Method, apparatus, device and storage medium for indoor navigation

Abstract

The disclosure provides a method, device, equipment and storage medium for indoor navigation, relates to the technical field of computers, and particularly relates to the technical fields of intelligent search, big data, the Internet of Things and cloud computing. The specific implementation scheme is as follows: according to query information, determining a first indoor destination in a target building based on an indoor navigation map of the target building; according to a user position and a position of the first indoor destination, planning an indoor navigation route; and according to a preset arrival time and a travel duration of the indoor navigation route, determining a navigation mode, so that the user reaches the first indoor destination according to the navigation mode and the indoor navigation route. According to the technical scheme of the disclosure, the indoor navigation can be more reasonable and personalized for the user.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of computer, in particular to the technical field of intelligent search, big data, Internet of Things and cloud computing. BACKGROUND

[0002] In recent years, with the continuous expansion of public buildings, the indoor structure is increasingly complicated. In order to facilitate people to quickly find and reach the destination when they are in the indoor environment, a display board is usually set in the indoor environment to play a guiding role. However, this cannot intuitively make people clear the walking route to the destination, and therefore, it is urgent to extend the navigation service to the indoor environment. SUMMARY

[0003] The present disclosure provides a method, device, equipment and storage medium for indoor navigation.

[0004] According to an aspect of the present disclosure, a method for indoor navigation is provided, comprising:

[0005] determining a first indoor destination in a target building according to query information and based on an indoor navigation map of the target building;

[0006] planning an indoor navigation route according to a user position and a position of the first indoor destination; and

[0007] determining a navigation mode according to a preset arrival time and a travel duration of the indoor navigation route, so as to make the user reach the first indoor destination according to the navigation mode and the indoor navigation route.

[0008] According to another aspect of the present disclosure, a device for indoor navigation is provided, comprising:

[0009] a first determining module configured to determine a first indoor destination in a target building according to query information and based on an indoor navigation map of the target building;

[0010] a first planning module configured to plan an indoor navigation route according to a user position and a position of the first indoor destination; and

[0011] a second determining module configured to determine a navigation mode according to a preset arrival time and a travel duration of the indoor navigation route, so as to make the user reach the first indoor destination according to the navigation mode and the indoor navigation route.

[0012] According to another aspect of the present disclosure, an electronic device is provided, comprising:

[0013] at least one processor; and

[0014] a memory connected with the at least one processor in communication; wherein

[0015] The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any embodiment of the present disclosure.

[0016] According to another aspect of the present disclosure, a non-transitory computer readable storage medium storing computer instructions is provided, wherein the computer instructions are used to make the computer perform the method according to any embodiment of the present disclosure.

[0017] According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method according to any embodiment of the present disclosure.

[0018] According to the technical solutions of the present disclosure, the indoor navigation for the user can be more reasonable and personalized.

[0019] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are used to better understand the present solution and do not constitute limitations on the present disclosure. Among them:

[0021] Figure 1 is a schematic diagram of the method of indoor navigation according to the embodiments of the present disclosure;

[0022] Figure 2 is a flowchart of the method of indoor navigation according to the embodiments of the present disclosure;

[0023] Figure 3 is an application scenario diagram of the method of indoor navigation according to the embodiments of the present disclosure;

[0024] Figure 4 is an application scenario diagram of the method of indoor navigation according to the embodiments of the present disclosure;

[0025] Figure 5 is a schematic diagram of the device of indoor navigation according to the embodiments of the present disclosure;

[0026] Figure 6 is a block diagram of an electronic device for implementing the method of indoor navigation according to the embodiments of the present disclosure. DETAILED DESCRIPTION

[0027] Exemplary embodiments of the present disclosure are described herein with reference to the accompanying drawings, which are meant to be exemplary in nature, and include various details intended to facilitate understanding of the present disclosure. However, those skilled in the art will recognize that the embodiments described herein can be practiced without these specific details. In other instances, well-known structures and functions have not been described in detail in order to not obscure the disclosure. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present disclosure is defined by the appended claims.

[0028] As shown in Figure 1 , the present disclosure provides a method for indoor navigation, comprising:

[0029] Step S101: determining a first indoor destination in a target building according to query information and based on an indoor navigation map of the target building.

[0030] Step S102: planning an indoor navigation route according to a user location and a location of the first indoor destination.

[0031] Step S103: determining a navigation mode according to a preset arrival time and a travel duration of the indoor navigation route, so as to make the user reach the first indoor destination according to the navigation mode and the indoor navigation route.

[0032] According to the embodiments of the present disclosure, it should be noted that:

[0033] The query information can be understood as any form of information input by the user related to the indoor destination to be reached. For example, it can be text information, image information, or identification information in the interface of a mobile terminal (interactive buttons of target interfaces in the graphical user interface of the target building, such as the interactive buttons of the mother and infant room and the bathroom as shown in Figure 4 ).

[0034] The target building can be any building with any use, including but not limited to: shopping malls, hospitals, office buildings, etc.

[0035] The first indoor destination can be understood as the destination to be reached by the user. If the target building is a shopping mall, the first indoor destination can include a bathroom, a customer service desk, a certain specific store, etc. in the shopping mall. If the target building is a hospital, the first indoor destination can include a clinic, a ward, a bathroom, etc. If the target building is an office building, the first indoor destination can include an office, a tea room, a conference room, etc.

[0036] The indoor navigation map can be a map pre-constructed based on indoor environment data and / or indoor landmark data in the target building. The indoor navigation map can display POI (Point of Interest) information contained in different floors, and the POI information corresponds to landmarks or a certain specific indoor space region in the floor.

[0037] The user position can be understood as the current real-time position of the user in the target building, or can be understood as a position specified by the user in the target building.

[0038] The preset arrival time can be understood as a time set by the user in advance for reaching the first indoor destination. The preset arrival time can be a time point or a time period, which is not limited herein. For example, the user wants to reach the first indoor destination at 10:00, and 10:00 is the preset arrival time.

[0039] The travel duration of the indoor navigation route can be understood as the total duration required for the user to walk from the user position to the position of the first indoor destination.

[0040] The navigation mode can be understood as a specific navigation logic strategy. For example, the strategies include directly navigating to the first indoor destination, navigating to other intermediate destinations along the way before reaching the first indoor destination, immediately starting navigation to guide the user to the first indoor destination, starting navigation at a certain time to guide the user to the first indoor destination, and the like.

[0041] According to the embodiments of the present disclosure, the query information and the indoor navigation map are used to automatically provide the user with a navigation route, without the need for the user to determine the specific floor position of the destination to be reached in advance and then make a query, thereby skipping the cumbersome step of finding the floor on which the destination is located, simplifying the user operation, and providing a more reasonable and fast navigation mode. Meanwhile, the preset arrival time and the travel duration of the indoor navigation route are used to determine the navigation mode, which can also provide personalized, refined, and intelligent navigation for the user, and meet the diverse needs of different users.

[0042] In one example, as shown in Figure 2 The embodiments of the present disclosure provide an indoor navigation method, which includes:

[0043] Determining whether the query information contains the name or type of the queried destination (or indoor facility).

[0044] If the query information contains the name or type of the queried destination, retrieving and determining the first indoor destination in the target building based on the indoor navigation map of the target building.

[0045] Planning an indoor navigation route according to the user position and the position of the first indoor destination.

[0046] Determining a navigation mode according to the preset arrival time and the travel duration of the indoor navigation route, so that the user reaches the first indoor destination according to the navigation mode and the indoor navigation route.

[0047] In one example, as shown in Figure 2 The indoor navigation method can further include:

[0048] The planned indoor navigation route is associated with the user and stored in a user database. When the user inputs the same query information subsequently, the indoor navigation route is directly fed back. Therefore, the indoor navigation service is provided for the user more quickly.

[0049] In an embodiment, the method for indoor navigation of the present disclosure includes steps S101-S103, wherein step S101: determining a first indoor destination in a target building according to query information and based on an indoor navigation map of the target building, can include:

[0050] Step S1011: in a case where the query information is image information, performing image recognition on the query information to obtain an image recognition result.

[0051] Step S1012: determining the first indoor destination in the target building according to the image recognition result and map data of the indoor navigation map of the target building.

[0052] According to the present disclosure, it should be noted that:

[0053] The image information can include a storefront image of a destination pre-shot by a user, an image containing a destination name, and the like, as long as information related to the destination can be recognized therefrom and found from the map data of the indoor navigation map. The map data of the indoor navigation map can contain any information in the target building. For example, a storefront image of a store, a clinic, or an office, address information or name information of a store, a clinic, or an office, picture information or text information of products sold by a store or a pharmacy, and the like.

[0054] For example, when the target building is a shopping mall, the image information can be a storefront image of a store, a hangtag image of clothes specifically sold in a store, or an image of a specific product sold by a store. When the target building is a hospital, the image information can be a test report image, a storefront image of an outpatient department, or a hospital image found on the Internet.

[0055] According to the present disclosure, using the image information as the query information for indoor navigation can reduce the search cost of tedious text information input by a user. In the case of a complex indoor destination query scenario, the first indoor destination can be determined by providing image information in the form of photographing or uploading an image, and a navigation route of the first indoor destination is planned according to a current position of the user.

[0056] In an embodiment, the method for indoor navigation of the present disclosure comprises steps S101-S103, S1011, and S1012, wherein step S1012: determining the first indoor destination in the target building according to the image recognition result and the map data of the indoor navigation map of the target building, can comprise:

[0057] Determining the keyword information in the image recognition result.

[0058] Determining the first indoor destination in the target building matching the keyword information based on the map data of the indoor navigation map of the target building according to the keyword information.

[0059] According to the embodiments of the present disclosure, it should be noted that:

[0060] The keyword information can be understood as any text information in the image. For example, the image information is a storefront image of a certain clothing store, and the keyword information can be the specific name of the store. For another example, the image information is a test sheet image of a hospital, and the keyword information can be the specific department name on the test sheet.

[0061] By matching the keyword information and the text information in the map data of the indoor navigation map, the first indoor destination can be determined.

[0062] According to the embodiments of the present disclosure, by taking the keyword information recognized in the image as the query information, the retrieval cost of the user's tedious text information input can be reduced. In the indoor destination query scene of complex information, the first indoor destination can be determined by providing the image information in the form of photographing or uploading the image, and the navigation route of the first indoor destination is planned according to the current position of the user.

[0063] In one example, as shown in Figure 3 , the query information is a test sheet image, and the corresponding department is "laboratory" (i.e., keyword information) which can be determined by image recognition. Then, the laboratory position is determined based on the map data of the indoor navigation map of the hospital (i.e., target building).

[0064] In an embodiment, the method for indoor navigation of the present disclosure comprises steps S101-S103, S1011, and S1012, wherein step S1012: determining the first indoor destination in the target building according to the image recognition result and the map data of the indoor navigation map of the target building, can comprise:

[0065] Determining the target image content in the image recognition result.

[0066] According to the target image content, the map data of the indoor navigation map of the target building is used to determine a first indoor destination in the target building that matches the target image content.

[0067] According to the embodiments of the present disclosure, it should be noted that:

[0068] The target image content can be understood as any image content in the image. For example, goods, doorplates, logos, and the like.

[0069] According to the target image content, the map data of the indoor navigation map of the target building is used to determine a first indoor destination in the target building that matches the target image content, which can be understood as: according to the target image content, directly searching for matching information from the map data of the indoor navigation map, so as to determine the first indoor destination. For example, the target image content is the logo of a certain store, and the indoor navigation map has information of the logo, so that the first indoor destination in the target building that matches the target image content is directly determined based on the map data of the indoor navigation map of the target building.

[0070] According to the target image content, the map data of the indoor navigation map of the target building is used to determine a first indoor destination in the target building that matches the target image content, which can also be understood as: performing secondary recognition on the target image content in the cloud to determine the information represented by the target object content, and then searching for matching information from the map data of the indoor navigation map according to the represented information, so as to determine the first indoor destination. For example, the target image content is a piece of clothing, the brand information of the clothing is recognized by using the cloud, and then the matching brand information is searched from the map data of the indoor navigation map, so as to determine the position (the first indoor destination) of the store corresponding to the brand information.

[0071] According to the embodiments of the present disclosure, by taking the target image content recognized in the image as the query information, the retrieval cost of the user's tedious input of text information can be reduced. In the indoor destination query scene of complex information, the first indoor destination can be determined by providing image information in the form of photographing or uploading images, and a navigation route of the first indoor destination is planned according to the current position of the user.

[0072] In an embodiment, the method for indoor navigation of the present disclosure includes steps S101 to S103, wherein step S101: according to the query information, the first indoor destination in the target building is determined based on the indoor navigation map of the target building, which can include:

[0073] In the case where the query information is text information or identification information, the query information is subjected to semantic recognition to obtain a semantic recognition result.

[0074] According to the semantic recognition result and map data of the indoor navigation map of the target building, a first indoor destination in the target building is determined.

[0075] In one example, as shown in FIG. 1, the query information is a click on an indoor area identification button on an application of the target building, and the semantic recognition result is a toilet through semantic recognition. Then, based on the map data of the indoor navigation map of the shopping mall (i.e., the target building), the first indoor destination is determined to be the toilet. Figure 4

[0076] In one embodiment, the method for indoor navigation of the embodiments of the present disclosure includes steps S101-S103, wherein step S102: planning an indoor navigation route according to the user position and the position of the first indoor destination, can include:

[0077] In the case where the first indoor destination is multiple, a first target indoor destination matched with the user is determined from the multiple first indoor destinations according to the user information and the category information of the multiple first indoor destinations.

[0078] According to the user position and the position of the first target indoor destination, an indoor navigation route is planned.

[0079] According to the embodiments of the present disclosure, it should be noted that:

[0080] The category information of the first indoor destination can be understood as a specific type that characterizes the first indoor destination from other first indoor destinations. For example, the first indoor destination is a toilet, and the category information can be a male toilet or a female toilet. For another example, the first indoor destination is an X-brand clothing store, and the category information can be an X-brand children's clothing store, an X-brand men's clothing store, or an X-brand women's clothing store.

[0081] The user information can be understood as any information related to the user. For example, if the user information indicates that the user is male, the first indoor destination with the category information of a male toilet (i.e., the first target indoor destination) needs to be found. For another example, if the user information indicates that the user is male, the first indoor destination with the category information of an X-brand men's clothing store needs to be found.

[0082] According to the embodiments of the present disclosure, according to the user information and the category information of the first indoor destination, the navigation route can be planned more accurately for the user.

[0083] In one embodiment, the method for indoor navigation of the embodiments of the present disclosure includes steps S101-S103, wherein step S102: planning an indoor navigation route according to the user position and the position of the first indoor destination, can include:

[0084] ​In the case of multiple first indoor destinations, a second target indoor destination with the shortest distance from the user position is determined from the multiple first indoor destinations according to the user position and the positions of the multiple first indoor destinations.

[0085] An indoor navigation route is planned according to the user position and the position of the second target indoor destination.

[0086] According to the embodiments of the present disclosure, it should be noted that:

[0087] The second target indoor destination with the shortest distance can be understood as the second target indoor destination with the shortest indoor navigation route, the second target indoor destination with the shortest straight-line distance, or the second target indoor destination that can be reached the fastest.

[0088] According to the embodiments of the present disclosure, a more reasonable indoor navigation route can be planned according to the relative distance between the user position and the positions of the multiple first indoor destinations, thereby saving the time spent by the user to reach the destination.

[0089] In an embodiment, the method for indoor navigation of the embodiments of the present disclosure includes steps S101-S103, wherein step S102: planning an indoor navigation route according to the user position and the position of the first indoor destination, can include:

[0090] According to the user position, a first floor position of the user in the target building is determined.

[0091] According to the position of the first indoor destination, a second floor position of the first indoor destination in the target building is determined.

[0092] According to the floor difference between the first floor position and the second floor position, an inter-floor transportation facility is determined.

[0093] Based on the inter-floor transportation facility, an indoor navigation route is planned according to the user position and the position of the first indoor destination.

[0094] According to the embodiments of the present disclosure, it should be noted that:

[0095] According to the floor difference between the first floor position and the second floor position, an inter-floor transportation facility is determined, which can be understood as follows: if the floor difference is large, it indicates that the user position and the position of the first indoor destination are far apart, and therefore it is more efficient to take a straight escalator or elevator (i.e., an inter-floor transportation facility) to reach the destination. If the floor difference is small, it indicates that the user position and the position of the first indoor destination are close, and therefore it can be relatively faster to walk directly to the destination without taking the straight escalator or elevator, thereby saving the time spent waiting for the elevator.

[0096] According to the floor distance between the user position and the position of the first indoor destination, it can be determined whether the inter-floor transportation facility needs to be planned into the indoor navigation route when the indoor navigation route is planned, so that the user can reach the first indoor destination most efficiently and conveniently.

[0097] In an embodiment, the method for indoor navigation of the present disclosure comprises steps S101-S103, wherein step S103: determining a navigation mode according to the preset arrival time and the travel time length of the indoor navigation route, so that the user reaches the first indoor destination according to the navigation mode and the indoor navigation route, can comprise:

[0098] Determining a theoretical arrival time according to the current time and the travel time length of the indoor navigation route.

[0099] In a case where the time difference between the preset arrival time and the theoretical arrival time is less than a threshold time difference, the navigation mode is determined as a first mode, and the first mode is used to navigate the user directly from the user position to the first indoor destination according to the indoor navigation route.

[0100] According to the embodiments of the present disclosure, it should be noted that:

[0101] The theoretical arrival time can be understood as the time when the user goes from the user position to the first indoor destination at this moment.

[0102] The length of the threshold time difference can be selected and adjusted as needed, and is not specifically limited here.

[0103] The time difference between the preset arrival time and the theoretical arrival time is less than the threshold time difference, which means that the user can arrive on time or slightly ahead of schedule if going directly to the first indoor destination at the current time. For example, the start time of the movie ticket purchased by the user is 12:00, the current time is 11:40, the theoretical arrival time is 10 minutes, and the time difference is only 10 minutes. Therefore, it is considered that the first mode should be started, prompting the user to go to the cinema (i.e., the first indoor destination) according to the indoor navigation route immediately.

[0104] According to the embodiments of the present disclosure, by using the theoretical arrival time and the preset arrival time, the navigation route for the user to go to the first indoor destination can be personalized, so that the user can reasonably arrange the time to go to the first indoor destination, and the navigation process is more intelligent and humanized.

[0105] In an embodiment, the method for indoor navigation of the present disclosure comprises steps S101-S103, wherein step S103: determining a navigation mode according to the preset arrival time and the travel time length of the indoor navigation route, so that the user reaches the first indoor destination according to the navigation mode and the indoor navigation route, can comprise:

[0106] determine a theoretical arrival time according to the current time and the travel time of the indoor navigation route.

[0107] In a case where a time difference between the preset arrival time and the theoretical arrival time is greater than a threshold time difference, determine that the navigation mode is a second mode, and the second mode is used to add a midway destination located in the target building in the indoor navigation route, so that the user reaches the midway destination from the user position first, and then reaches the first indoor destination from the midway destination.

[0108] The midway destination is determined according to user information or is randomly generated.

[0109] According to the embodiments of the present disclosure, it should be noted that:

[0110] The midway destination is determined according to user information, which can be understood as: according to user preference information, determining a midway destination in the target building, so that the user first goes to the midway destination according to the indoor navigation route, and then continues to go to the first indoor destination from the midway destination according to the indoor navigation route when the time is appropriate.

[0111] The midway destination is randomly generated, which can be understood as: randomly determining a midway destination in the target building, so that the user first goes to the midway destination according to the indoor navigation route, and then continues to go to the first indoor destination from the midway destination according to the indoor navigation route when the time is appropriate.

[0112] According to the embodiments of the present disclosure, the time can be more reasonably planned and utilized. Through the theoretical arrival time and the preset arrival time, the navigation route for the user to go to the first indoor destination can be personalized planned, so that the user can reasonably arrange the time to go to the first indoor destination, and the navigation process is more intelligent and personalized.

[0113] In an embodiment, the method for indoor navigation of the present disclosure includes steps S101-S103, and can further include:

[0114] In a case where the user reaches the first indoor destination, a preset round trip time is determined. The preset round trip time is the time for the user to return to the first indoor destination.

[0115] According to the preset rule and the preset round trip time, a second indoor destination in the target building is determined.

[0116] According to the position of the first indoor destination and the position of the second indoor destination, an indoor round trip navigation route is planned, so that the user returns to the first indoor destination according to the indoor round trip navigation route in the preset round trip time.

[0117] According to the embodiments of the present disclosure, it should be noted that:

[0118] The second indoor destination in the target building can be determined according to the user information or randomly generated. For example, according to the user preference information, a second indoor destination is determined from the target building, so that the user first goes to the second indoor destination according to the indoor round-trip navigation route, and then returns to the first indoor destination from the second indoor destination according to the indoor round-trip navigation route when the time is appropriate. For another example, a second indoor destination in the target building is randomly determined, so that the user first goes to the second indoor destination according to the indoor round-trip navigation route, and then returns to the first indoor destination from the second indoor destination according to the indoor round-trip navigation route when the time is appropriate.

[0119] According to the embodiments of the present disclosure, the time can be more reasonably planned and utilized, and the navigation route for the user to go to the first indoor destination can be personalized by the theoretical arrival time and the preset arrival time, so that the user can reasonably arrange the time to go to the first indoor destination, and the navigation process is more intelligent and personalized.

[0120] In an embodiment, the indoor navigation method can further include:

[0121] associating the indoor navigation route and the query information with the user to obtain association information.

[0122] updating the association information to the user database, so that when the user performs indoor navigation again based on the same query information, the indoor navigation route can be directly called.

[0123] As shown in Figure 5 The embodiments of the present disclosure provide an indoor navigation device, which includes:

[0124] The first determination module 510 is configured to determine a first indoor destination in a target building based on an indoor navigation map of the target building according to query information.

[0125] The first planning module 520 is configured to plan an indoor navigation route according to a user position and a position of the first indoor destination. And

[0126] The second determination module 530 is configured to determine a navigation mode according to a preset arrival time and a travel time of the indoor navigation route, so that the user reaches the first indoor destination according to the navigation mode and the indoor navigation route.

[0127] In an embodiment, the first determination module 510 includes:

[0128] The identification sub-module is configured to perform image recognition on the query information to obtain an image recognition result when the query information is image information.

[0129] The first determining sub-module is configured to determine a first indoor destination in the target building according to the image recognition result and map data of an indoor navigation map of the target building.

[0130] In an embodiment, the first determining sub-module is configured to determine keyword information in the image recognition result. According to the keyword information, the first indoor destination in the target building that matches the keyword information is determined based on the map data of the indoor navigation map of the target building.

[0131] In an embodiment, the first determining sub-module is configured to determine target image content in the image recognition result. According to the target image content, the first indoor destination in the target building that matches the target image content is determined based on the map data of the indoor navigation map of the target building.

[0132] In an embodiment, the first planning module 520 is configured to, in a case where the first indoor destination is multiple, determine a first target indoor destination that matches the user from the multiple first indoor destinations according to the user information and category information of the multiple first indoor destinations. The indoor navigation route is planned according to the user position and the position of the first target indoor destination.

[0133] In an embodiment, the first planning module 520 is configured to, in a case where the first indoor destination is multiple, determine a second target indoor destination that has the shortest distance from the user position from the multiple first indoor destinations according to the user position and the positions of the multiple first indoor destinations. The indoor navigation route is planned according to the user position and the position of the second target indoor destination.

[0134] In an embodiment, the first planning module 520 is configured to determine a first floor position where the user is located in the target building according to the user position. A second floor position where the first indoor destination is located in the target building is determined according to the position of the first indoor destination. An inter-floor transportation facility is determined according to a floor difference between the first floor position and the second floor position. The indoor navigation route is planned according to the user position and the position of the first indoor destination based on the inter-floor transportation facility.

[0135] In an embodiment, the second determining module 530 is configured to determine a theoretical arrival time according to a current time and a travel duration of the indoor navigation route. In a case where a time difference between the preset arrival time and the theoretical arrival time is less than a threshold time difference, the navigation mode is determined to be the first mode, and the first mode is configured to navigate the user directly from the user position to the first indoor destination according to the indoor navigation route.

[0136] In an implementation, the second determining module 530 is configured to determine a theoretical arrival time according to the current time and a travel time length of the indoor navigation route. In a case where a time difference between the preset arrival time and the theoretical arrival time is greater than a threshold time difference, the navigation mode is determined as the second mode, and the second mode is configured to add a midway destination located in the target building in the indoor navigation route, so as to make the user reach the midway destination from the user position first, and then reach the first indoor destination from the midway destination.

[0137] The midway destination is determined according to the user information or is randomly generated.

[0138] In an implementation, the device for indoor navigation further includes:

[0139] The third determining module is configured to determine a preset return time in a case where the user reaches the first indoor destination. The preset return time is a time when the user returns to the first indoor destination.

[0140] The fourth determining module is configured to determine a second indoor destination in the target building according to a preset rule and the preset return time.

[0141] The second planning module is configured to plan an indoor return navigation route according to a position of the first indoor destination and a position of the second indoor destination, so as to make the user return to the first indoor destination according to the indoor return navigation route at the preset return time.

[0142] The specific functions and examples of the modules and sub-modules of the device are described in the above method embodiments, and will not be described here.

[0143] In the technical solution of the present disclosure, the acquisition, storage and application of user personal information comply with relevant laws and regulations and do not violate public order and good customs.

[0144] According to the embodiments of the present disclosure, the present disclosure further provides an electronic device, a readable storage medium and a computer program product.

[0145] Figure 6 A schematic block diagram of an example electronic device 600 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present disclosure described and / or claimed in this document.

[0146] like Figure 6 As shown, device 600 includes a computing unit 601, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 602 or a computer program loaded from storage unit 608 into random access memory (RAM) 603. RAM 603 may also store various programs and data required for the operation of device 600. The computing unit 601, ROM 602, and RAM 603 are interconnected via bus 604. Input / output (I / O) interface 605 is also connected to bus 604.

[0147] Multiple components in device 600 are connected to I / O interface 605, including: input unit 606, such as keyboard, mouse, etc.; output unit 607, such as various types of monitors, speakers, etc.; storage unit 608, such as disk, optical disk, etc.; and communication unit 609, such as network card, modem, wireless transceiver, etc. Communication unit 609 allows device 600 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0148] The computing unit 601 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 601 performs the various methods and processes described above, such as the method of indoor navigation. For example, in some embodiments, the method of indoor navigation may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by the computing unit 601, one or more steps of the method of indoor navigation described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the method of indoor navigation by any other suitable means (e.g., by means of firmware).

[0149] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0150] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or the block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, or entirely on a remote machine or server.

[0151] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0152] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0153] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0154] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0155] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, without departing from the desired results of the technology disclosed in the present disclosure, which are not limited herein.

[0156] The specific embodiments described above are not intended to be limiting, and persons skilled in the art will appreciate that various modifications, combinations, sub-combinations and alternatives can be made to the specific embodiments without departing from the spirit and scope of the disclosure. Any modifications, equivalent substitutions, improvements, and the like, made within the principles of the present disclosure, should be included in the scope of the present disclosure.

Claims

1. A method for indoor navigation, comprising: determining a first indoor destination in a target building based on an indoor navigation map of the target building according to query information; planning an indoor navigation route according to a user position and a position of the first indoor destination; and determining a navigation mode for the user to reach the first indoor destination according to the navigation mode and the indoor navigation route based on a preset arrival time and a travel duration of the indoor navigation route. The determining of the navigation mode for the user to reach the first indoor destination according to the navigation mode and the indoor navigation route based on the preset arrival time and the travel duration of the indoor navigation route comprises: determining a theoretical arrival time according to a current time and the travel duration of the indoor navigation route; determining the navigation mode as a first mode in a case that a time difference between the preset arrival time and the theoretical arrival time is less than a threshold time difference, the first mode being used for directly navigating the user from the user position to the first indoor destination according to the indoor navigation route. The determining of the navigation mode for the user to reach the first indoor destination according to the navigation mode and the indoor navigation route based on the preset arrival time and the travel duration of the indoor navigation route comprises: determining a theoretical arrival time according to a current time and the travel duration of the indoor navigation route; determining the navigation mode as a second mode in a case that a time difference between the preset arrival time and the theoretical arrival time is greater than a threshold time difference, the second mode being used for adding a midway destination located in the target building in the indoor navigation route so as to make the user reach the midway destination from the user position first and then reach the first indoor destination from the midway destination. The midway destination is determined according to user information or randomly generated. The determining of the first indoor destination in the target building based on the indoor navigation map of the target building according to the query information comprises:

2. The method of claim 1, wherein, performing image recognition on the query information to obtain an image recognition result in a case that the query information is image information; determining the first indoor destination in the target building according to the image recognition result and map data of the indoor navigation map of the target building. The determining of the first indoor destination in the target building according to the image recognition result and map data of the indoor navigation map of the target building comprises:

3. The method of claim 2, wherein, determining keyword information in the image recognition result; determining the first indoor destination in the target building matching the keyword information based on the map data of the indoor navigation map of the target building according to the keyword information; or determining target image content in the image recognition result; determining the first indoor destination in the target building matching the target image content based on the map data of the indoor navigation map of the target building according to the target image content. The planning of the indoor navigation route according to the user position and the position of the first indoor destination comprises: ​ 4. The method of claim 1, wherein, ​ In a case where the first indoor destination is multiple, a first target indoor destination matching the user is determined from the multiple first indoor destinations according to user information and category information of the multiple first indoor destinations; An indoor navigation route is planned according to the user position and the position of the first target indoor destination.

5. The method of claim 1, wherein, The planning of the indoor navigation route according to the user position and the position of the first indoor destination comprises: In a case where the first indoor destination is multiple, a second target indoor destination with the shortest distance from the user position is determined from the multiple first indoor destinations according to the user position and the positions of the multiple first indoor destinations; An indoor navigation route is planned according to the user position and the position of the second target indoor destination.

6. The method of claim 1, wherein, The planning of the indoor navigation route according to the user position and the position of the first indoor destination comprises: A first floor position where the user is located in the target building is determined according to the user position; A second floor position where the first indoor destination is located in the target building is determined according to the position of the first indoor destination; A floor-to-floor transportation facility is determined according to the floor difference between the first floor position and the second floor position; An indoor navigation route is planned according to the user position and the position of the first indoor destination based on the floor-to-floor transportation facility.

7. The method of any one of claims 1-6, further comprising: In a case where the user arrives at the first indoor destination, a preset round trip time is determined; The preset round trip time is the time for the user to return to the first indoor destination; A second indoor destination in the target building is determined according to a preset rule and the preset round trip time; An indoor round trip navigation route is planned according to the position of the first indoor destination and the position of the second indoor destination, so that the user returns to the first indoor destination according to the indoor round trip navigation route within the preset round trip time.

8. The method according to any one of claims 1 to 6, wherein, The map data of the indoor navigation map comprises indoor environment data and / or indoor landmark data.

9. An apparatus for indoor navigation, comprising: a first determining module configured to determine a first indoor destination in a target building based on an indoor navigation map of the target building according to query information; a first planning module configured to plan an indoor navigation route according to a user position and a position of the first indoor destination; and a second determining module configured to determine a navigation mode according to a preset arrival time and a travel duration of the indoor navigation route, so that a user arrives at the first indoor destination according to the navigation mode and the indoor navigation route; the second determining module is configured to determine a theoretical arrival time according to a current time and the travel duration of the indoor navigation route; in a case where a time difference between the preset arrival time and the theoretical arrival time is less than a threshold time difference, the navigation mode is determined as a first mode, and the first mode is used to navigate the user directly from the user position to the first indoor destination according to the indoor navigation route. ​ The second determining module is configured to determine a theoretical arrival time according to a current time and a travel duration of the indoor navigation route; In a case where a time difference between the preset arrival time and the theoretical arrival time is greater than a threshold time difference, the navigation mode is determined as a second mode, and the second mode is used to add a midway destination located in the target building in the indoor navigation route, so that the user reaches the midway destination from the user position first and then reaches the first indoor destination from the midway destination; The midway destination is determined according to user information or is randomly generated.

10. The apparatus of claim 9, wherein, The first determining module includes: The identification submodule is configured to, in a case where the query information is image information, perform image recognition on the query information to obtain an image recognition result; The first determining submodule is configured to determine a first indoor destination in the target building according to the image recognition result and map data of an indoor navigation map of the target building.

11. The apparatus of claim 10, wherein, The first determining submodule is configured to determine keyword information in the image recognition result, and determine the first indoor destination in the target building that matches the keyword information based on the map data of the indoor navigation map of the target building according to the keyword information. Or, The first determining submodule is configured to determine target image content in the image recognition result. The first determining submodule is configured to determine the first indoor destination in the target building that matches the target image content based on the map data of the indoor navigation map of the target building according to the target image content.

12. The apparatus of claim 9, wherein, The first planning module is configured to, in a case where the first indoor destination is a plurality of first indoor destinations, determine a first target indoor destination that matches the user from the plurality of first indoor destinations according to user information and category information of the plurality of first indoor destinations, and plan an indoor navigation route according to a user position and a position of the first target indoor destination.

13. The apparatus of claim 9, wherein, The first planning module is configured to, in a case where the first indoor destination is a plurality of first indoor destinations, determine a second target indoor destination that has a shortest distance from the user position from the plurality of first indoor destinations according to the user position and positions of the plurality of first indoor destinations. The first planning module is configured to, in a case where the first indoor destination is a plurality of first indoor destinations, determine a second target indoor destination that has a shortest distance from the user position from the plurality of first indoor destinations according to the user position and positions of the plurality of first indoor destinations.

14. The apparatus of claim 9, wherein, The first planning module is configured to determine a first floor position where the user is located in the target building according to a user position, determine a second floor position where the first indoor destination is located in the target building according to a position of the first indoor destination, and determine an inter-floor transportation facility according to a floor difference between the first floor position and the second floor position. The first planning module is configured to plan an indoor navigation route according to the user position and the position of the first indoor destination based on the inter-floor transportation facility.

15. The apparatus of any one of claims 11 to 14, further comprising: The third determining module is configured to, in a case where the user reaches the first indoor destination, determine a preset round trip time; The preset round trip time is a time when the user returns to the first indoor destination. a fourth determining module, configured to determine a second indoor destination in the target building according to a preset rule and the preset round trip time; a second planning module, configured to plan an indoor round trip navigation route according to a position of the first indoor destination and a position of the second indoor destination, so as to make the user return to the first indoor destination according to the indoor round trip navigation route within the preset round trip time. 16.An electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 8.

17. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to make the computer perform the method according to any one of claims 1 to 8. 18.A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 8.

Images