Hybrid positioning guidance method and system

Abstract

The application relates to the technical field of guidance management, and particularly discloses a mixed positioning guidance method and system, which comprises the following steps: displaying an authorized two-dimensional code, receiving and displaying guidance information sent by a server through a preset ceiling base station, and generating a movement instruction according to the guidance information; obtaining a mobile phone end position based on a preset Bluetooth module, mapping and displaying the mobile phone end position; judging whether the mobile phone end position exceeds a preset range in real time, and sending the mobile phone end position to the server when the mobile phone end position exceeds the preset range; and when the server receives the mobile phone end position, sending navigation information to the corresponding mobile phone end according to the mobile phone end position. The application builds a four-end interaction architecture, the user feeds back the self position to the system in real time through the mobile phone end, the system can quickly locate the user when the user goes out for something, and determines the navigation information between the user and the interactive robot, so that the interaction freedom is greatly improved, the adaptability is high, and the flexibility is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of guidance management, and particularly relates to a hybrid positioning guidance method and system. BACKGROUND

[0002] Traditional indoor interactive robots usually coexist with people in the form of accompanying or following, and are combined with indoor positioning. In most cases, the combination with indoor positioning is used for positioning and distribution or for point explanation and guidance. In actual work and life, the promotion and explanation of a company or a park and the guidance and direction of a supermarket or a hospital can only be accompanied by guidance, and the function is single, the application is simple, and it is difficult to meet the needs of more scenes. In particular, in the case of serving team commentary, team members may temporarily leave due to answering or making a phone call, and it takes more time to find their team after returning. SUMMARY

[0003] The present application aims to provide a hybrid positioning guidance method and system to solve the problems in the background art.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0005] A hybrid positioning guidance method, the method comprising:

[0006] displaying an authorized two-dimensional code, receiving scanning information of a user based on the authorized two-dimensional code, and establishing a connection channel with a mobile phone terminal when the scanning information of the user is received;

[0007] receiving and displaying guidance information sent by a server through a preset ceiling base station, and generating a motion instruction according to the guidance information;

[0008] acquiring a mobile phone terminal position based on a preset Bluetooth module, and mapping and displaying the mobile phone terminal position;

[0009] determining whether the mobile phone terminal position exceeds a preset range in real time, and sending the mobile phone terminal position to the server when the mobile phone terminal position exceeds the preset range; and sending navigation information to the corresponding mobile phone terminal according to the mobile phone terminal position when the server receives the mobile phone terminal position.

[0010] As a further scheme of the present application, the step of acquiring the mobile phone terminal position based on the preset Bluetooth module and mapping and displaying the mobile phone terminal position comprises:

[0011] acquiring a coordinate position (x, y) of the mobile phone terminal, and determining a display screen coordinate corresponding to the coordinate position (x, y) according to a preset mapping relationship.

[0012] As a further scheme of the present application, the step of sending navigation information to the corresponding mobile phone terminal according to the mobile phone terminal position when the server receives the mobile phone terminal position comprises:

[0013] When the service end receives the mobile end position, the mobile end information corresponding to the mobile end position is inquired; the mobile end information is contained in the scanning information;

[0014] The mobile end information is sent to a preset ceiling base station; when the ceiling base station receives the mobile end information, the current position of the mobile end is acquired in real time;

[0015] The robot position is acquired in real time based on the preset ceiling base station, and the navigation information is generated according to the robot position and the current position of the mobile end;

[0016] The navigation information is sent to the corresponding mobile end.

[0017] As a further scheme of the application, the method further comprises:

[0018] The user's permission recovery instruction is received in real time, and the user data is deleted when the permission recovery instruction is received.

[0019] The technical scheme of the application further provides a hybrid positioning guiding system, and the system comprises:

[0020] A connection channel establishing module is configured to display an authorized two-dimensional code, receive the scanning information of the user based on the authorized two-dimensional code, and establish a connection channel with the mobile end when the scanning information of the user is received;

[0021] A motion instruction generating module is configured to receive and display the guiding information sent by the service end through the preset ceiling base station, and generate a motion instruction according to the guiding information;

[0022] A mapping display module is configured to acquire the mobile end position based on the preset Bluetooth module, and perform mapping display on the mobile end position;

[0023] A navigation information sending module is configured to judge whether the mobile end position exceeds a preset range in real time, send the mobile end position to the service end when the mobile end position exceeds the preset range, and send the navigation information to the corresponding mobile end according to the mobile end position when the service end receives the mobile end position.

[0024] Compared with the prior art, the application has the beneficial effects that: the application builds a four-end interaction architecture, the user feeds back the own position to the system in real time through the mobile end, when the user goes out due to business, the system can quickly locate the user, determine the navigation information between the user and the interactive robot, greatly improve the interaction freedom, and has strong adaptability and high flexibility. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application.

[0026] Figure 1 The component structure block diagram of the hybrid positioning guidance system is shown.

[0027] Figure 2 The first timing diagram of the hybrid positioning guidance method is shown.

[0028] Figure 3 The second timing diagram of the hybrid positioning guidance method is shown.

[0029] Figure 4 The flow chart of the hybrid positioning guidance method is shown. DETAILED DESCRIPTION

[0030] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects clearer, the present application will be further described in detail below in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0031] Embodiment 1

[0032] Please refer to Figure 2 In the embodiments of the present application, a hybrid positioning guidance method is provided, which comprises:

[0033] The authorization two-dimensional code is displayed, the scanning information of the user is received based on the authorization two-dimensional code, and when the scanning information of the user is received, a connection channel with the mobile terminal is established;

[0034] The guidance information sent by the server through the preset ceiling base station is received and displayed, and the motion instruction is generated according to the guidance information;

[0035] The position of the mobile terminal is acquired based on the preset Bluetooth module, and the position of the mobile terminal is displayed by mapping;

[0036] It is judged whether the position of the mobile terminal exceeds the preset range in real time, when the position of the mobile terminal exceeds the preset range, the position of the mobile terminal is sent to the server, and when the position of the mobile terminal is received by the server, the navigation information is sent to the corresponding mobile terminal according to the position of the mobile terminal.

[0037] Before the above content is described, the hardware architecture of the technical solution of the present application is described as follows:

[0038] Firstly, the interactive robot needs to have the capabilities of VLC receiving, Bluetooth iBeacon / AOA / AOD positioning base station, mobile wireless / WIFI wireless communication module, data operation, screen display and general motion machine; secondly, the VLC and Bluetooth base station are deployed on the ceiling corresponding to the guide path, the VLC is mainly used for positioning and guiding the interactive robot, and the Bluetooth base station is mainly used for obtaining the position data of the mobile phone; thirdly, the position information of the authorized mobile phone is obtained by the interactive robot screen code scanning authorization mode; the robot dynamically obtains the position and number of the surrounding mobile phones according to the scanning of the Bluetooth base station, dynamically compares the number of the code scanning authorized mobile phones, and sends the guide information to the mobile phone reaching the current position to the mobile phone beyond the range of the base station.

[0039] In one example of the technical scheme of the application, the method comprises a scanning authorization, an interactive guidance and a guidance end three-part message flow, which respectively correspond to the beginning, guidance and end of the actual guidance process.

[0040] The scanning authorization message flow: the user of the mobile phone end actively scans the authorization two-dimensional code on the screen of the robot, and authorizes the server. After receiving the authorization request, the server synchronizes the relevant information to the robot base station end and the ceiling base station end through the network, and the robot base station end and the ceiling base station end respectively maintain the connection with the mobile phone end through the Bluetooth base station, obtain the position information, and synchronize the position information to the server.

[0041] The interactive guidance message flow: the server issues the interactive guidance information, the ceiling base station end receives the information, sends the spectrum signal through the VLC, guides the interactive guidance of the robot, and the robot synchronizes the guidance information to the server in real time.

[0042] The guidance end message flow: the server issues the guidance end information, the robot base station end and the ceiling base station end receive the guidance end information, end the connection with the mobile phone end respectively, and feed back the result to the server.

[0043] As a preferred embodiment of the technical scheme of the application, the step of mapping and displaying the position of the mobile phone end based on the preset Bluetooth module comprises:

[0044] Obtaining the coordinate position (x, y) of the mobile phone end, and determining the display screen coordinate corresponding to the coordinate position (x, y) according to the preset mapping relationship.

[0045] As Figure 1As shown, the robot base station function includes a VLC receiving module (with multiple (not less than 2) spectrum receiving ends for receiving VLC spectrum signals, and the transmitting module of the ceiling base station is used in cooperation, mainly for robot guiding positioning, reducing electromagnetic signal interference of different frequency bands, and more easily setting boundaries), a Bluetooth positioning module (for connecting Bluetooth devices to determine device location, including but not limited to IBeacon (Bluetooth 4.0 or later), AOA / AOD (Bluetooth 5.1 or later and supporting positioning protocol) and supporting phased array antenna), a network communication module (including but not limited to wireless cellular network (4 / 5G), WIFI and other wireless communication networks), a display operation control module (for driving the display screen on the robot to display, processing the received position signal, controlling the robot interaction and running, etc.), a motion obstacle avoidance module (basic motion robot required running obstacle avoidance capability), a power supply module (battery pack and corresponding power management, providing energy for normal operation of the robot). Compared with the traditional base station, it can be understood that it is a mobile positioning base station, which can dynamically adjust the position and guiding speed of the robot according to the position of the guiding client, and adjust the interaction direction and sound size.

[0046] The display operation control needs to map the obtained mobile phone terminal position coordinates to the display screen coordinates. The coordinate position (x, y) of the mobile phone terminal is obtained, the X-axis coordinate x is in the actual value interval (a, b), that is, a≤x≤b; the Y-axis coordinate y is in the actual value interval (c, d), that is, c≤y≤d. The mapping coordinates (X, Y) of the display screen, the X-axis coordinate X is in the actual value (A, B), that is, A≤X≤B; the Y-axis coordinate Y is in the actual value area (C, D), that is, C≤Y≤D.

[0047] Please refer to Figure 3 As a preferred embodiment of the technical scheme of the present application, when the service end receives the mobile phone terminal position, the step of sending navigation information to the corresponding mobile phone terminal according to the mobile phone terminal position comprises:

[0048] When the service end receives the mobile phone terminal position, the mobile phone terminal information corresponding to the mobile phone terminal position is queried; the mobile phone terminal information is contained in the scanning information;

[0049] The mobile phone terminal information is sent to the preset ceiling base station; when the ceiling base station receives the mobile phone terminal information, the current position of the mobile phone terminal is obtained in real time;

[0050] The robot position is obtained in real time based on the preset ceiling base station, and the navigation information is generated according to the robot position and the current position of the mobile phone terminal;

[0051] The navigation information is sent to the corresponding mobile phone terminal.

[0052] In an example of the technical solution of the present application, the generation process of the navigation information is limited in the case of user dislocation, and the purpose is to find the current team through the mobile terminal guidance in the guidance process due to temporary matters (answering a call, going to the toilet, etc.) causing dislocation.

[0053] The robot base station end cannot obtain the position information of the mobile terminal end, and the information is synchronized to the server. The position information synchronized by the ceiling base station end is synchronized to the server. The server judges the dislocation mobile terminal end according to the robot and the offline mobile terminal end information, and sends the navigation condition to the dislocation mobile terminal end. After the dislocation mobile terminal end agrees, the server dynamically adjusts the navigation position data according to the position information of the robot base station end and the dislocation mobile terminal end, synchronizes the data to the mobile terminal end, and guides the user to walk back to the current team.

[0054] The specific execution process is as follows:

[0055] The robot base station end receives the connection information, connects one or more mobile terminal devices, calculates the position and keeps the connection, and synchronizes the information to the server in real time. The robot base station end receives the interactive guidance information, starts the interactive guidance, and synchronously displays the interactive guidance information and the authorized number of mobile terminal connections on the display screen. The server judges whether the number of connected mobile terminals is reduced according to the real-time synchronization data; if the number of mobile terminal connections is reduced, the relative position is comprehensively judged according to the real-time position information, and the navigation position information is sent. After the mobile terminal agrees, the navigation guide mobile terminal returns to the current guidance team. If the number of mobile terminal connections is normal, the interactive guidance is continued. The robot base station end receives the disconnection information after the interactive guidance is completed, disconnects, and synchronizes the result to the server. The robot base station returns to the home position and waits

[0056] As a preferred embodiment of the technical solution of the present application, the method further comprises:

[0057] The user's permission recovery instruction is received in real time, and the user data is deleted when the permission recovery instruction is received.

[0058] Since the user information needs to be obtained in each process of the present application, the permission grant instruction of the user is required; in this process, if the user does not want to grant the permission any more, the user can recover the permission, at this time, the execution subject of the present application cannot obtain the user position information.

[0059] In an example of the technical solution of the present application, the method has a position calibration process before execution, as follows:

[0060] The robot end receives the VLC spectrum of four positions through a plurality of (at least two) spectrum receiving ends of the robot end, and accurately calculates the current position. According to the time difference and the angle difference of the Bluetooth module received and transmitted by the robot end, the position of the robot end is compared with the VLC position, and the position of the mobile phone end is calibrated to obtain more accurate positioning.

[0061] When the robot end is oriented in different directions, the robot end acts as a mobile base station, and the angles of the robot end relative to the ceiling end and the mobile phone end are different, one being longitudinal and the other being transverse. By comparing the position difference of the ceiling end to the mobile phone end in the longitudinal direction with the different angles and position differences of the robot end to the mobile phone end in the transverse direction, corresponding data is fed back to the server, the VLC position of the robot end is compared, and the position of the mobile phone end is calibrated to obtain more accurate positioning.

[0062] Embodiment 2

[0063] Different from embodiment 1, in the embodiment of the application, a hybrid positioning and guiding system comprises:

[0064] A connection channel establishing module is configured to display an authorized two-dimensional code, receive scanning information of a user based on the authorized two-dimensional code, and establish a connection channel with the mobile phone end when the scanning information of the user is received.

[0065] A motion instruction generating module is configured to receive and display guiding information sent by a server through a preset ceiling base station, and generate a motion instruction based on the guiding information.

[0066] A mapping display module is configured to obtain a position of the mobile phone end based on a preset Bluetooth module, and perform mapping display on the position of the mobile phone end.

[0067] A navigation information sending module is configured to determine whether the position of the mobile phone end exceeds a preset range in real time, and send the position of the mobile phone end to the server when the position of the mobile phone end exceeds the preset range. When the server receives the position of the mobile phone end, the navigation information is sent to the corresponding mobile phone end based on the position of the mobile phone end.

[0068] The functions of the hybrid positioning and guiding method are realized by a computer device, which comprises one or more processors and one or more memories, and at least one program code is stored in the one or more memories. The program code is loaded and executed by the one or more processors to realize the functions of the hybrid positioning and guiding method.

[0069] The processor fetches instructions from the memory one by one, analyzes the instructions, and then completes corresponding operations according to the instructions to generate a series of control commands, so that the parts of the computer automatically, continuously and coordinately act as an organic whole, realize the input of the program, the input of the data and the operation and output the results. The arithmetic operation or logical operation generated in the process is completed by the operation unit; the memory includes a read-only memory (ROM), and the ROM is used to store a computer program, and a protection device is arranged outside the memory.

[0070] For example, the computer program can be divided into one or more modules, one or more modules are stored in the memory and executed by the processor to complete the present application. One or more modules can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the terminal device.

[0071] Those skilled in the art can understand that the above description of the service device is only an example and does not constitute a limitation on the terminal device, and can include more or less components than the above description, or combine certain components or different components, for example, can include input and output devices, network access devices, buses and the like.

[0072] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The above processor is the control center of the terminal device, and is connected with various parts of the terminal device through various interfaces and lines.

[0073] The memory can be used to store computer programs and / or modules, and the processor realizes various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and calling data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as an information collection template display function, a product information publishing function, etc.), etc.; and the data storage area can store data created according to the use of the berth state display system (such as product information collection templates corresponding to different product categories, product information to be published by different product providers, etc.). In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0074] If the modules / units integrated in the terminal device are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the modules / units in the above-mentioned embodiment system can also be instructed by a computer program to related hardware to complete, and the computer program can be stored in a computer-readable storage medium. The computer program can realize the functions of the above-mentioned various system embodiments when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms, etc. The computer-readable medium can include any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0075] It should be noted that in this paper, the term "include", "contain" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0076] The above merely describes the preferred embodiments of the present application, and is not intended to limit the patent scope of the present application, and any equivalent structure or equivalent process conversion, or direct or indirect application in other related technical fields, which are made by using the content of the present application specification and drawings, are also included in the patent protection scope of the present application.

Claims

1. A hybrid positioning guidance method, characterized by, The method comprises: displaying an authorization two-dimensional code, receiving scanning information of a user based on the authorization two-dimensional code, and establishing a connection channel with a mobile terminal when the scanning information of the user is received; receiving and displaying guide information sent by a server through a preset ceiling base station, and generating a motion instruction according to the guide information; acquiring a mobile terminal position based on a preset Bluetooth module, and mapping and displaying the mobile terminal position; determining whether the mobile terminal position exceeds a preset range in real time, and sending the mobile terminal position to the server when the mobile terminal position exceeds the preset range; and sending navigation information to a corresponding mobile terminal according to the mobile terminal position when the server receives the mobile terminal position; the step of acquiring the mobile terminal position based on the preset Bluetooth module and mapping and displaying the mobile terminal position comprises: acquiring a coordinate position (x, y) of the mobile terminal, and determining a display screen coordinate corresponding to the coordinate position (x, y) according to a preset mapping relationship; the step of sending the navigation information to the corresponding mobile terminal according to the mobile terminal position when the server receives the mobile terminal position comprises: when the server receives the mobile terminal position, querying mobile terminal information corresponding to the mobile terminal position; the mobile terminal information is contained in the scanning information; sending the mobile terminal information to a preset ceiling base station; acquiring a current position of the mobile terminal in real time when the ceiling base station receives the mobile terminal information; acquiring a robot position in real time based on the preset ceiling base station, and generating the navigation information according to the robot position and the current position of the mobile terminal; sending the navigation information to the corresponding mobile terminal; the method further comprises: receiving a permission recovery instruction of the user in real time, and deleting user data when the permission recovery instruction is received.

2. A hybrid positioning guidance system, characterized by, The system comprises: a connection channel establishing module configured to display an authorization two-dimensional code, receive scanning information of a user based on the authorization two-dimensional code, and establish a connection channel with a mobile terminal when the scanning information of the user is received; a motion instruction generating module configured to receive and display guide information sent by a server through a preset ceiling base station, and generate a motion instruction according to the guide information; a mapping and displaying module configured to acquire a mobile terminal position based on a preset Bluetooth module, and map and display the mobile terminal position; a navigation information sending module configured to determine whether the mobile terminal position exceeds a preset range in real time, and send the mobile terminal position to the server when the mobile terminal position exceeds the preset range; and send navigation information to a corresponding mobile terminal according to the mobile terminal position when the server receives the mobile terminal position; the content of acquiring the mobile terminal position based on the preset Bluetooth module and mapping and displaying the mobile terminal position comprises: acquiring a coordinate position (x, y) of the mobile terminal, and determining a display screen coordinate corresponding to the coordinate position (x, y) according to a preset mapping relationship; the content of sending the navigation information to the corresponding mobile terminal according to the mobile terminal position when the server receives the mobile terminal position comprises: when the server receives the mobile terminal position, querying mobile terminal information corresponding to the mobile terminal position; the mobile terminal information is contained in the scanning information; Send the mobile terminal information to the preset ceiling base station; when the ceiling base station receives the mobile terminal information, the current position of the mobile terminal is acquired in real time; Based on the preset ceiling base station, the position of the robot is acquired in real time, and the navigation information is generated according to the position of the robot and the current position of the mobile terminal; The navigation information is sent to the corresponding mobile terminal; The working content of the system also includes: Real-time receiving of user's permission recovery instruction, when receiving the permission recovery instruction, deleting the user data.

Images