Indoor navigation method, device, equipment, storage medium and system

Abstract

The embodiment of the invention provides an indoor navigation method, device and system, equipment and a storage medium. The method comprises the following steps that: terminal equipment sends at least two pieces of front Bluetooth beacon information to a data processing server, wherein each piece of front Bluetooth beacon information comprises a triggering moment when the terminal equipment triggers a front Bluetooth beacon; and the data processing server calculates the driving duration of the vehicle between the adjacent front Bluetooth beacons according to the information of the at least two front Bluetooth beacons. And then determining a target rear Bluetooth beacon according to the driving duration and a first playing duration of navigation information pre-deployed in the rear Bluetooth beacon. And finally, the identifier of the target rear Bluetooth beacon is sent to the terminal equipment, so that the terminal equipment plays navigation information when triggering the target rear Bluetooth beacon. The method is used for achieving the effect of improving the laying efficiency of the Bluetooth beacons.

Description

Technical Field

[0001] The present application relates to the field of navigation technology, and in particular to an indoor navigation method, apparatus, device, storage medium, and system. Background Art

[0002] Bluetooth beacons are primarily used for navigation in large indoor environments such as shopping malls, parking lots, and airports. For example, underground parking lots are equipped with multiple Bluetooth beacons, each pre-configured with its own unique identifier and navigation information. When a driver enters the underground parking lot, an application running on their vehicle or mobile phone scans the radio signal broadcast by the Bluetooth beacon, which includes the navigation information pre-set by the beacon. The application then broadcasts this information to guide the driver to the charging station.

[0003] To improve the accuracy of navigation information broadcast timing, after laying out the Bluetooth beacons, manual testing is required to adjust the spacing between them. Specifically, engineers calculate the trigger timing based on vehicle speed and adjust the position of the Bluetooth beacons accordingly to ensure that drivers receive positioning updates broadcast by the beacons every 3-5 seconds, avoiding redundant notifications caused by premature broadcasts or delayed triggering that could lead to missed turning points.

[0004] However, the existing technology has the problem of low deployment efficiency of Bluetooth beacons. Summary of the Invention

[0005] The indoor navigation method, apparatus, device, storage medium, and system provided in the embodiments of the present application are used to improve the deployment efficiency of Bluetooth beacons.

[0006] In a first aspect, an embodiment of the present application provides an indoor navigation method, which is applied to a data processing server. The navigation route includes multiple non-forking road sections, each non-forking road section is evenly deployed with at least two front Bluetooth beacons and at least two rear Bluetooth beacons, and the at least two rear Bluetooth beacons are located in front of the at least two front Bluetooth beacons, and the front is the driving direction of the vehicle according to the navigation route. The method includes:

[0007] When the vehicle is traveling along the driving direction on a road section without forks, receiving at least two pieces of front Bluetooth beacon information sent by a terminal device moving with the vehicle, the front Bluetooth beacon information including a triggering time when the terminal device triggers the front Bluetooth beacon;

[0008] Calculating a driving time of the vehicle between adjacent front Bluetooth beacons based on information of the at least two front Bluetooth beacons;

[0009] determining a target rear-mounted Bluetooth beacon based on the driving duration and a first playback duration of navigation information pre-deployed in the rear-mounted Bluetooth beacon;

[0010] The identifier of the target rear-mounted Bluetooth beacon is sent to the terminal device, so that the terminal device plays the navigation information when the target rear-mounted Bluetooth beacon is triggered.

[0011] In a possible implementation, determining the target rear-mounted Bluetooth beacon based on the driving duration and the first playback duration of navigation information pre-deployed in the rear-mounted Bluetooth beacon includes:

[0012] If the driving duration is greater than or equal to the first playback duration, determining the last rear Bluetooth beacon as the target rear Bluetooth beacon;

[0013] If the driving duration is less than the first playback duration, and the first playback duration is greater than a preset duration, determining the first rear Bluetooth beacon as the target rear Bluetooth beacon;

[0014] If the driving duration is less than the first playback duration, and the first playback duration is equal to the preset duration, determining the first rear Bluetooth beacon as the target rear Bluetooth beacon;

[0015] If the driving duration is less than the first playback duration, and the first playback duration is less than the preset duration, rounding up the ratio of the first playback duration to the driving duration, determining the number of the target rear Bluetooth beacon according to the rounded result and the number of rear Bluetooth beacons, and determining the target rear Bluetooth beacon according to the number of the target rear Bluetooth beacon;

[0016] The at least two rear Bluetooth beacons are numbered from small to large along the driving direction.

[0017] In a possible implementation, determining the target rear-mounted Bluetooth beacon based on the driving duration and the first playback duration of navigation information pre-deployed in the rear-mounted Bluetooth beacon includes:

[0018] Get the preset broadcast advance time;

[0019] Subtracting the broadcast advance time from the first playback time to determine a new first playback time;

[0020] The target rear Bluetooth beacon is determined according to the driving duration and the new first playback duration.

[0021] In a possible implementation, after determining the target rear-mounted Bluetooth beacon based on the driving duration and the first playback duration of the navigation information pre-deployed in the rear-mounted Bluetooth beacon, the method further includes:

[0022] The preset broadcast delay time is sent to the terminal device.

[0023] In a possible implementation, after calculating the driving time of the vehicle between adjacent front Bluetooth beacons based on the information of the at least two front Bluetooth beacons, the method further includes:

[0024] If the driving duration is less than the second playback duration of the warning information pre-deployed in the front Bluetooth beacon, a playback instruction is sent to the terminal device so that the terminal device plays the warning information according to the playback instruction. The warning information is used to inform the driver in advance of the navigation sub-route corresponding to the no-branch road section.

[0025] In a second aspect, an embodiment of the present application provides an indoor navigation method, which is applied to a terminal device moving with a vehicle, wherein the navigation route includes multiple non-forking road sections, each non-forking road section is evenly deployed with at least two front Bluetooth beacons and at least two rear Bluetooth beacons, and the at least two rear Bluetooth beacons are located in front of the at least two front Bluetooth beacons, and the front is the driving direction of the vehicle according to the navigation route. The method includes:

[0026] When the vehicle is traveling along the driving direction on a road section without forks, at least two pieces of pre-Bluetooth beacon information are sent to a data processing server, wherein the pre-Bluetooth beacon information includes a triggering time when the terminal device triggers the pre-Bluetooth beacon;

[0027] receiving an identifier of a target rear-positioned Bluetooth beacon returned by the data processing server, where the identifier of the target rear-positioned Bluetooth beacon is determined based on the at least two pieces of information of the front-positioned Bluetooth beacon and a play duration of navigation information pre-deployed in the rear-positioned Bluetooth beacon;

[0028] When the target rear-positioned Bluetooth beacon corresponding to the identifier of the target rear-positioned Bluetooth beacon is triggered, the navigation information is played.

[0029] In a possible implementation, when triggering the target rear-positioned Bluetooth beacon corresponding to the identifier of the target rear-positioned Bluetooth beacon, playing the navigation information includes:

[0030] Obtaining the broadcast delay duration sent by the data processing server;

[0031] When the target rear Bluetooth beacon is triggered, the timing is started and the accumulated duration is obtained;

[0032] When the accumulated time reaches the broadcast delay time, the navigation information is played.

[0033] In one possible implementation, the method further includes:

[0034] Obtaining a playback instruction sent by the data processing server;

[0035] According to the play instruction, the warning information pre-deployed in the front Bluetooth beacon is played, and the warning information is used to inform the driver in advance of the navigation sub-route corresponding to the non-branching road section.

[0036] In a third aspect, an embodiment of the present application provides an indoor navigation device, which is applied to a data processing server. The navigation route includes multiple non-forking road sections, each non-forking road section is evenly deployed with at least two front Bluetooth beacons and at least two rear Bluetooth beacons, and the at least two rear Bluetooth beacons are located in front of the at least two front Bluetooth beacons, and the front is the driving direction of the vehicle according to the navigation route. The device includes:

[0037] a receiving module, configured to receive, when the vehicle is traveling along the driving direction on a road section without forks, at least two pieces of pre-Bluetooth beacon information sent by a terminal device moving with the vehicle, the pre-Bluetooth beacon information including a triggering time at which the terminal device triggers the pre-Bluetooth beacon;

[0038] a calculation module, configured to calculate a driving time of the vehicle between adjacent front Bluetooth beacons based on information of the at least two front Bluetooth beacons;

[0039] a determination module, configured to determine a target rear-mounted Bluetooth beacon based on the driving duration and a first playback duration of navigation information pre-deployed in the rear-mounted Bluetooth beacon;

[0040] The sending module is used to send the identifier of the target rear-mounted Bluetooth beacon to the terminal device, so that the terminal device plays the navigation information when the target rear-mounted Bluetooth beacon is triggered.

[0041] In a possible implementation, the determining module is specifically configured to:

[0042] If the driving duration is greater than or equal to the first playback duration, determining the last rear Bluetooth beacon as the target rear Bluetooth beacon;

[0043] If the driving duration is less than the first playback duration, and the first playback duration is greater than a preset duration, determining the first rear Bluetooth beacon as the target rear Bluetooth beacon;

[0044] If the driving duration is less than the first playback duration, and the first playback duration is equal to the preset duration, determining the first rear Bluetooth beacon as the target rear Bluetooth beacon;

[0045] If the driving duration is less than the first playback duration, and the first playback duration is less than the preset duration, rounding up the ratio of the first playback duration to the driving duration, determining the number of the target rear Bluetooth beacon according to the rounded result and the number of rear Bluetooth beacons, and determining the target rear Bluetooth beacon according to the number of the target rear Bluetooth beacon;

[0046] The at least two rear Bluetooth beacons are numbered from small to large along the driving direction.

[0047] In a possible implementation, the determining module is specifically configured to:

[0048] Get the preset broadcast advance time;

[0049] Subtracting the broadcast advance time from the first playback time to determine a new first playback time;

[0050] The target rear Bluetooth beacon is determined according to the driving duration and the new first playback duration.

[0051] In a possible implementation, after determining the target rear-mounted Bluetooth beacon based on the driving duration and the first playback duration of the navigation information pre-deployed in the rear-mounted Bluetooth beacon, the sending module is further configured to:

[0052] The preset broadcast delay time is sent to the terminal device.

[0053] In a possible implementation, after calculating the driving time of the vehicle between adjacent front Bluetooth beacons based on the information of the at least two front Bluetooth beacons, the sending module is further configured to:

[0054] If the driving duration is less than the second playback duration of the warning information pre-deployed in the front Bluetooth beacon, a playback instruction is sent to the terminal device so that the terminal device plays the warning information according to the playback instruction. The warning information is used to inform the driver in advance of the navigation sub-route corresponding to the no-branch road section.

[0055] In a fourth aspect, an embodiment of the present application provides an indoor navigation device for use with a terminal device that follows a vehicle. The navigation route includes multiple non-forking road sections, each non-forking road section is evenly deployed with at least two front Bluetooth beacons and at least two rear Bluetooth beacons. The at least two rear Bluetooth beacons are located in front of the at least two front Bluetooth beacons, and the front is the driving direction of the vehicle according to the navigation route. The device includes:

[0056] a sending module, configured to send at least two pieces of pre-Bluetooth beacon information to a data processing server when the vehicle is traveling along the driving direction on a road section without forks, the pre-Bluetooth beacon information including a triggering time when the terminal device triggers the pre-Bluetooth beacon;

[0057] a receiving module, configured to receive an identifier of a target rear-positioned Bluetooth beacon returned by the data processing server, wherein the identifier of the target rear-positioned Bluetooth beacon is determined based on the at least two front-positioned Bluetooth beacon information and the playback duration of the navigation information pre-deployed in the rear-positioned Bluetooth beacon;

[0058] The playing module is used to play the navigation information when the target rear Bluetooth beacon corresponding to the identifier of the target rear Bluetooth beacon is triggered.

[0059] In a possible implementation, the playback module is specifically configured to:

[0060] Obtaining the broadcast delay duration sent by the data processing server;

[0061] When the target rear Bluetooth beacon is triggered, the timing is started and the accumulated duration is obtained;

[0062] When the accumulated time reaches the broadcast delay time, the navigation information is played.

[0063] In a possible implementation, the playback module is further configured to:

[0064] Obtaining a playback instruction sent by the data processing server;

[0065] According to the play instruction, the warning information pre-deployed in the front Bluetooth beacon is played, and the warning information is used to inform the driver in advance of the navigation sub-route corresponding to the non-branching road section.

[0066] In a fifth aspect, an embodiment of the present application provides a data processing server, comprising: a memory, a processor, and a transceiver;

[0067] The memory stores computer-executable instructions;

[0068] The transceiver is used to communicate and interact with the terminal device;

[0069] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or each possible implementation of the first aspect.

[0070] In a sixth aspect, an embodiment of the present application provides a terminal device, comprising: a memory, a processor, a transceiver, and a sound element;

[0071] The memory stores computer-executable instructions;

[0072] The transceiver is used to communicate and interact with the data processing server;

[0073] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above second aspect and / or each possible implementation of the second aspect.

[0074] In the seventh aspect, an embodiment of the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the above-mentioned first aspect, second aspect, possible implementation methods of the first aspect, and possible implementation methods of the second aspect.

[0075] In an eighth aspect, an embodiment of the present application provides an indoor navigation system, the system comprising a data processing server and a terminal device;

[0076] The data processing server is configured to execute the first aspect and / or each possible implementation method of the first aspect;

[0077] The terminal device is used to execute the above second aspect and / or possible implementation methods of the second aspect.

[0078] The indoor navigation method, apparatus, device, storage medium, and system provided by the embodiments of the present application, in this technical solution, can deploy a front Bluetooth beacon on a road section without forks to measure vehicle speed, and deploy multiple rear Bluetooth beacons on the road section without forks to trigger the playback of navigation information. Compared with the existing technology, this technical solution can determine the target rear Bluetooth beacon to trigger the playback of navigation information in real time based on the measured vehicle speed. After the Bluetooth beacons are laid, there is no need to fine-tune the Bluetooth beacon position, thereby improving the deployment efficiency of Bluetooth beacons and reducing the deployment cycle and labor costs of Bluetooth beacons. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0080] Figure 1A schematic diagram of the navigation route structure of an underground parking lot provided in an embodiment of the present application;

[0081] Figure 2 A schematic diagram of the structure of the indoor navigation system provided for this application;

[0082] Figure 3 Schematic diagram of the process of indoor navigation method provided by this application Figure 1 ;

[0083] Figure 4 Schematic diagram of the process of indoor navigation method provided by this application Figure 2 ;

[0084] Figure 5 Schematic diagram of the process of indoor navigation method provided by this application Figure 3 ;

[0085] Figure 6 Schematic diagram of the process of indoor navigation method provided by this application Figure 4 ;

[0086] Figure 7 A schematic diagram of the principles of the indoor navigation method provided in this application;

[0087] Figure 8 Schematic diagram of the process of indoor navigation method provided by this application Figure 5 ;

[0088] Figure 9 Schematic diagram of the structure of the indoor navigation device provided in this application Figure 1 ;

[0089] Figure 10 Schematic diagram of the structure of the indoor navigation device provided in this application Figure 2 ;

[0090] Figure 11 A schematic diagram of the structure of the data processing server provided for this application;

[0091] Figure 12 This is a schematic diagram of the structure of the terminal device provided in this application.

[0092] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0093] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different drawings represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0094] First, let’s explain the terms used in this application:

[0095] A Bluetooth beacon is a small wireless signal transmitter based on Bluetooth Low Energy (BLE) technology, commonly used for indoor positioning, near-field sensing, and information push. Its core principle is to periodically broadcast a radio signal containing its own unique identifier. When a BLE-enabled smart device (such as a mobile phone or in-vehicle system) enters the signal coverage area, it can analyze this identifier to obtain location-related data or trigger preset actions.

[0096] Next, the background technology involved in this application is explained:

[0097] Because building walls, ceilings, and other structures shield satellite signals, Global Positioning System (GPS) signals can be severely attenuated or even ineffective in indoor environments. Bluetooth beacons, as a low-power, short-range, and low-cost wireless communication technology, are widely used in large indoor environments such as shopping malls, parking lots, and airports.

[0098] Specifically, Bluetooth beacons can be used to guide passengers to quickly find boarding gates, baggage carousels or VIP lounges at airports or high-speed rail stations, help patients accurately locate departments, pharmacies or payment windows in hospitals, and help drivers locate charging stations in underground parking lots to charge their vehicles.

[0099] For example, finding a charging station in an underground parking lot is a practical example. In practice, multiple Bluetooth beacons are deployed in the parking lot, each pre-configured with its own unique identifier and navigation information. When a driver enters the parking lot, an application running on their vehicle or mobile device scans the radio signal broadcast by the Bluetooth beacon, which contains the navigation information pre-configured in the beacon. The application then broadcasts this information to guide the driver to the charging station.

[0100] Because broadcasting navigation information too early can cause the driver to take incorrect driving actions, while broadcasting it too late can cause the driver to brake suddenly or fail to control the vehicle in time due to insufficient reaction time, resulting in the driver taking the wrong route. In other words, ensuring the accuracy of navigation information broadcast timing is extremely important.

[0101] In order to improve the accuracy of the timing of navigation information playback, after the Bluetooth beacons are laid, the spacing between the Bluetooth beacons needs to be adjusted through manual testing. Specifically, engineers will carry signal detection equipment to monitor the signal strength and coverage of Bluetooth beacons in real time along the way, and dynamically adjust the installation position of Bluetooth beacons according to the environmental structure (such as wall obstruction, metal interference). For example, the spacing of Bluetooth beacons in straight sections can be increased to 30 meters, while the spacing of Bluetooth beacons at turns or obstacle areas needs to be reduced to 10-15 meters to ensure signal continuity. At the same time, the trigger timing is calculated based on the vehicle speed (such as a speed limit of 5 kilometers per hour in a parking lot), and the position of the Bluetooth beacon is adjusted according to the trigger timing to ensure that the driver can receive navigation information every 3-5 seconds, avoiding redundant prompts caused by premature broadcasts or delayed triggering that misses the turning point.

[0102] However, the existing method requires manual repeated debugging of the position of the Bluetooth beacon, resulting in low Bluetooth beacon laying efficiency and a long tiling cycle.

[0103] Based on the above technical problems, the technical concept of this application is as follows: Since a route consists of multiple straight sections, each of which is connected by a fork in the road, the user only needs to drive along that section; navigation reminders are not required. However, when the vehicle approaches a fork in the road, a navigation reminder is required to guide the user to choose the correct route. Therefore, at least two front Bluetooth beacons and at least two rear Bluetooth beacons can be set up on each straight section. When the user drives along the navigation route, the vehicle will first pass the front Bluetooth beacons and then the rear Bluetooth beacons. In this way, the vehicle speed can be measured on each straight section using the front Bluetooth beacons. Based on the measured vehicle speed and the duration of the navigation information broadcast, the target rear Bluetooth beacon to trigger the playback of the navigation information is determined, thereby improving the accuracy of the navigation information playback timing. This method eliminates the need to test and adjust the Bluetooth beacon positions after the Bluetooth beacons are laid, reducing the Bluetooth beacon laying cycle and improving the laying efficiency.

[0104] For example, Figure 1 This is a schematic diagram of the navigation route structure of an underground parking lot provided in the embodiment of this application. Figure 1 As shown, the underground parking lot includes multiple entrances, each entrance corresponding to at least one navigation route leading to a charging station, for example Figure 1Navigation route 1 and navigation route 2 in . Each navigation route can be divided into multiple non-fork sections, and different non-fork sections are connected by forks.

[0105] Each unbranched road section is evenly distributed with at least two forward Bluetooth beacons (black circles) and at least two backward Bluetooth beacons (gray circles), with the backward Bluetooth beacons located in front of the at least two forward Bluetooth beacons. The forward direction represents the direction in which the vehicle is traveling according to the navigation route.

[0106] Further, Figure 2 This is a schematic diagram of the structure of the indoor navigation system provided by this application. Figure 2 As shown, the indoor navigation system 20 includes a data processing server 21 and a terminal device 22 that moves with the vehicle.

[0107] Exemplarily, the terminal device 22 can be a mobile phone used by a user driving a vehicle, or a vehicle-mounted terminal deployed in the vehicle, or other terminal devices deployed in the vehicle or carried by the user. The embodiments of the present application do not impose specific restrictions on this.

[0108] Among them, an application is pre-installed in the terminal device 22, and the application is used to obtain the radio signal broadcast by the Bluetooth beacon. Taking the underground parking lot scenario as an example, when the vehicle enters the first non-branching road section of the underground parking lot from the entrance, the application obtains the radio signal broadcast by the first front Bluetooth beacon in the first non-branching road section, establishes a socket long connection with the data processing server 21 based on the radio signal, and sends the front Bluetooth beacon information carried in the radio signal to the data processing server 21. After that, the vehicle continues to move forward on the first non-branching road section, and each time it receives a radio signal broadcast by the front Bluetooth beacon, it sends the front Bluetooth beacon information carried by the radio signal to the data processing server 21.

[0109] Afterwards, the data processing server 21 measures the speed of the vehicle based on all the front Bluetooth beacon information sent by the application, and determines the target rear Bluetooth beacon that needs to be triggered to play the navigation information based on the speed measurement results and the playback duration of the navigation information of the first road section without forks, and sends the identifier of the target rear Bluetooth beacon to the terminal device 22, so that the application in the terminal device 22 plays the corresponding navigation information when it obtains the radio signal broadcast by the target rear Bluetooth beacon.

[0110] Optionally, the indoor navigation system may further include a beacon configuration server 23 and an integrated operation server 24 .

[0111] The beacon configuration server 23 is used to configure Bluetooth beacons. For example, detailed information of the front Bluetooth beacon can be configured, including: the identifier of the front Bluetooth beacon, the Bluetooth beacon group information of the previous non-forking road section, the Bluetooth beacon group information of the current non-forking road section, warning information, line ownership information, and the distance from the previous Bluetooth beacon. Detailed information of the rear Bluetooth beacon can also be configured, including: the identifier of the rear Bluetooth beacon, the Bluetooth beacon group information of the previous non-forking road section, the Bluetooth beacon group information of the current non-forking road section, navigation information, and line ownership information.

[0112] The Bluetooth beacon group information of the previous non-fork road section includes the identifier of the Bluetooth beacon deployed on the previous non-fork road section, and the subsequent Bluetooth beacon group information of the current non-fork road section includes the identifier of the subsequent Bluetooth beacon deployed on the current non-fork road section.

[0113] Optionally, the integrated operation server 24 may also store the configuration information of the Bluetooth beacon configured by the beacon configuration server 23, including the type and detailed information of the Bluetooth beacon.

[0114] The integrated operation server 24 is configured to set and store a navigation information broadcast delay or advance time. The navigation information broadcast delay or advance time can be set by the construction personnel who laid the Bluetooth beacons, or by the user through an application on the terminal device 22 to adapt to the user's personalized driving experience.

[0115] Optionally, the default value of the broadcast delay time or broadcast advance time of the above navigation information is 0.

[0116] Optionally, you can also set the delay time or advance time of the warning information, which is similar to the above navigation information and will not be described here.

[0117] Among them, the beacon configuration server 23 is the enterprise (Business, B) end, the data processing server 21, the terminal device 22 and the integrated operation server 24 are the consumer (Consumer, C) end

[0118] It should be understood that the specific solutions executed by the above-mentioned data processing server 21 and terminal device 22 will be explained in detail through the following method embodiments and will not be repeated here.

[0119] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0120] Figure 3 Schematic diagram of the process of indoor navigation method provided by this application Figure 1 ,like Figure 3 As shown, the indoor navigation method includes:

[0121] S31. When a vehicle is traveling along a driving direction on a road section without forks, a terminal device moving along with the vehicle sends at least two pieces of pre-Bluetooth beacon information to a data processing server.

[0122] The front Bluetooth beacon information includes the triggering time when the terminal device triggers the front Bluetooth beacon.

[0123] In one possible implementation, the terminal device continuously acquires the radio signal broadcast by the pre-positioned Bluetooth beacon, and after acquiring the radio signal, transmits the pre-positioned Bluetooth beacon information carried in the radio signal to the data processing server. The moment the radio signal is acquired is the triggering moment of the pre-positioned Bluetooth beacon by the terminal device.

[0124] In another possible implementation, considering that different Bluetooth beacons have overlapping signal areas, the target signal value can be determined based on the mapping relationship between the signal range and the signal value provided by the Bluetooth beacon manufacturer, as well as the distance between adjacent front Bluetooth beacons. Afterwards, after receiving the radio signal broadcast by the front Bluetooth beacon, the terminal device can further determine whether the signal value of the radio signal reaches the target signal value. After the signal value of the radio signal reaches the target signal value for the first time, the front Bluetooth beacon information carried in the radio information is sent to the data processing server. The moment when the signal value of the radio signal reaches the target signal value is the moment when the terminal device triggers the front Bluetooth beacon.

[0125] For example, assume the mapping relationship between signal range and signal strength is: when the signal range is 10 meters, the signal strength is 10, and when the signal range is 5 meters, the signal strength is 50. Furthermore, assume the distance between adjacent front Bluetooth beacons is 10 meters. In this case, the area with a radius of 5 meters, centered around the front Bluetooth beacon, is the target signal range for the front Bluetooth beacon, and the target signal strength corresponding to this target signal range is 50.

[0126] Correspondingly, when the vehicle travels along the driving direction on a road section without forks, the data processing server receives at least two front Bluetooth beacon information sent by the terminal device moving with the vehicle.

[0127] It should be understood that the terminal device and the data processing server communicate and interact through a long socket connection.

[0128] S32. The data processing server calculates the driving time of the vehicle between adjacent front Bluetooth beacons based on information of at least two front Bluetooth beacons.

[0129] Among them, when the road section without forks only contains two front Bluetooth beacons, the triggering times in the information of the two front Bluetooth beacons can be subtracted, and the calculated difference can be determined as the driving time of the vehicle between adjacent front Bluetooth beacons.

[0130] Furthermore, when a road section without forks contains more than two front Bluetooth beacons, any two adjacent front Bluetooth beacons can be grouped together, and the initial travel duration of the group can be calculated based on the information of the front Bluetooth beacons of the group. It should be understood that the calculation method can refer to the calculation method for the case of two front Bluetooth beacons described above and will not be repeated here. Thereafter, the initial travel duration of any group can be determined as the travel duration of the vehicle between adjacent front Bluetooth beacons, and the average of all initial travel durations can also be determined as the travel duration of the vehicle between adjacent front Bluetooth beacons.

[0131] S33: The data processing server determines a target rear Bluetooth beacon according to the driving duration and the first playback duration of the navigation information pre-deployed in the rear Bluetooth beacon.

[0132] In a possible implementation, at least two rear Bluetooth beacons may be numbered from small to large along the driving direction, that is, the rear Bluetooth beacon that the vehicle passes first is the first rear Bluetooth beacon, and the rear Bluetooth beacon that the vehicle passes last is the last rear Bluetooth beacon.

[0133] Reference Figure 1 , rear Bluetooth beacon 1 is the first rear Bluetooth beacon, rear Bluetooth beacon 2 is the second rear Bluetooth beacon, ..., rear Bluetooth beacon 4 is the last rear Bluetooth beacon.

[0134] This implementation includes the following situations:

[0135] Case 1: If the driving duration is greater than or equal to the first playback duration, the last rear Bluetooth beacon is determined as the target rear Bluetooth beacon.

[0136] In case 1, since the driving duration is greater than or equal to the first playback duration, it indicates that the vehicle is driving slowly and can play the navigation information within the distance between adjacent rear Bluetooth beacons. Therefore, the last rear Bluetooth beacon can be determined as the target rear Bluetooth beacon. This ensures that the vehicle is close enough to the fork in the road, leaving the driver ample reaction time.

[0137] Case 2: If the driving time is less than the first playback time, and the first playback time is greater than the preset time, the first rear Bluetooth beacon is determined as the target rear Bluetooth beacon.

[0138] The preset duration can be determined based on the interval between adjacent rear Bluetooth beacons, the number of rear Bluetooth beacons, and the maximum speed allowed in indoor scenarios. For example, the sub-length of the road segment covered by the rear Bluetooth beacons can be determined by multiplying the interval between adjacent rear Bluetooth beacons by the number of rear Bluetooth beacons. The quotient of this sub-length divided by the maximum speed is then used to determine the preset duration.

[0139] In case 2, since the driving duration is less than the first playback duration, and the first playback duration is greater than the preset duration, this indicates that the vehicle was driving very fast and the navigation information contained a large amount of content, requiring a significant amount of time to play. If the driver accelerates to maximum speed, the navigation information may not be fully played within the sub-length of the road section covered by the rear Bluetooth beacon. This means that the navigation information needs to be played as soon as possible, so the first rear Bluetooth beacon is identified as the target rear Bluetooth beacon.

[0140] Case 3: If the driving time is less than the first playback time, and the first playback time is equal to the preset time, the first rear Bluetooth beacon is determined as the target rear Bluetooth beacon.

[0141] It should be understood that Case 3 can refer to the relevant explanations in Case 2 and will not be repeated here.

[0142] Case 4: If the driving time is less than the first playback time, and the first playback time is less than the preset time, the ratio of the first playback time to the driving time is rounded up, and the number of the target rear Bluetooth beacon is determined according to the rounded result and the number of rear Bluetooth beacons, and the target rear Bluetooth beacon is determined according to the number of the target rear Bluetooth beacon.

[0143] In case 4, since the driving time is less than the first playback time, and the first playback time is less than the preset time, it means that the vehicle is driving faster at this time, but the navigation information content is less, and it does not need to take a long time. When the driver speeds up to the maximum speed, the navigation information can still be played within the sub-length of the road section covered by the rear Bluetooth beacon. Therefore, the ratio of the first playback time to the driving time can be calculated first, and then the ratio is rounded up, and then the difference between the number of rear Bluetooth beacons and the result obtained by rounding up is calculated, and finally the sum obtained by adding 1 to the difference is determined as the number of the target rear Bluetooth beacon. In case 4, on the basis of ensuring that there is sufficient reaction time for the driver, the navigation information is played as close to the fork in the road as possible.

[0144] Next, the above implementation is explained through a specific example.

[0145] Assume that the driving duration is s, the first playback duration is S1, the preset duration is 4s (4 times the driving duration), and the number of rear Bluetooth beacons is 4. If s ≥ S1, then the last rear Bluetooth beacon is determined as the target rear Bluetooth beacon; if s < S1 and S1 ≥ 4s, then the first rear Bluetooth beacon is determined as the target rear Bluetooth beacon; if s < S1 < 4s, then calculate the ratio n0 of the first playback duration to the driving duration according to the formula S1 / s = n0, then round up n0 to get n1, and determine (5 - n1) rear Bluetooth beacons as the target rear Bluetooth beacons.

[0146] S34. The data processing server sends the identifier of the target rear Bluetooth beacon to the terminal device.

[0147] It should be understood that the data processing server sends the identifier of the target rear Bluetooth beacon to the terminal device so that the terminal device plays navigation information when triggering the target rear Bluetooth beacon.

[0148] It should be understood that the navigation information can be turning left, turning right, U-turn, etc. to guide the driver to drive the vehicle into another section without forks.

[0149] Correspondingly, the terminal device receives the identifier of the target rear Bluetooth beacon returned by the data processing server. It should be understood that the identifier of the target rear Bluetooth beacon is determined according to the information of at least two front Bluetooth beacons and the playback duration of the navigation information pre-deployed in the rear Bluetooth beacon. The specific determination process can refer to the relevant explanations in the above steps and will not be elaborated here.

[0150] S35. When the terminal device triggers the target rear Bluetooth beacon corresponding to the identifier of the target rear Bluetooth beacon, it plays navigation information. [[ID=IS=19]]

[0151] In a possible implementation manner, the terminal device continuously acquires the radio signal broadcast by the rear Bluetooth beacon, and plays navigation information when acquiring the radio signal of the target rear Bluetooth beacon.

[0152] In a possible implementation manner, after the terminal device receives the radio signal broadcast by the rear Bluetooth beacon, it can further determine whether the signal value of the radio signal reaches the target signal value, and play navigation information after the signal value of the radio signal first reaches the target signal value.

[0153] In the indoor navigation method provided by the embodiment of the present application, the terminal device sends at least two front Bluetooth beacon information to the data processing server, and each front Bluetooth beacon information includes the triggering time when the terminal device triggers the front Bluetooth beacon. The data processing server calculates the driving time of the vehicle between adjacent front Bluetooth beacons based on the at least two front Bluetooth beacon information. Then, based on the driving time and the first playback time of the navigation information pre-deployed in the rear Bluetooth beacon, the target rear Bluetooth beacon is determined. Finally, the identifier of the target rear Bluetooth beacon is sent to the terminal device so that the terminal device plays the navigation information when the target rear Bluetooth beacon is triggered. The navigation route includes multiple non-fork sections, and each non-fork section is evenly deployed with at least two front Bluetooth beacons and at least two rear Bluetooth beacons, and the at least two rear Bluetooth beacons are in front of the at least two front Bluetooth beacons, and the front is the driving direction of the vehicle according to the navigation route. In this technical solution, front Bluetooth beacons can be deployed on non-forking roads to measure vehicle speeds, and multiple rear Bluetooth beacons can be deployed on non-forking roads to trigger navigation information playback. Compared to existing technologies, this technical solution can determine the target rear Bluetooth beacon to trigger navigation information playback in real time based on the measured vehicle speed. After the Bluetooth beacons are laid, there is no need to fine-tune the Bluetooth beacon positions, thereby improving the deployment efficiency of Bluetooth beacons and reducing the deployment cycle and labor costs.

[0154] Optionally, in some embodiments, some users may wish to have navigation information played earlier, while others may wish to have it played as close to a fork in the road as possible. This means that different users may have different requirements for navigation information playback timing. Therefore, a navigation information broadcast delay or advance time can be configured on the integrated operations server via a terminal device application. The data processing server can then communicate with the integrated operations server to obtain the navigation information broadcast delay or advance time configured by the user, thereby incorporating the navigation information broadcast delay or advance time into the calculation of the navigation information playback time.

[0155] Next, the method of determining the time to play the navigation information will be described in detail with reference to two aspects: the delay time of the broadcast and the advance time of the broadcast.

[0156] Aspect 1: Broadcast lead time

[0157] Optional, Figure 4 Schematic diagram of the process of indoor navigation method provided by this application Figure 2 ,like Figure 4 As shown, S33 can be implemented by the following steps:

[0158] S41. The data processing server obtains a preset broadcast advance time.

[0159] The data processing server communicates and interacts with the integrated operation server to obtain the broadcast advance time stored in the integrated operation server.

[0160] S42: The data processing server subtracts the broadcast advance time from the first playback time to determine the new first playback time.

[0161] S43. The data processing server determines the target rear Bluetooth beacon according to the driving time and the new first playback time.

[0162] Optionally, the implementation of S43 may refer to the implementation in S33, that is, the first playback duration in S33 is replaced with a new first playback duration, and the implementation after replacement is the implementation of S43.

[0163] In the above embodiment, when determining the playback time of the navigation information, not only the vehicle speed but also the user's personal habits and driving preferences are considered, so that the playback of the navigation information can be closer to the user's needs and improve the user's driving experience.

[0164] Aspect 2: Broadcast delay duration

[0165] Optional, Figure 5 Schematic diagram of the process of indoor navigation method provided by this application Figure 3 ,like Figure 5 As shown, the method may further include the following steps:

[0166] S51. The data processing server sends the preset broadcast delay time to the terminal device.

[0167] The data processing server communicates with the integrated operation server to obtain the broadcast delay time stored in the integrated operation server, and then sends the broadcast delay time to the terminal device through the socket persistent connection between the data processing server and the terminal device.

[0168] Correspondingly, the terminal device obtains the broadcast delay duration sent by the data processing server.

[0169] S52: The terminal device starts timing when triggering the target rear Bluetooth beacon, and obtains the accumulated time.

[0170] S53: When the accumulated duration reaches the broadcast delay duration, the terminal device plays the navigation information.

[0171] In the above embodiment, when determining the playback time of the navigation information, not only the vehicle speed but also the user's personal habits and driving preferences are considered, so that the playback of the navigation information can be closer to the user's needs and improve the user's driving experience.

[0172] Furthermore, pre-deployed warning messages in the front Bluetooth beacon can inform the driver of the corresponding navigation sub-route for the current non-forking road section. For example, the warning message could be: Go straight for 100 meters, turn left after 100 meters, please keep driving, etc. In actual applications, the terminal device's ability to play the warning message will also need to be determined based on the vehicle's speed.

[0173] Optional, Figure 6 Schematic diagram of the process of indoor navigation method provided by this application Figure 4 ,like Figure 6 As shown, the method may further include the following steps:

[0174] S61: If the driving duration is less than the second playing duration of the warning information pre-deployed in the front Bluetooth beacon, the data processing server sends a playing instruction to the terminal device.

[0175] If the driving duration is less than the second playback duration, the warning information can be played completely before the vehicle enters the signal range of the first rear-mounted Bluetooth beacon. This means that even if the first rear-mounted Bluetooth beacon is later determined to be the target rear-mounted Bluetooth beacon, the navigation information playback will not be affected. Therefore, a playback instruction can be sent to the terminal device, causing the terminal device to play the warning information according to the playback instruction.

[0176] In one possible implementation, since the user can set the advance playback time of the warning information, the second playback time of the warning information minus the advance playback time of the warning information can be used as the new second playback time. When the driving time is less than the new second playback time, a playback instruction is sent to the terminal device.

[0177] Correspondingly, the terminal device obtains the play instruction sent by the data processing server.

[0178] S62. The terminal device plays the warning information pre-deployed in the front Bluetooth beacon according to the play instruction.

[0179] In one possible implementation, since the user can set the delay time for playing the warning information, the timing can be started after receiving the play instruction. When the accumulated time obtained by timing is greater than the delay time for playing the warning information, the warning information is played.

[0180] In the above embodiment, under the premise of determining that it does not affect the playing of navigation information, the warning information is played to the user to ensure that the user can obtain the overall navigation situation of the current road section without forks in advance.

[0181] Optionally, in some embodiments, when the distance between two non-forking sections is close (for example, parallel non-forking sections in different navigation routes), the terminal device can easily trigger the front Bluetooth beacons in multiple non-forking sections at the same time, and send the front Bluetooth beacon information in multiple non-forking sections to the data processing server at the same time. In order to improve the accuracy of subsequent processing, a route mapping relationship can be set in advance, and the route mapping relationship is used to indicate that there are contradictory navigation routes. For example, if the distance between navigation route A and navigation route B is close, but there is a wall, it is impossible for the user to switch from navigation route A to navigation route B, so navigation route A and navigation route B are contradictory navigation routes; if there is a common fork in the road between navigation route C and navigation route D, that is, the user can switch from navigation route C to navigation route D, so navigation route C and navigation route D are not contradictory navigation routes.

[0182] On this basis, after simultaneously acquiring the front Bluetooth beacon information in at least two navigation routes, the data processing server can determine whether the at least two navigation routes are conflicting navigation routes based on the route mapping relationship. If so, the data processing server determines the target navigation route corresponding to the previous non-branching road segment from the at least two navigation routes and does not process the front Bluetooth beacon information from the other navigation routes in the at least two navigation routes except the target navigation route. If not, the data processing server processes the front Bluetooth beacon information in the at least two navigation routes simultaneously.

[0183] Next, the above technical solution is explained through a specific implementation plan.

[0184] In practical applications, the process can be divided into an implementation phase and an operation phase. The implementation phase primarily involves construction personnel evenly placing Bluetooth beacons along each undivided road section and configuring each Bluetooth beacon through a beacon configuration server. After the Bluetooth beacons are deployed, the operation phase begins, during which the indoor navigation method described in any of the above embodiments is executed to achieve vehicle navigation.

[0185] 1. Implementation phase

[0186] Each unforked road section is divided into seven equal sections. After the first section, starting from the second section, a Bluetooth beacon is placed in the middle of each section. The first two are front Bluetooth beacons, and the last four are rear Bluetooth beacons. Because Bluetooth beacons are relatively inexpensive, adding more Bluetooth beacons can improve the accuracy of subsequent navigation information playback timing.

[0187] Among them, the first front Bluetooth beacon is placed in the center of the second segment. The purpose is to prevent the vehicle from mistakenly capturing the radio signal when passing the entrance outside the parking lot. It can also filter out the data errors caused by the slow speed of the vehicle when starting at the entrance.

[0188] After the Bluetooth beacons are laid out, each Bluetooth beacon can be configured through the beacon configuration server.

[0189] For example, you can configure the type and detailed information of each Bluetooth beacon. The detailed information of the front Bluetooth beacon includes: the front Bluetooth beacon identifier, the Bluetooth beacon group information of the previous unforked road section, the Bluetooth beacon group information of the subsequent unforked road section, warning information, route information, and the distance from the previous Bluetooth beacon. You can also configure the detailed information of the rear Bluetooth beacon, including the rear Bluetooth beacon identifier, the Bluetooth beacon group information of the previous unforked road section, the Bluetooth beacon group information of the subsequent unforked road section, navigation information, and route information.

[0190] 2. Operation phase

[0191] Figure 7 This is a schematic diagram of the principle of the indoor navigation method provided by this application. Figure 7 As shown, the total length of the road section without forks is D, the length of each small section is d = D / 7, and the signal range of each Bluetooth beacon is a circle with the Bluetooth beacon at its center and a radius of d / 2. The first two Bluetooth beacons are front Bluetooth beacons, and the last four Bluetooth beacons are rear Bluetooth beacons. When the terminal device detects the first front Bluetooth beacon, it has entered the speed measurement area. Subsequently, when the second front Bluetooth beacon is detected for the first time, the speed measurement phase ends. The data processing server can determine the length of time the vehicle has been traveling within the speed measurement area based on the information from the first two front Bluetooth beacons. Then, based on the driving time and the second playback duration of the warning information, if it is determined that the warning information needs to be played, the terminal device plays the warning information during the warning information broadcast phase. The warning information broadcast phase is the signal range corresponding to the second front Bluetooth beacon. Then, based on the driving time and the first playback duration of the navigation information, the target rear Bluetooth beacon is determined, and the navigation information is played during the navigation information broadcast phase.

[0192] Figure 8 Schematic diagram of the process of indoor navigation method provided by this application Figure 5 ,like Figure 8 As shown, the method includes:

[0193] S801: When detecting the radio signal of the first front Bluetooth beacon on the first non-fork road section, the terminal device establishes a long socket connection with the data processing server.

[0194] S802: The terminal device sends the current first moment to the data processing server.

[0195] S803: After detecting the radio signal of the second front Bluetooth beacon, the terminal device sends the current second moment to the data processing server.

[0196] S804. The data processing server determines the driving duration according to the first moment and the second moment.

[0197] Afterwards, the data processing server starts two threads simultaneously, wherein thread 1 executes S805 and thread 2 executes S806-S812.

[0198] S805: The data processing server determines whether the driving time is greater than the second playback time.

[0199] If so, the data processing server controls the terminal device not to play the warning information; if not, the data processing server sends a play instruction to the terminal device.

[0200] S806: The data processing server obtains the broadcast advance time or the broadcast delay time.

[0201] If the advance broadcast duration is obtained, S807 is executed; if the delay broadcast duration is obtained, S808 is executed, and the delay broadcast duration is sent to the terminal device, and S813 is executed.

[0202] S807: The data processing server subtracts the broadcast advance time from the first playback time to determine the new first playback time.

[0203] S808. The data processing server determines whether the first playback duration is less than or equal to the driving duration.

[0204] If so, the last rear Bluetooth beacon is used as the target rear Bluetooth beacon, and the corresponding identifier is sent to the terminal device, and then S813 is executed; if not, S809 is executed.

[0205] S809: The data processing server determines whether the first playback duration is greater than or equal to a preset duration.

[0206] If so, the first rear Bluetooth beacon is used as the target rear Bluetooth beacon, the corresponding identifier is sent to the terminal device, and S813 is executed; if not, S810 is executed.

[0207] S810. The data processing server calculates the ratio of the first playback duration to the driving duration, and rounds up the ratio.

[0208] S811. The data processing server calculates the difference between the number of rear Bluetooth beacons and the result obtained by rounding up, and finally adds 1 to the difference to obtain the sum, and determines it as the number of the target rear Bluetooth beacon.

[0209] S812: The data processing server determines the identifier of the target rear-mounted Bluetooth beacon according to the ID of the target rear-mounted Bluetooth beacon, and sends it to the terminal device.

[0210] S813: After the terminal device triggers the target rear Bluetooth beacon, the navigation information is played.

[0211] In this embodiment, since the vehicles are mostly moving at a constant speed in the underground parking lot, it can be ensured that the navigation information can be played completely when the vehicles reach the fork in the road.

[0212] The implementation of each step in this embodiment can refer to the relevant content in any of the above embodiments and will not be repeated here.

[0213] The indoor navigation solution provided by this application lays Bluetooth beacons without the help of maps, reducing dependence on map data. At the same time, by laying high-density beacons, the user's driving data can be calculated more accurately, thereby more accurately calculating the optimal time for broadcasting navigation information, greatly improving the user experience, and eliminating the need to manually adjust the position of the Bluetooth beacon multiple times. At the same time, all the calculation logic is placed on the data processing server, which can reduce the logical pressure in the terminal device, make the logic dynamic, and make the front end lightweight. Furthermore, the optimal time to trigger the navigation information can be dynamically determined based on the vehicle speed and the driver's behavior habits, greatly improving the user experience.

[0214] Figure 9 Schematic diagram of the structure of the indoor navigation device provided in this application Figure 1 ,like Figure 9 As shown, the indoor navigation device 90 provided in this embodiment is applied to a data processing server. The navigation route includes multiple non-forking road sections. Each non-forking road section is evenly deployed with at least two front Bluetooth beacons and at least two rear Bluetooth beacons. The at least two rear Bluetooth beacons are in front of the at least two front Bluetooth beacons. The front is the driving direction of the vehicle according to the navigation route. The indoor navigation device 90 includes:

[0215] The receiving module 91 is used to receive at least two front Bluetooth beacon information sent by a terminal device moving with the vehicle when the vehicle is traveling along the driving direction on a road section without forks, and the front Bluetooth beacon information includes the triggering time of the terminal device triggering the front Bluetooth beacon.

[0216] The calculation module 92 is used to calculate the driving time of the vehicle between adjacent front Bluetooth beacons based on information of at least two front Bluetooth beacons.

[0217] The determination module 93 is configured to determine a target rear Bluetooth beacon according to the driving duration and the first playback duration of the navigation information pre-deployed in the rear Bluetooth beacon.

[0218] The sending module 94 is used to send the identifier of the target rear-mounted Bluetooth beacon to the terminal device, so that the terminal device plays the navigation information when the target rear-mounted Bluetooth beacon is triggered.

[0219] In a possible implementation, the determination module 93 is specifically configured to:

[0220] If the driving time is greater than or equal to the first playback time, the last rear Bluetooth beacon is determined as the target rear Bluetooth beacon.

[0221] If the driving time is less than the first playback time, and the first playback time is greater than the preset time, the first rear Bluetooth beacon is determined as the target rear Bluetooth beacon.

[0222] If the driving time is less than the first playback time, and the first playback time is equal to the preset time, the first rear Bluetooth beacon is determined as the target rear Bluetooth beacon.

[0223] If the driving time is less than the first playback time, and the first playback time is less than the preset time, the ratio of the first playback time to the driving time is rounded up, and the number of the target rear Bluetooth beacon is determined according to the rounded result and the number of rear Bluetooth beacons, and the target rear Bluetooth beacon is determined according to the number of the target rear Bluetooth beacon.

[0224] Among them, at least two rear Bluetooth beacons are numbered from small to large along the driving direction.

[0225] In a possible implementation, the determination module 93 is specifically configured to:

[0226] Get the preset broadcast advance time.

[0227] The difference between the first playback duration and the broadcast advance duration is determined as the new first playback duration.

[0228] The target rear Bluetooth beacon is determined based on the driving time and the new first playback time.

[0229] In a possible implementation, after determining the target rear Bluetooth beacon based on the driving duration and the first playback duration of the navigation information pre-deployed in the rear Bluetooth beacon, the sending module 94 is further configured to:

[0230] Send the preset broadcast delay time to the terminal device.

[0231] In a possible implementation, after calculating the driving time of the vehicle between adjacent front Bluetooth beacons based on information of at least two front Bluetooth beacons, the sending module 94 is further configured to:

[0232] If the driving time is less than the second playback time of the warning information pre-deployed in the front Bluetooth beacon, a playback instruction is sent to the terminal device so that the terminal device plays the warning information according to the playback instruction. The warning information is used to inform the driver in advance of the navigation sub-route corresponding to the road section without forks.

[0233] The indoor navigation device provided in this embodiment can execute the method provided by the data processing server side in the above method embodiment. Its implementation principle and technical effects are similar and will not be described in detail in this embodiment.

[0234] Figure 10 Schematic diagram of the structure of the indoor navigation device provided in this application Figure 2 ,like Figure 10 As shown, the indoor navigation device 100 provided in this embodiment is applied to a terminal device that follows a vehicle. The navigation route includes multiple non-forking road sections. Each non-forking road section is evenly deployed with at least two front Bluetooth beacons and at least two rear Bluetooth beacons. The at least two rear Bluetooth beacons are in front of the at least two front Bluetooth beacons, and the front is the driving direction of the vehicle according to the navigation route. The device includes:

[0235] The sending module 101 is used to send at least two front Bluetooth beacon information to the data processing server when the vehicle is traveling on a road section without forks in the driving direction. The front Bluetooth beacon information includes the triggering time of the terminal device triggering the front Bluetooth beacon.

[0236] The receiving module 102 is used to receive the identifier of the target rear Bluetooth beacon returned by the data processing server. The identifier of the target rear Bluetooth beacon is determined based on the playback duration of at least two front Bluetooth beacon information and the navigation information pre-deployed in the rear Bluetooth beacon.

[0237] The playing module 103 is configured to play navigation information when the target rear Bluetooth beacon corresponding to the identifier of the target rear Bluetooth beacon is triggered.

[0238] In a possible implementation, the playback module 103 is specifically configured to:

[0239] Gets the broadcast delay duration sent by the data processing server.

[0240] When the target rear Bluetooth beacon is triggered, the timing starts and the accumulated duration is obtained.

[0241] When the accumulated time reaches the broadcast delay time, the navigation information is played.

[0242] In a possible implementation, the playback module 103 is further configured to:

[0243] Get the playback instruction sent by the data processing server.

[0244] According to the playback instructions, the warning information pre-deployed in the front Bluetooth beacon is played. The warning information is used to inform the driver in advance of the navigation sub-route corresponding to the non-fork road section.

[0245] The indoor navigation device provided in this embodiment can execute the method provided on the terminal device side in the above method embodiment. Its implementation principle and technical effects are similar and will not be described in detail in this embodiment.

[0246] Figure 11 This is a schematic diagram of the structure of the data processing server provided by this application. Figure 11 As shown, the data processing server 21 provided in this embodiment includes: at least one processor 111 , a memory 112 , and a transceiver 113 . The processor 111 and the memory 112 are connected via a bus 114 .

[0247] During the specific implementation process, at least one processor 111 executes the computer-executable instructions stored in the memory 112, so that the at least one processor 111 performs the above method.

[0248] The transceiver 113 is used to communicate and interact with the terminal device.

[0249] The specific implementation process of the processor 111 can be found in the above-mentioned method embodiment. Its implementation principle and technical effects are similar, and will not be repeated here in this embodiment.

[0250] Figure 12 This is a schematic diagram of the structure of the terminal device provided in this application. Figure 12 As shown, the terminal device 22 provided in this embodiment includes: at least one processor 121, a memory 122, a transceiver 123, and a sound element 124. The processor 121, the memory 122, the transceiver 123, and the sound element 124 are connected via a bus 125.

[0251] During the specific implementation process, at least one processor 121 executes the computer execution instructions stored in the memory 122, so that the at least one processor 121 executes the above-mentioned method on the terminal device side.

[0252] The transceiver 123 is used to communicate and interact with the data processing server.

[0253] The specific implementation process of the processor 121 can be found in the above-mentioned method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0254] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASICs), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules in the processor.

[0255] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0256] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0257] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0258] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0259] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0260] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0261] The division of units is merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0262] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0263] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0264] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0265] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0266] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. An indoor navigation method, characterized in that: Applied to a data processing server, a navigation route includes multiple non-forking road sections, each non-forking road section is evenly deployed with at least two front Bluetooth beacons and at least two rear Bluetooth beacons, the at least two rear Bluetooth beacons are located in front of the at least two front Bluetooth beacons, and the front is the driving direction of the vehicle according to the navigation route. The method includes: When the vehicle is traveling along the driving direction on a road section without forks, receiving at least two pieces of front Bluetooth beacon information sent by a terminal device moving with the vehicle, the front Bluetooth beacon information including a triggering time when the terminal device triggers the front Bluetooth beacon; Calculating a driving time of the vehicle between adjacent front Bluetooth beacons based on information of the at least two front Bluetooth beacons; determining a target rear-mounted Bluetooth beacon based on the driving duration and a first playback duration of navigation information pre-deployed in the rear-mounted Bluetooth beacon; The identifier of the target rear-mounted Bluetooth beacon is sent to the terminal device, so that the terminal device plays the navigation information when the target rear-mounted Bluetooth beacon is triggered.

2. The method according to claim 1, characterized in that The determining of the target rear-mounted Bluetooth beacon according to the driving duration and the first playback duration of the navigation information pre-deployed in the rear-mounted Bluetooth beacon includes: If the driving duration is greater than or equal to the first playback duration, determining the last rear Bluetooth beacon as the target rear Bluetooth beacon; If the driving duration is less than the first playback duration, and the first playback duration is greater than a preset duration, determining the first rear Bluetooth beacon as the target rear Bluetooth beacon; If the driving duration is less than the first playback duration, and the first playback duration is equal to the preset duration, determining the first rear Bluetooth beacon as the target rear Bluetooth beacon; If the driving duration is less than the first playback duration, and the first playback duration is less than the preset duration, rounding up the ratio of the first playback duration to the driving duration, determining the number of the target rear Bluetooth beacon according to the rounded result and the number of rear Bluetooth beacons, and determining the target rear Bluetooth beacon according to the number of the target rear Bluetooth beacon; The at least two rear Bluetooth beacons are numbered from small to large along the driving direction.

3. The method according to claim 1 or 2, characterized in that The determining of the target rear-mounted Bluetooth beacon according to the driving duration and the first playback duration of the navigation information pre-deployed in the rear-mounted Bluetooth beacon includes: Get the preset broadcast advance time; Subtracting the broadcast advance time from the first playback time to determine a new first playback time; The target rear Bluetooth beacon is determined according to the driving duration and the new first playback duration.

4. The method according to claim 1 or 2, characterized in that After determining the target rear-mounted Bluetooth beacon based on the driving duration and the first playback duration of the navigation information pre-deployed in the rear-mounted Bluetooth beacon, the method further includes: The preset broadcast delay time is sent to the terminal device.

5. The method according to claim 1 or 2, characterized in that After calculating the driving time of the vehicle between adjacent front Bluetooth beacons based on the information of the at least two front Bluetooth beacons, the method further includes: If the driving duration is less than the second playback duration of the warning information pre-deployed in the front Bluetooth beacon, a playback instruction is sent to the terminal device so that the terminal device plays the warning information according to the playback instruction. The warning information is used to inform the driver in advance of the navigation sub-route corresponding to the no-branch road section.

6. An indoor navigation method, characterized in that: A method for a terminal device that follows a vehicle, wherein the navigation route includes multiple non-forking road sections, each non-forking road section is evenly distributed with at least two front Bluetooth beacons and at least two rear Bluetooth beacons, wherein the at least two rear Bluetooth beacons are located in front of the at least two front Bluetooth beacons, and the front is the driving direction of the vehicle according to the navigation route. When the vehicle is traveling along the driving direction on a road section without forks, at least two pieces of pre-Bluetooth beacon information are sent to a data processing server, wherein the pre-Bluetooth beacon information includes a triggering time when the terminal device triggers the pre-Bluetooth beacon; receiving an identifier of a target rear-positioned Bluetooth beacon returned by the data processing server, where the identifier of the target rear-positioned Bluetooth beacon is determined based on the at least two pieces of information of the front-positioned Bluetooth beacon and a play duration of navigation information pre-deployed in the rear-positioned Bluetooth beacon; When the target rear-positioned Bluetooth beacon corresponding to the identifier of the target rear-positioned Bluetooth beacon is triggered, the navigation information is played.

7. The method according to claim 6, characterized in that The method of playing the navigation information when triggering the target rear-positioned Bluetooth beacon corresponding to the identifier of the target rear-positioned Bluetooth beacon includes: Obtaining the broadcast delay duration sent by the data processing server; When the target rear Bluetooth beacon is triggered, the timing is started and the accumulated duration is obtained; When the accumulated time reaches the broadcast delay time, the navigation information is played.

8. The method according to claim 6 or 7, characterized in that The method further comprises: Obtaining a playback instruction sent by the data processing server; According to the play instruction, the warning information pre-deployed in the front Bluetooth beacon is played, and the warning information is used to inform the driver in advance of the navigation sub-route corresponding to the non-branching road section.

9. An indoor navigation device, characterized in that: Applied to a data processing server, the navigation route includes multiple non-forking road sections, each non-forking road section is evenly deployed with at least two front Bluetooth beacons and at least two rear Bluetooth beacons, the at least two rear Bluetooth beacons are located in front of the at least two front Bluetooth beacons, and the front is the driving direction of the vehicle according to the navigation route. The device includes: a receiving module, configured to receive, when the vehicle is traveling along the driving direction on a road section without forks, at least two pieces of pre-Bluetooth beacon information sent by a terminal device moving with the vehicle, the pre-Bluetooth beacon information including a triggering time at which the terminal device triggers the pre-Bluetooth beacon; a calculation module, configured to calculate a driving time of the vehicle between adjacent front Bluetooth beacons based on information of the at least two front Bluetooth beacons; a determination module, configured to determine a target rear-mounted Bluetooth beacon based on the driving duration and a first playback duration of navigation information pre-deployed in the rear-mounted Bluetooth beacon; The sending module is used to send the identifier of the target rear-mounted Bluetooth beacon to the terminal device, so that the terminal device plays the navigation information when the target rear-mounted Bluetooth beacon is triggered.

10. An indoor navigation device, characterized in that: A terminal device is applied to a vehicle that moves along a navigation route, wherein the navigation route includes multiple unbranched road sections, each of which is evenly distributed with at least two front Bluetooth beacons and at least two rear Bluetooth beacons, wherein the at least two rear Bluetooth beacons are located in front of the at least two front Bluetooth beacons, and the front is the direction of travel of the vehicle according to the navigation route. The device includes: a sending module, configured to send at least two pieces of pre-Bluetooth beacon information to a data processing server when the vehicle is traveling along the driving direction on a road section without forks, the pre-Bluetooth beacon information including a triggering time when the terminal device triggers the pre-Bluetooth beacon; a receiving module, configured to receive an identifier of a target rear-positioned Bluetooth beacon returned by the data processing server, wherein the identifier of the target rear-positioned Bluetooth beacon is determined based on the at least two front-positioned Bluetooth beacon information and the playback duration of the navigation information pre-deployed in the rear-positioned Bluetooth beacon; The playing module is used to play the navigation information when the target rear Bluetooth beacon corresponding to the identifier of the target rear Bluetooth beacon is triggered.

11. A data processing server, characterized in that: include: Memory, processors, and transceivers; The memory stores computer-executable instructions; The transceiver is used to communicate and interact with the terminal device; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 5.

12. A terminal device, characterized in that: include: Memory, processor, transceiver and sound generating components; The memory stores computer-executable instructions; The transceiver is used to communicate and interact with the data processing server; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 6 to 8.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 8 when executed by a processor.

14. An indoor navigation system, characterized in that: The system includes a data processing server and a terminal device; Wherein, the data processing server is used to execute the method according to any one of claims 1 to 5; The terminal device is used to execute the method according to any one of claims 6 to 8.

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