An indoor navigation method, device, electronic device and storage medium

Abstract

The present application relates to computer technology and provides an indoor navigation method, device, electronic device, and storage medium. This method is independent of the mobile terminal and uses the installed audio collection devices and indicating devices in the room for positioning. Based on the propagation state parameters of the voice positioning instruction to each audio collection device and the corresponding relationship between the audio collection device and the indicating device, the indoor initial position of the target object relative to an indicating device is determined, so as to accurately locate the position of the target object without the mobile terminal; during the indoor navigation process, starting from the indoor initial position, based on at least one indicating device on the target route, the target object is guided to the indoor destination in sequence, so as to provide indoor navigation services on the basis of being independent of the mobile terminal, and by means of sequential guidance, the impact on the overall indoor operating environment can be reduced.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular, to an indoor navigation method, device, electronic device, and storage medium. Background Art

[0002] With the popularization of wireless local area networks and the continuous growth of positioning requirements, indoor positioning technology has developed rapidly. Indoor positioning technology refers to determining the location of a target object in an indoor environment and then providing positioning services for the target object, such as indoor navigation.

[0003] Currently, the basis of indoor navigation technology is indoor positioning technology. The commonly used indoor positioning methods are as follows:

[0004] I. WiFi-based positioning method

[0005] This method determines the location of a terminal accessing through WiFi (hereinafter referred to as a WiFi terminal) indoors through multiple wireless access points (Access Point, AP); however, due to the weak WiFi signal and small AP density indoors, the positioning accuracy of this method is low; moreover, this method requires the WiFi terminal for assisted positioning, that is, the target object needs to perform positioning interaction through an application (Application, APP) on the WiFi terminal. Obviously, this increases the complexity of the positioning operation to a certain extent, brings inconvenience to the target object, and for target objects without a WiFi terminal, positioning cannot be completed, and the positioning experience is poor.

[0006] II. Bluetooth-based positioning method

[0007] This method determines the location of a terminal accessing through Bluetooth (hereinafter referred to as a Bluetooth terminal) indoors by adding a Received Signal Strength Indication (RSSI) to the data packet; however, due to the large number of Bluetooth terminals in large indoor venues and signal interference, the positioning accuracy of this method is low; moreover, this method also requires the Bluetooth terminal for assisted positioning, that is, the target object needs to perform positioning interaction through an APP on the Bluetooth terminal. Obviously, this also increases the complexity of the positioning operation to a certain extent, brings inconvenience to the target object, and for target objects without a Bluetooth terminal, positioning cannot be completed, and the positioning experience is poor.

[0008] In this way, once the indoor positioning is inaccurate or the positioning fails, subsequent indoor navigation services cannot be provided for the target object. Summary of the Invention

[0009] Embodiments of the present application provide an indoor navigation method, device, electronic device, and storage medium, which can accurately locate the position of a target object indoors on the basis of being separated from a mobile terminal, and further provide indoor navigation services.

[0010] On the one hand, embodiments of the present application provide an indoor navigation method, including:

[0011] Obtaining, by each installed audio acquisition device indoors, a voice positioning instruction of a target object; wherein, the voice positioning instruction carries at least an indoor destination indicated by the target object;

[0012] Determining, based on the voice positioning instruction, position information of the target object relative to an audio acquisition device;

[0013] Converting, based on the corresponding relationship between the audio acquisition device and the indication device, the position information into an indoor initial position of the target object relative to the corresponding indication device;

[0014] Determining a target route between the indoor initial position and the indoor destination;

[0015] Starting from the indoor initial position, guiding the target object to the indoor destination in sequence based on at least one indication device on the target route.

[0016] On the other hand, embodiments of the present application provide an indoor navigation device, including:

[0017] An obtaining module, configured to obtain, by each installed audio acquisition device indoors, a voice positioning instruction of a target object; wherein, the voice positioning instruction carries at least an indoor destination indicated by the target object;

[0018] A determining module, configured to determine, based on the voice positioning instruction, position information of the target object relative to an audio acquisition device, and convert, based on the corresponding relationship between the audio acquisition device and the indication device, the position information into an indoor initial position of the target object relative to the corresponding indication device; and determine a target route between the indoor initial position and the indoor destination;

[0019] A navigation module, configured to start from the indoor initial position and guide the target object to the indoor destination in sequence based on at least one indication device on the target route.

[0020] Optionally, the navigation module is specifically configured to:

[0021] Starting from the indoor initial position, performing the following operations in sequence based on the at least one indication device according to the target route:

[0022] When it is determined that the target object is within the sensing range of the sensor included in an indicating device, receive the current position of the target object reported by the indicating device, where the current position is used to determine the next indicating device.

[0023] Send a control instruction to the indicating device so that the indicating device presents direction guidance information to the target object.

[0024] Optionally, when the indicating device is the first indicating device, when presenting direction guidance information to the target object through the first indicating device, the navigation module is further configured to:

[0025] Convey a prompt message to the target object based on the first indicating device, where the prompt message is used to indicate the usage method of the direction guidance information.

[0026] Optionally, the direction guidance information includes at least one of voice guidance information and light guidance information.

[0027] Optionally, the determining module is specifically configured to:

[0028] Select a target audio collection device based on the time when the voice positioning instruction reaches each audio collection device.

[0029] Determine the position information of the target object relative to the target audio collection device based on the propagation state parameter of the voice positioning instruction reaching the target audio collection device.

[0030] Optionally, the propagation state parameter includes at least one of the direction angle, pitch angle, and propagation distance of the voice positioning instruction relative to the target audio collection device.

[0031] Optionally, the determining module is specifically configured to:

[0032] Sort the times when the voice positioning instruction reaches each audio collection device, and based on the sorting result, determine the audio collection device that first receives the voice positioning instruction.

[0033] Use the audio collection device that first receives the voice positioning instruction as the target audio collection device.

[0034] Optionally, the determining module is specifically configured to:

[0035] Determine the initial indicating device closest to the indoor initial position based on the position codes of each indicating device stored in advance.

[0036] Based on each location code, respectively determine the connection relationships between the initial indicating device and each candidate indicating device between the indoor initial position and the indoor destination;

[0037] Based on the connection relationships between the initial indicating device and each candidate indicating device respectively, determine the target route.

[0038] Optionally, each location code includes at least the unique identifier of an indicating device, the physical space location, the connection relationship with other indicating devices, and the corresponding relationship with the audio collection device.

[0039] Optionally, the determining module is specifically configured to:

[0040] When, based on the connection relationships between the initial indicating device and each candidate indicating device respectively, multiple routes to reach the indoor destination are determined, select one of the route with the shortest distance, the route with the fewest number of floors crossed, and the route with the least time consumption as the target route.

[0041] Optionally, the sensors included in the indicating device include infrared sensors and radar sensors.

[0042] On the other hand, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the above indoor navigation method are implemented.

[0043] On the other hand, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above indoor navigation method are implemented.

[0044] On the other hand, an embodiment of the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the steps of the above indoor navigation method are implemented.

[0045] In the above embodiments of the present application, based on the premise of being separated from the mobile terminal, positioning is performed by means of various audio collection devices installed indoors. Through each audio collection device, a voice positioning instruction of an indoor destination carrying a target object indication is obtained. Since each audio collection device is arranged at different positions indoors, there will be different degrees of delay in the voice positioning instructions received by each audio collection device. Therefore, based on the voice positioning instructions with a fixed propagation speed, the position information of the target object relative to an audio collection device can be determined, and based on the corresponding relationship between the audio collection device and the indication device, the position information can be converted into the indoor initial position of the target object relative to the corresponding indication device, so as to accurately locate the position of the target object in the case of being separated from the mobile terminal; further, determine the target route between the indoor initial position and the indoor destination, and starting from the indoor initial position, based on at least one indication device on the target route, guide the target object to the indoor destination in turn. That is to say, during the indoor navigation process, the indoor self - contained audio collection device and at least one indication device cooperate with each other for navigation, so as to provide indoor navigation services on the basis of being separated from the mobile terminal technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0047] Figure 1 Schematic diagram of WiFi positioning provided by the embodiments of the present application;

[0048] Figure 2 Schematic diagram of Bluetooth positioning provided by the embodiments of the present application;

[0049] Figure 3 Schematic diagram of the application scenario provided by the embodiments of the present application;

[0050] Figure 4 Overall framework diagram of the indoor navigation method provided by the embodiments of the present application;

[0051] Figure 5A Flowchart of the indoor navigation method provided by the embodiments of the present application;

[0052] Figure 5B Flowchart of the method for determining the indoor initial position provided by the embodiments of the present application;

[0053] Figure 5C Flowchart of the method for determining the target route provided by the embodiments of the present application;

[0054] Figure 5D Flow chart of the method for guiding via an indicating device provided by an embodiment of the present application;

[0055] Figure 6 Schematic diagram of the determination method of the target audio acquisition device provided by an embodiment of the present application;

[0056] Figure 7A and Figure 7B Schematic diagram of an indicating method of an indicating device provided by an embodiment of the present application;

[0057] Figure 8A and Figure 8B Schematic diagram of another indicating method of an indicating device provided by an embodiment of the present application;

[0058] Figure 9 Interaction flow chart of the indoor navigation method provided by an embodiment of the present application;

[0059] Figure 10 Example diagram of the application case of the indoor navigation method provided by an embodiment of the present application;

[0060] Figure 11 Another example diagram of the application case of the indoor navigation method provided by an embodiment of the present application;

[0061] Figure 12 Structure diagram of an indoor navigation device provided by an embodiment of the present application;

[0062] Figure 13 Structure diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0063] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0064] For the convenience of understanding the embodiments of the present application, several concepts will be briefly introduced below.

[0065] Smart brain: Generally refers to a software system and hardware device that can receive data such as voice information and reported events, and can perform arithmetic processing on the data to output arithmetic results or control instructions. For example, in a smart building, it usually refers to a central control system.

[0066] Lightweight: It means that on the basis of the original layout in indoor places (such as buildings, parking lots, etc.), without major modifications and wiring operations, and without adding or adding only a small number of positioning auxiliary devices, only by upgrading existing indoor devices (such as corridor lighting lamps, signs, etc.), these devices can have the ability to report events and be controlled by the intelligent brain.

[0067] The design concept of the embodiments of the present application is outlined below.

[0068] The basis of indoor navigation technology is indoor positioning technology. Currently, the following two common indoor positioning methods are available:

[0069] I. WiFi-based positioning method

[0070] WiFi positioning is a relatively popular indoor positioning technology currently. As Figure 1 shown, multiple APs are arranged at preset positions indoors, and each AP can transmit WiFi signals outward. The WiFi terminal (i.e., the mobile terminal) realizes indoor positioning by receiving the WiFi signals.

[0071] WiFi positioning technology includes the propagation model method based on signal strength and the fingerprint recognition method. Among them, the propagation model method based on signal strength means that when the WiFi terminal carried by the target object receives the WiFi signals transmitted by multiple APs at known positions, using the mathematical relationship of a certain channel fading model assumed in the current environment, the distances between the WiFi terminal and multiple APs are estimated, and then the trilateration method is used to determine the position information of the target object. The fingerprint recognition method is based on the propagation characteristics of WiFi signals, combines the detection data of multiple APs into fingerprint information, and estimates the possible position of the WiFi terminal by comparing the current fingerprint with the reference fingerprint.

[0072] However, WiFi positioning requires the WiFi terminal carried by the target object for auxiliary positioning, increasing the positioning cost, and for target objects without a carried WiFi terminal, positioning cannot be performed; at the same time, considering that the WIFI signals in indoor areas (such as corridor corners, bathrooms, etc.) are often weak and the AP density is small, resulting in low positioning accuracy of this method and it is not lightweight enough.

[0073] I. Bluetooth-based positioning method

[0074] Bluetooth-based positioning technologies are generally divided into proximity-based positioning and system positioning. Among them, proximity-based positioning usually includes a locator and a mobile Bluetooth signal generator. The approximate distance between the two is calculated through the RSSI between the Bluetooth signal generator and the locator. Proximity-based positioning technology is usually used in marketing positioning scenarios, that is, scenarios where the specific position coordinates of the Bluetooth signal generator do not need to be known, and only need to determine whether the Bluetooth signal generator enters the range of the locator. Compared with proximity-based positioning, system positioning includes multiple fixed locators. When a mobile Bluetooth signal generator enters the system space, the relative distance between the Bluetooth signal generator and each locator can be obtained, and a relatively accurate coordinate of the Bluetooth signal generator in the system space can be obtained through trilateration and intersection measurement methods.

[0075] Bluetooth positioning can be used in positioning scenarios with high real-time requirements and also for indoor positioning. As Figure 2 shown, in indoor positioning, multiple Bluetooth base stations (i.e., locators) are arranged at preset positions indoors. The indoor map is pre-stored in the Bluetooth terminal (i.e., the Bluetooth signal generator, also known as the mobile terminal). Combining the Bluetooth signals transmitted by the Bluetooth base stations received, indoor positioning is achieved. The principle of Bluetooth positioning is: add RSSI to the transmitted data packet, virtualize the approximate range of the Bluetooth terminal through RSSI, and then use the trilateration method to measure the position of the Bluetooth terminal through intersection.

[0076] However, Bluetooth positioning also requires the Bluetooth terminal carried by the target object for assisted positioning, which increases the positioning cost. Moreover, for target objects without a Bluetooth terminal, positioning cannot be performed. Generally, in large indoor venues, there are many Bluetooth terminals, and there is signal interference between them, resulting in inaccurate positioning. And Bluetooth positioning requires the transformation of the existing indoor wiring to install Bluetooth base stations, with too high cost and not lightweight enough.

[0077] That is to say, whether it is WiFi positioning or Bluetooth positioning, positioning devices need to be installed at the places where the target object passes, and cooperate with the mobile terminal (such as: mobile phone, watch, etc.) carried by the target object for indoor positioning. Once the mobile terminal is missing, positioning cannot be completed, and indoor navigation services cannot be provided, with poor experience.

[0078] In view of this, the embodiment of the present application provides an indoor navigation method based on existing indoor indication devices (such as corridor lighting, signboards, voice playback devices, etc.), realizing a lightweight indoor positioning and navigation solution that is independent of mobile terminals. This method can make full use of the existing equipment systems in the room, without the need for additional wiring and installation of special positioning equipment, saving positioning costs; and during the positioning interaction process, the target object does not need to carry a mobile terminal for auxiliary positioning, nor does it need to download a positioning app, thereby realizing a lightweight positioning method that is independent of mobile terminals and improving the positioning experience. During the navigation process, this method is not affected by WiFi signals and Bluetooth signals compared to WiFi positioning and Bluetooth positioning, and has a higher positioning accuracy.

[0079] The indoor navigation method provided in the embodiment of the present application can be applied to large indoor places with complex layouts such as smart building systems and parking lots. When the direction of the destination is unknown or the path is unknown, the object can be quickly guided to the destination, avoiding the problem of the object wandering in place or spending a long time looking for the destination. The method is also applicable to destinations with low navigation frequency (such as conference rooms, human resources offices, security offices, etc.).

[0080] The following is an explanation of the application scenarios of the embodiments of the present application. Figure 3 As shown, the application scenario includes an audio acquisition device 100 (including but not limited to 101-103), an indication device 200 (including but not limited to 201-203) and a server 300. The audio acquisition device 100 and the indication device 200 can communicate with the server 300 through a communication network. The communication network can be a wireless network.

[0081] The audio collection device 100 is pre-installed at a preset position indoors, such as a main corridor, a corner, a room door, and other places with large traffic. The audio collection device is used to collect voice positioning instructions and transmit the voice positioning instructions to the server 300 through a communication network. Optionally, the audio collection device can be a microphone.

[0082] The indicating device 200 is also pre-installed at a preset position indoors, such as a main corridor, a corner, a room door, and other places with large traffic. The indicating device 200 is used to guide the target object to the indoor destination indicated by the voice positioning instruction, and when the target object passes by the indicating device, the current position of the target object is reported to the server 300 through the communication network. Optionally, the indicating device can be an indoor corridor lighting, a signboard, a voice broadcasting device, etc.

[0083] Among them, the indicating device 200 can be installed at the same position as the audio acquisition device 100, or can be spaced a certain distance from the audio acquisition device 100. The embodiments of the present application do not make restrictive requirements on the installation of the audio acquisition device and the indicating device.

[0084] The server 300 is used to provide indoor positioning and navigation services. Specifically, the server 300 receives the voice positioning instruction sent by the audio acquisition device 100, and based on the voice positioning instruction and the corresponding relationship between the audio acquisition device and the indicating device, determines the initial indoor position of the target object, as well as the target route between the initial indoor position and the indoor destination, and based on the indicating device 200 on the target route, guides the target object to the indoor destination in sequence. Optionally, the server 300 can be a central control system (i.e., the intelligent brain) of a smart building or an indoor parking lot.

[0085] The above-mentioned server 300 can be a single server, or a server cluster or a cloud computing center composed of several servers, or a virtualization platform.

[0086] It should be noted that in the embodiments of the present application, the indoor navigation method is mainly executed on the server 300 side.

[0087] In the embodiments of the present application, the indicating devices indoors are upgraded in advance. Each indicating device includes sensors, such as infrared sensors, radar sensors, etc., and can sense events such as the passing by and staying of a human body. When the target object passes by, it can report the current position of the target object to the server. In addition, the positions of the indicating devices indoors are encoded in advance. Each position encoding includes at least the unique identifier of the indicating device (such as: device serial number), the physical space position (readable by the target object, such as the entrance of the human resources office), the connectivity relationship with other indicating devices, and the corresponding relationship with the audio acquisition device. Among them, the connectivity relationship represents the accessibility between two indicating devices indoors. The corresponding relationship between the indicating device and the audio acquisition device can be established by distance, that is, the audio acquisition device and the indicating device with the closest distance have a corresponding relationship. In the embodiments of the present application, the position encodings of the indicating devices can be used by the server to determine the target route. Optionally, the position encodings of the indicating devices are stored in the server in advance.

[0088] Figure 4The overall framework diagram of the indoor navigation method provided by the embodiments of the present application is shown. Among them, ① each audio collection device is pre-installed in places where the target object can easily be found, such as main corridors, hall entrances, etc. When the target object needs navigation services, it walks near one or more audio collection devices and sends a voice positioning instruction to the audio collection device. The voice positioning instruction carries at least the indoor destination indicated by the target object; ② after receiving the voice positioning instruction, one or more audio collection devices transmit the voice positioning instruction to the server; ③ the server uses the sound source positioning technology to determine the indoor initial position of the target object relative to the nearest target audio collection device, and determines the target route to the indoor destination by analyzing the voice positioning instruction, and sends a control instruction to an indicating device corresponding to the target audio collection device on the target route; ④ after receiving the control instruction, the indicating device presents direction guidance information to the target object in a way that can be perceived by the target object; ⑤ the target object moves according to the direction guidance information. After the target object passes by the indicating device, the indicating device reports the current position of the target object to the server; ⑥ the server determines the next indicating device on the target route according to the current position, and sends a control instruction to the next indicating device to guide the target object until the target object reaches the indoor destination.

[0089] See Figure 5A , which is the flowchart of the indoor navigation method provided by the embodiments of the present application. This process is executed by the server and mainly includes the following steps:

[0090] S501: The server obtains the voice positioning instruction of the target object through each audio collection device installed indoors.

[0091] In the embodiments of the present application, since it is a navigation method that is separated from the mobile terminal, each audio collection device needs to be pre-installed in places where the target object can easily be found, such as the main corridor and hall entrance, which are necessary places indoors. In this way, it is convenient for the target object to walk to the preset position of the audio collection device and input the voice positioning instruction when it needs indoor navigation services.

[0092] In an alternative embodiment, when executing S501, after the target object enters a large indoor venue with local complexity, since there are multiple floors indoors and multiple rooms on each floor, and the target object doesn't know how to go to the indoor destination it wants to reach, the target object sends a voice positioning instruction to one or more nearby audio collection devices. The voice positioning instruction carries at least the indoor destination indicated by the target object. After receiving the voice positioning instruction, one or more audio collection devices transmit it to the server, and the server provides navigation services based on the voice positioning instruction.

[0093] S502: The server determines the position information of the target object relative to an audio collection device based on the voice positioning instruction.

[0094] Generally, each audio acquisition device monitors sound signals at different location points indoors. Since the distances and directions between the target object and each audio acquisition device are different, and the propagation speed of sound signals is fixed, the time for the voice positioning instruction to reach each audio acquisition device has varying degrees of delay. Therefore, in S502, based on the voice positioning instruction, the position information of the target object relative to an audio acquisition device can be determined, including but not limited to direction and distance. For details, see Figure 5B :

[0095] S5021: The server selects the target audio acquisition device based on the time when the voice positioning instruction reaches each audio acquisition device.

[0096] Specifically, during implementation, the server sorts the times when the voice positioning instruction reaches each audio acquisition device. Based on the sorting result, it determines the audio acquisition device that first receives the voice positioning instruction, and takes the audio acquisition device that first receives the voice positioning instruction as the target audio acquisition device.

[0097] Taking the audio acquisition device as a microphone as an example, as Figure 6 shown, the target object is located at the T-shaped intersection. The time for the voice positioning instruction to reach microphone 1 is a1, the time for the voice positioning instruction to reach microphone 2 is a2, and the time for the voice positioning instruction to reach microphone 3 is a3. Among them, a2 > a1 > a3. Since the time for the voice positioning instruction to reach microphone 3 is the shortest, it indicates that microphone 3 is the closest to the target object, so microphone 3 is taken as the target audio acquisition device.

[0098] S5022: The server determines the position information of the target object relative to the target audio acquisition device based on the propagation state parameters of the voice positioning instruction reaching the target audio acquisition device.

[0099] When executing S5022, the server, based on the propagation state parameters of the voice positioning instruction reaching the target audio acquisition device, including but not limited to azimuth angle, elevation angle, and propagation distance, uses a sound source localization algorithm to calculate the position information of the target object relative to the target audio acquisition device.

[0100] Among them, the sound source localization algorithm includes but not limited to the positioning method based on beamforming, the positioning method based on high-resolution spectral estimation, and the positioning method based on time difference of arrival (TDOA) of sound.

[0101] S503: The server converts the position information into the initial indoor position of the target object relative to the corresponding indicating device based on the correspondence between the audio acquisition device and the indicating device.

[0102] In the embodiments of the present application, the correspondence between the audio acquisition device and the indication device represents the indication device closest to the audio acquisition device. When executing S503, the server determines, based on the correspondence between the audio acquisition device and the indication device, an indication device closest to the target audio acquisition device, and converts the position information into an initial indoor position relative to this indication device.

[0103] S504: The server determines a target route between the initial indoor position and the indoor destination.

[0104] For the determination process of the target route, see Figure 5C :

[0105] S5041: The server determines an initial indication device closest to the initial indoor position based on the position codes of each indication device stored in advance.

[0106] Generally, when the distance between the indication device and the target object is relatively far, the target object may not be able to perceive the change of the indication device. Therefore, an indoor indication device closest to the target object can be used as the initial indication device.

[0107] Specifically, when implementing, the server determines, based on the position codes of each indication device stored in advance and according to a certain mapping method, an initial indication device closest to the initial indoor position of the target object in the room.

[0108] S5042: The server determines the connection relationship between the initial indication device and each candidate indication device between the initial indoor position and the indoor destination based on each position code.

[0109] In the embodiments of the present application, each position code includes at least the unique identifier of an indication device, the physical space position, the connection relationship with other indication devices, and the correspondence between this indication device and the corresponding audio acquisition device. Therefore, in S5042, the server can determine the connection relationship between the initial indication device and each candidate indication device between the initial indoor position and the indoor destination based on the position codes of each indication device stored in advance, and this connection relationship represents the reachability between two indication devices.

[0110] S5043: The server determines the target route based on the connection relationship between the initial indication device and each candidate indication device.

[0111] In the embodiments of the present application, the target route consists of a series of continuous, ordered, and directed position points, and this sequence of position points is constituted by the position codes of each indication device between the initial indoor position and the indoor destination.

[0112] In another alternative embodiment, in order to improve the efficiency of indoor navigation, when the server determines multiple routes to an indoor destination, it selects one of the route with the shortest distance, the route with the fewest number of floors crossed, and the route with the least travel time as the target route.

[0113] S505: Starting from the indoor initial position, the server guides the target object to the indoor destination in sequence based on at least one indicating device on the target route.

[0114] Generally, one or more indicating devices are installed on the target route. When there are multiple indicating devices, their device types can be the same or different.

[0115] For example, when the device types are the same, the indicating devices are all corridor lighting fixtures. When the device types are different, the indicating devices are corridor lighting fixtures and speakers.

[0116] When executing S505, starting from the indoor initial position, the server performs the following operations in sequence based on at least one indicating device along the target route. See Figure 5D :

[0117] S5051: When the server determines that the target object is within the sensing range of the sensor included in one indicating device based on the sensor included in one indicating device, it receives the current position of the target object reported by one indicating device.

[0118] In the embodiments of the present application, each indicating device includes a sensor, including but not limited to an infrared sensor, a radar sensor, etc. The sensor can sense events such as a person passing by or staying, enabling each indicating device to have an event reporting function.

[0119] Specifically, when executing S5051, when the target object enters the sensing range of the sensor of one indicating device, the position of this indicating device can be used as the current position of the target object, and this indicating device reports the current position of the target object to the server. Since the present application adopts a navigation method of guiding in sequence by at least one indicating device, after the server receives the current position reported by this indicating device, it determines the next indicating device on the target route based on the current position of the target object.

[0120] S5052: The server sends a control instruction to one indicating device to enable one indicating device to present direction guidance information to the target object.

[0121] In S5052, after the server receives the current position reported by one indicating device, it sends a control instruction to this indicating device. After receiving the control instruction, the indicating device presents direction guidance information in a manner perceivable by the target object.

[0122] For example, when there are multiple indicating devices on the target route, the server determines the first indicating device on the target route that is closest to the initial position of the target object, and sends a control instruction to the first indicating device. After receiving the control instruction, the first indicating device presents direction guidance information to the target object. According to the direction guidance information, the target object walks towards the first indicating device. When a sensor included in the first indicating device detects the target object within the sensing range, the current position of the target object is reported to the server. The server determines the next indicating device based on the current position of the target object and the target route, and sends a control instruction to the next indicating device, and presents the direction guidance information to the target object through the next indicating device until the target object reaches the indoor destination.

[0123] In an embodiment of the present application, the direction guidance information presented by the indicating device includes at least one of voice guidance information and light guidance information.

[0124] In S505, after the server determines the target route, starting from the indoor initial position, the target object is guided sequentially through at least one indicating device, so that the normal operation environment indoors will not be disturbed.

[0125] For example, taking the corridor lighting lamp as the indicating device, if the server controls all the corridor lighting lamps on the target route to light up or flash at the same time, it will affect the normal lighting of the corridor. However, lighting up or flashing one corridor lighting lamp at a time has a relatively small impact on the lighting effect of the corridor and can achieve the purpose of guiding the direction of the target object.

[0126] Taking the indicating device as an indicator sign with a direction arrow as an example, the arrow in the indicator sign indicates the direction in which the target object travels. As Figure 7A shown, the server determines the indicator sign 1 closest to the target object according to the indoor initial position of the target object, and controls the indicator sign 1 to light up. The target object walks forward according to the execution arrow in the indicator sign 1. When the target object passes by the indicator sign 1, the server determines the indicator sign 2 based on the current position of the target object reported by the indicator sign 1, and controls the indicator sign 2 to light up. The target object continues to walk forward according to the execution arrow in the indicator sign 2, and so on. Until after the indicator sign 4 lights up, the target object is guided to reach the indoor destination, see Figure 7B shown.

[0127] For a target object that uses the indoor navigation method provided in the embodiment of the present application for the first time, considering that it may not know the function of the direction guidance information presented by the indicating device, therefore, when the first indicating device presents the direction guidance information to the target object, the server conveys, based on the first indicating device, a prompt message for indicating the usage method of the direction guidance information to the target object.

[0128] Among them, the embodiments of the present application do not impose restrictive requirements on the manner of prompting information. For example, the prompting can be performed by the indicating device itself, or by other devices associated with the indicating device (such as a display screen, a speaker, etc.).

[0129] Taking the indicating device as the corridor lighting lamp as an example, as Figure 8A shown, when the server sends a control instruction to the first corridor lighting lamp, the first corridor lighting lamp lights up. At the same time, the speaker associated with the first corridor lighting lamp broadcasts "Please come this way, King" to inform the target object to walk according to the direction guiding information presented by the corridor lighting lamp. When the target object passes the first corridor lamp, the server controls the second corridor lamp to light up. Since the target object already knows the function of the corridor lighting lamp lighting up through the speaker associated with the first corridor lighting lamp, when the second corridor lighting lamp lights up, there is no need to use the speaker for voice broadcast. And so on, until the fourth corridor lighting lamp lights up, guiding the target object to reach the indoor destination, see Figure 8B shown.

[0130] In the indoor navigation method provided by the embodiments of the present application, considering that indoor corridors are almost all relatively long and narrow, and even have corners, it is necessary to locate the indoor initial position of the target object. In specific implementation, the server determines the indoor initial position of the target object based on the voice positioning instruction obtained from the audio collection device, rather than the indicating device reporting the indoor initial position of the target object. This is because there may be multiple objects in the corridor at the same time. If each indicating device reports the events of different objects passing through the corresponding indicating device to the server at the same time, at this time, the server will determine multiple indoor initial positions and cannot accurately determine which indoor initial position is the target object's. However, it is different when using the audio collection device. The server uses the sound source positioning technology to calculate the voice positioning instructions collected by each audio collection device, and only determines one indoor initial position, and the positioning method is relatively accurate.

[0131] See Figure 9 , the process of the indoor navigation method provided by the embodiments of the present application is described from the interaction process among the audio collection device, the indicating device, and the server, mainly including the following steps:

[0132] S901: Each audio collection device in the room collects the voice positioning instruction of the target object.

[0133] In an alternative implementation manner, each audio collection device is pre-installed in the main corridor of the room. When the target object walks to the main corridor of the room and sends a voice positioning instruction to at least one nearby audio collection device, the voice positioning instruction carries at least the indoor destination indicated by the target object.

[0134] S902: Each audio acquisition device sends the collected voice positioning instruction and the propagation state parameter of the voice instruction reaching the corresponding audio acquisition device to the server.

[0135] Among them, the propagation state parameter includes but is not limited to azimuth, elevation angle, and transmission distance.

[0136] S903: The server determines the initial indoor position and the target route of the target object based on the voice positioning instruction and the propagation state parameter.

[0137] In the embodiments of the present application, since the distances between the target object and each audio acquisition device are different, the voice positioning instruction reaches each audio acquisition device with different degrees of delay. Based on the propagation principle of sound signals, it can be known that the audio acquisition device closest to the target object collects the voice positioning instruction first, that is, the delay degree is the smallest. Therefore, the audio acquisition device closest to the target object can be used as the target audio acquisition device, and based on the propagation state parameter of the voice positioning instruction relative to the target audio acquisition device, the position information of the target object is determined. Using the corresponding relationship between the audio acquisition device and the indication device, the position information is converted into the initial indoor position relative to the corresponding indication device. Further, based on the initial indoor position and the indoor destination indicated by the voice positioning instruction, the target route is determined.

[0138] S904: The server sends a control instruction to the initial indication device on the target route.

[0139] In S904, the target route includes one or more indication devices. The indication device closest to the target object is used as the initial indication device, and a control instruction is sent to the initial indication device to control the indication device to give a change that can be perceived by the target object.

[0140] S905: The initial indication device presents direction guidance information to the target object based on the control instruction.

[0141] Taking the corridor lighting lamp as an example of the initial indication device, when it receives the control instruction, it immediately changes to light up or flash. These changes can be used as direction guidance information to guide the target object to the indoor destination.

[0142] S906: The initial indication device senses the arrival event of the target object.

[0143] In the embodiments of the present application, each indication device includes a sensor that can sense events such as the passing by and staying of a human body. When the target object walks towards the initial indication device according to the direction guidance information, once it enters the sensing range of the sensor, the indication device can sense the arrival event of the target object.

[0144] S907: The initial indication device reports the current position of the target object to the server.

[0145] Optionally, the current position of the target object is the position of the initial pointing device.

[0146] S908: The server determines the next indicating device based on the current location and the target route.

[0147] In an embodiment of the present application, the server determines the next indicating device connected to the initial indicating device on the target route according to the current position of the target object reported by the initial indicating device.

[0148] S909: The server sends a control instruction to the next indicating device.

[0149] In S909, the control instruction is used to control the next pointing device to give a change that can be perceived by the target object.

[0150] S910: The next indicating device presents direction guidance information to the target object based on the control instruction.

[0151] The direction guidance information presented by the next indicating device is the same as the direction guidance information presented by the initial indicating device. The target object walks towards the indicating device based on the direction guidance information presented by the next indicating device and reports the current position of the target object to the server. The server controls the indicating devices on the target route in turn to guide the target object to reach the indoor destination.

[0152] Typically, in a large smart building, there are multiple floors, and each floor has multiple rooms, which is an indoor place with a relatively complex layout. Therefore, the indoor navigation method provided in the embodiment of the present application can be used.

[0153] like Figure 10 As shown, a microphone array is pre-installed in the corridor (including but not limited to the main corridor and the auxiliary corridor). The target object walks to one or more microphones nearby and issues a voice positioning instruction - "How to get to Conference Room C", and the microphone transmits the voice positioning instruction to the intelligent brain. The intelligent brain parses the voice positioning instruction to determine the indoor initial position and target route of the target object; further, the intelligent brain controls the change of the corridor lighting closest to the target object (such as lighting or strobing) according to the indoor initial position and the target route. The target object walks towards the corridor lighting according to the change of the corridor lighting, and the corridor lighting reports the passing event of the target object to the intelligent brain. Based on the event reported by the corridor lighting, the intelligent brain controls the change of the next corridor lighting on the target route, and guides the target object to Conference Room C in sequence.

[0154] Generally, in a large underground parking lot, for the convenience of management, different areas are usually divided, and different areas are interconnected. However, the positioning signal in a general underground parking lot is weak and cannot be used for positioning and navigation. Since the indoor navigation method provided by the embodiments of the present application is independent of the mobile terminal and is not affected by the positioning signal, it can be applied in a large underground parking lot.

[0155] As Figure 11 shown, a microphone array is pre-installed in the driving passage of the underground parking lot. Before driving, the target object walks near a microphone and issues a voice positioning instruction - "How to get to the parking lot exit". The microphone transmits the voice positioning instruction to the intelligent brain. The intelligent brain analyzes the voice positioning instruction to determine the initial indoor position and the target route of the target object. Further, based on the initial indoor position and the target route, the intelligent brain controls the change of an arrow-shaped sign closest to the target object, and the arrow on the changed sign indicates the driving direction of the target object. When the target object passes by the sign, the sign reports the passing event of the target object to the intelligent brain. Based on the event reported by the sign, the intelligent brain controls the change of the next sign on the target route, and sequentially guides the target object to drive out of the parking lot exit.

[0156] The indoor navigation method provided by the embodiments of the present application is independent of the mobile terminal and performs positioning by means of various audio collection devices installed indoors. Through various audio collection devices, a voice positioning instruction carrying the indoor destination indicated by the target object is obtained. Since the various audio collection devices are arranged at different positions indoors, the time when the voice positioning instruction reaches each audio collection device is different. Therefore, the target audio collection device can be selected based on each arrival time, and the propagation state parameters of the voice positioning instruction reaching the target audio collection device are analyzed to determine the position information of the target object relative to an audio collection device. Based on the corresponding relationship between the audio collection device and the indication device, the position information is converted into the initial indoor position relative to an indication device, so as to realize the accurate positioning of the target object's position through the cooperation of the audio collection device and the indication device in the case of being independent of the mobile terminal. Further, the target route between the initial indoor position and the indoor destination is determined, and starting from the initial indoor position, based on at least one indication device on the target route, the target object is sequentially guided to the indoor destination. That is to say, during the indoor navigation process, the indoor self-owned audio collection device and at least one indication device cooperate to navigate together. That is, the target audio collection device locates the initial indoor position of the target object, and at least one indication device on the target route guides, so as to provide indoor navigation services on the basis of being independent of the mobile terminal. And, by means of the sequential guidance method, the impact on the overall indoor operation environment can be reduced.

[0157] Based on the same inventive concept, an indoor navigation device is further provided in an embodiment of the present application. The analysis device may be the server (i.e., the intelligent brain) in the foregoing embodiment, and the analysis device may be a hardware structure, a software module, or a combination of a hardware structure and a software module. Based on the above embodiment, refer to Figure 12 As shown, an indoor navigation device in an embodiment of the present application specifically includes:

[0158] An acquisition module 1201, configured to obtain a voice positioning instruction of a target object through each installed audio acquisition device in the room; wherein, the voice positioning instruction at least carries an indoor destination indicated by the target object;

[0159] A determination module 1202, configured to determine position information of the target object relative to an audio acquisition device based on the voice positioning instruction, and convert the position information into an indoor initial position of the target object relative to a corresponding indicating device based on the correspondence between the audio acquisition device and the indicating device; and determine a target route between the indoor initial position and the indoor destination;

[0160] A navigation module 1203, configured to start from the indoor initial position and guide the target object to the indoor destination in sequence based on at least one indicating device on the target route.

[0161] Optionally, the navigation module 1203 is specifically configured to:

[0162] Starting from the indoor initial position, in accordance with the target route, based on the at least one indicating device, perform the following operations respectively in sequence:

[0163] Based on a sensor included in an indicating device, when it is determined that the target object is within the sensing range of the sensor, receive the current position of the target object reported by the indicating device, and the current position is used to determine the next indicating device;

[0164] Send a control instruction to the indicating device to cause the indicating device to present direction guidance information to the target object.

[0165] Optionally, when the indicating device is the first indicating device, when presenting the direction guidance information to the target object through the first indicating device, the navigation module 1203 is further configured to:

[0166] Based on the first indicating device, convey a prompt message to the target object, and the prompt message is used to indicate the usage method of the direction guidance information.

[0167] Optionally, the direction guidance information includes at least one of voice guidance information and light guidance information.

[0168] Optionally, the determining module 1202 is specifically configured to:

[0169] Select a target audio acquisition device based on the time when the voice positioning instruction reaches each audio acquisition device;

[0170] Determine the position information of the target object relative to the target audio acquisition device based on the propagation state parameter of the voice positioning instruction reaching the target audio acquisition device.

[0171] Optionally, the propagation state parameter includes at least one of the azimuth angle, pitch angle, and propagation distance of the voice positioning instruction relative to the target audio acquisition device.

[0172] Optionally, the determining module 1202 is specifically configured to:

[0173] Sort the times when the voice positioning instruction reaches each audio acquisition device, and determine the audio acquisition device that first receives the voice positioning instruction based on the sorting result;

[0174] Use the audio acquisition device that first receives the voice positioning instruction as the target audio acquisition device.

[0175] Optionally, the determining module 1202 is specifically configured to:

[0176] Determine the initial indicating device closest to the indoor initial position based on the position codes of each indicating device stored in advance;

[0177] Based on each position code, determine the connection relationship between the initial indicating device and each candidate indicating device between the indoor initial position and the indoor destination;

[0178] Determine the target route based on the connection relationship between the initial indicating device and each candidate indicating device.

[0179] Optionally, each position code includes at least the unique identifier of an indicating device, the physical space position, the connection relationship with other indicating devices, and the corresponding relationship with the audio acquisition device.

[0180] Optionally, the determining module 1202 is specifically configured to:

[0181] When multiple routes to the indoor destination are determined based on the connection relationship between the initial indicating device and each candidate indicating device, select one of the route with the shortest distance, the route with the fewest number of floors crossed, and the route with the least time used as the target route.

[0182] Optionally, the sensors included in the indicating device include an infrared sensor and a radar sensor.

[0183] As an embodiment, Figure 12 The indoor navigation device in can be used in the indoor navigation method provided by the embodiments of the present application and can achieve the same technical effects, which will not be elaborated here.

[0184] As an example of a hardware entity, the above device is Figure 13 The electronic device shown. The electronic device includes a processor 1301, a storage medium 1302, and at least one external communication interface 1303; the above-mentioned processor 1301, storage medium 1302, and external communication interface 1303 are all connected through a bus 1304.

[0185] A computer program is stored in the storage medium 1302;

[0186] When the processor 1301 executes the computer program, it implements an indoor navigation method described above.

[0187] Figure 13 In an example of a processor 1301 is given, but actually the number of processors 1301 is not limited.

[0188] Among them, the storage medium 1302 can be a volatile memory, such as a random-access memory (RAM); the storage medium 1302 can also be a non-volatile memory, such as a read-only memory, a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), or the storage medium 1302 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this. The storage medium 1302 can be a combination of the above storage media.

[0189] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0190] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices generate means for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0191] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0192] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0193] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these changes and modifications.

Claims

1. An indoor navigation method, characterized in that, it includes: Obtaining a voice positioning instruction of a target object through each installed audio acquisition device in the room; wherein, the voice positioning instruction at least carries an indoor destination indicated by the target object; Based on the voice positioning instruction, determining the position information of the target object relative to an audio acquisition device; Based on the corresponding relationship between the audio acquisition device and the existing indicating devices in the room, converting the position information into an indoor initial position of the target object relative to the corresponding indicating device; Determining a target route between the indoor initial position and the indoor destination; Starting from the indoor initial position, based on at least one indicating device on the target route, guiding the target object to the indoor destination in sequence.

2. The method according to claim 1, characterized in that, Starting from the indoor initial position, based on at least one indicating device on the target route, guiding the target object to the indoor destination in sequence, includes: Starting from the indoor initial position, following the target route, based on the at least one indicating device, respectively performing the following operations in sequence: Based on a sensor included in an indicating device, when it is determined that the target object is within the sensing range of the sensor, receiving the current position of the target object reported by the indicating device, and the current position is used to determine the next indicating device; Sending a control instruction to the indicating device to enable the indicating device to present direction guiding information to the target object.

3. The method according to claim 2, characterized in that, When the indicating device is the first indicating device, when presenting the direction guiding information to the target object through the first indicating device, the method further includes: Based on the first indicating device, conveying a prompt message to the target object, and the prompt message is used to indicate the usage method of the direction guiding information.

4. The method according to claim 2, characterized in that, The direction guiding information includes at least one of sound guiding information and light guiding information.

5. The method according to claim 1, characterized in that, The determining the position information of the target object relative to an audio acquisition device based on the voice positioning instruction includes: Selecting a target audio acquisition device based on the time when the voice positioning instruction reaches each audio acquisition device; Determining the position information of the target object relative to the target audio acquisition device based on the propagation state parameter of the voice positioning instruction reaching the target audio acquisition device.

6. The method according to claim 5, characterized in that, The propagation state parameter includes at least one of a direction angle, a pitch angle, and a propagation distance of the voice positioning instruction relative to the target audio acquisition device.

7. The method according to claim 1, characterized in that, The selecting a target audio acquisition device based on the time when the voice positioning instruction reaches each audio acquisition device includes: Sort the times when the voice positioning instructions reach each audio collection device, and based on the sorting result, determine the audio collection device that first receives the voice positioning instructions; Use the audio collection device that first receives the voice positioning instructions as the target audio collection device.

8. The method according to claim 1, wherein, the determination of the target route between the initial indoor position and the indoor destination includes: Based on the position codes of each indicating device stored in advance, determine the initial indicating device closest to the initial indoor position; Based on each position code, respectively determine the connection relationships between the initial indicating device and each candidate indicating device between the initial indoor position and the indoor destination; Based on the connection relationships between the initial indicating device and each candidate indicating device, determine the target route.

9. The method according to claim 8, wherein, Each position code includes at least the unique identifier of an indicating device, the physical space position, the connection relationship with other indicating devices, and the corresponding relationship with the audio collection device.

10. The method according to claim 8, wherein, When multiple routes to reach the indoor destination are determined based on the connection relationships between the initial indicating device and each candidate indicating device, select one of the route with the shortest distance, the route with the fewest number of floors crossed, and the route with the least time consumption as the target route.

11. The method according to any one of claims 1-10, wherein, The sensors included in the indicating device include infrared sensors and radar sensors.

12. An indoor navigation device, wherein, comprises: An acquisition module, configured to acquire a voice positioning instruction of a target object through each audio collection device installed indoors; wherein, the voice positioning instruction carries at least the indoor destination indicated by the target object; A determination module, configured to determine the position information of the target object relative to an audio collection device based on the voice positioning instruction, and convert the position information into the initial indoor position of the target object relative to the corresponding indicating device based on the correspondence between the audio collection device and the existing indicating devices indoors, and determine the target route between the initial indoor position and the indoor destination; A navigation module, configured to start from the initial indoor position and guide the target object to the indoor destination in sequence based on at least one indicating device on the target route.

13. The indoor navigation device according to claim 12, wherein, The navigation module is specifically configured to: Start from the initial indoor position, follow the target route, and based on the at least one indicating device, respectively perform the following operations in sequence: Based on the sensor included in an indicating device, when it is determined that the target object is within the sensing range of the sensor, receive the current position of the target object reported by the indicating device, and the current position is used to determine the next indicating device; Send a control instruction to the indicating device to make the indicating device present direction guidance information to the target object.

14. The indoor navigation device according to claim 13, characterized in that, when the one indicating device is the first indicating device, the navigation module is further configured to: convey a prompt message to the target object based on the first indicating device, where the prompt message is used to indicate the usage mode of the direction guidance information.

15. The indoor navigation device according to claim 12, characterized in that, the determining module is specifically configured to: select a target audio collection device based on the time when the voice positioning instruction reaches each audio collection device; determine the position information of the target object relative to the target audio collection device based on the propagation state parameter of the voice positioning instruction reaching the target audio collection device.

16. The indoor navigation device according to claim 12, characterized in that, the determining module is specifically configured to: determine the initial indicating device closest to the indoor initial position based on the position codes of each indicating device stored in advance; determine the connection relationship between the initial indicating device and each candidate indicating device between the indoor initial position and the indoor destination respectively based on each position code; determine the target route based on the connection relationship between the initial indicating device and each candidate indicating device respectively.

17. The indoor navigation device according to claim 16, characterized in that, the position code at least includes the unique identifier of the indicating device, the physical space position, the connection relationship with other indicating devices, and the corresponding relationship with the audio collection device.

18. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, when the processor executes the program, the method according to any one of claims 1-11 is implemented.

19. A computer-readable storage medium, on which a computer program is stored, characterized in that: when the computer program is executed by a processor, the method according to any one of claims 1-11 is implemented.

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