adopt at least one of a digital signal processing (Digital Signal Processing, DSP), a Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), and a Programmable Logic Array (Programmable Logic Array, PLA). A hardware form is implemented. The processor 601 may integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), a modem, and the like. Among them, the CPU mainly handles the operating system, user interface, and application programs; the GPU is used to render and draw the content that needs to be displayed on the display screen; the modem is used to handle wireless communication. It can be understood that, the above-mentioned modem may not be integrated into the processor 601, but is implemented by a single chip.

The memory 605 may include random access memory (Random Access Memory, RAM), or may include read-only memory (Read-Only Memory). Optionally, the memory 605 includes a non-transitory computer-readable storage medium. Memory 605 may be used to store instructions, programs, codes, sets of codes, or sets of instructions. The memory 605 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), Instructions and the like used to implement the above method embodiments; the storage data area may store the data and the like involved in the above method embodiments. The memory 605 can optionally also be at least one storage device located away from the aforementioned processor 601 . As shown in FIG. 6 , the memory 605 as a computer storage medium may include an operating system, a network communication module, a user interface module and an application program.

In the mobile terminal 600 shown in FIG. 6 , the user interface 603 is mainly used to provide an input interface for the user, and obtain the data input by the user; and the processor 601 can be used to call the application program stored in the memory 605, and specifically execute the following: For the method shown in FIG. 2, reference may be made to the specific process shown in FIG. 2, and details are not repeated here.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. During execution, the processes of the embodiments of the above-mentioned methods may be included. Wherein, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, or a random storage memory, and the like.

The above disclosures are only the preferred embodiments of the present application, and of course, the scope of the rights of the present application cannot be limited by this. Therefore, equivalent changes made according to the claims of the present application are still within the scope of the present application.

Claims (13)

1. an indoor navigation method, is characterized in that, comprises: determining the coordinates of the target room in the building; wherein, the building includes a plurality of rooms, and each room is provided with a radio frequency device; obtaining the current coordinates of the mobile terminal in the building; Planning a navigation route according to the current coordinates and the coordinates of the target room, and navigating according to the navigation route; During the navigation process, the navigation route is adjusted in real time according to the road condition information from the server. 2. The method according to claim 1, wherein the acquiring the current coordinates of the mobile terminal in the building comprises: Calculate the distance between the mobile terminal and at least two radio frequency devices according to the received signal strength; acquiring the coordinates of the at least two radio frequency devices in the building; The current coordinates of the mobile terminal in the building are calculated according to the calculated distances and the coordinates of the respective radio frequency devices. 3. The method according to claim 2, wherein the calculating the distance between the mobile terminal and at least two radio frequency devices according to the received signal strength comprises: receiving a beacon signal from a radio frequency device; wherein the beacon signal carries a signal strength matrix and coordinates of the radio frequency device within the building; measuring the received signal strength of the beacon signal; The distance between the mobile terminal and the radio frequency device is calculated according to the signal strength matrix and the received signal strength. 4. The method according to claim 1, 2 or 3, wherein the determining the coordinates of the target room in the building comprises: Loading and displaying the indoor electronic map of the building through the display unit; Obtain the room name entered by the user on the indoor electronic map; Based on the user's navigation instruction, the coordinates of the target room associated with the room name are determined, and the navigation mode is entered. 5. method according to claim 1 or 2 or 3, is characterized in that, also comprises: When detecting that the mobile terminal enters the target room, establish a wireless connection with the radio frequency device in the target room; Merchandising information is received from the server based on the wireless connection. 6. The method according to claim 5, wherein detecting that the mobile terminal enters the target room comprises: The received signal strength of the beacon signal from the radio frequency device in the target room is measured, and when the received signal strength is greater than the strength threshold, it is determined that entry into the target room is detected. 7. The method according to claim 6, wherein the measuring the received signal strength of a beacon signal from a radio frequency device in the target room comprises: Measure the received signal strength of the beacon signal from the RF device in the target room multiple times; A weighted evaluation of the multiple measurements yields the final received signal strength. 8. An indoor navigation device, comprising: a determining unit for determining the coordinates of the target room in the building body; wherein the building body includes a plurality of rooms, and each room is provided with a radio frequency device; an acquisition unit for acquiring the current coordinates of the mobile terminal in the building; a planning unit, configured to plan a navigation route according to the current coordinates and the coordinates of the target room, and navigate according to the navigation route; The adjustment unit is used to adjust the navigation route in real time according to the road condition information from the server during the navigation process. 9. A computer storage medium, characterized in that the computer storage medium stores a plurality of instructions, the instructions are suitable for being loaded by a processor and performing the method steps of any one of claims 1-7. 10. A mobile terminal, comprising: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded by the processor and execute any one of claims 1 to 7 method steps for the item. 11. An indoor navigation system, comprising a mobile terminal, a plurality of radio frequency devices and a server; Wherein, the mobile terminal is used to determine the coordinates of the target room in the building; wherein the building includes a plurality of rooms, and each room is provided with a radio frequency device; obtain the current coordinates of the mobile terminal in the building; The current coordinates and the coordinates of the target room are used to plan a navigation route, and navigation is performed according to the navigation route; during the navigation process, the navigation route is adjusted in real time according to the road condition information from the server; The server is configured to acquire road condition information of each road in the navigation route, and send the road condition information to the mobile terminal. 12. The system of claim 11, wherein the server is further configured to: When it is detected that the number of mobile terminals connected to the radio frequency device is greater than the number threshold, it is determined that the road associated with the radio frequency device is blocked; or Receive road condition information reported by pedestrians or maintenance personnel. 13. The system according to claim 11 or 12, wherein the server is further configured to: According to the user identification of the mobile terminal, query the user's shopping records in the building, shopping habit information and the user's movement track information in the building to determine the user's shopping preference, and generate product recommendation information according to the shopping preference; The product recommendation information is pushed to the mobile terminal.

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