TWI655449B - Positioning object method and guiding movement method - Google Patents

Abstract

A method for locating an object by a sequence positioning method, comprising: determining position information of an original reference point; using a handheld device according to a movement displacement from the original reference point, at least a straight line between the handheld device and at least one forward reference point The distance and the angle between at least a straight line distance and a reference direction to determine the position information of at least one forward reference point; and the position information of the object is determined according to the relative position relationship between the at least one forward reference point and the object. The invention also provides a method for guiding movement using the method for positioning objects.

Description

Object positioning method and guided moving method

The invention relates to a method for positioning an object, in particular to a method for positioning an object by a sequence positioning method. The present invention also provides a guided moving method using the positioning object method.

The prior art method of positioning objects, such as GPS (Global Positioning System) positioning, is suitable for the environment of objects that are outdoor and have no interference signals in the surrounding environment. When the positioning accuracy must be less than a meter, such as a range of tens of centimeters, GPS positioning is limited by the effective number of digits for decoding. The signal receiving device needs to be installed outdoors for a long time to receive positioning signals from multiple GPS satellites. The time can be as long as one to several days. When enough data is accumulated and the comparison operation is performed, the positioning information with the required accuracy can be obtained.

However, the general indoor positioning needs, because users usually move around, it is difficult to require them to stay at a specific location for a long time to obtain accurate positioning information. Therefore, it is difficult for GPS positioning to meet its requirements for high-precision and fast position determination.

In addition, in the conventional indoor positioning technology, wireless positioning beacons (Wireless beacon) installed at multiple places in the room can also be used for comparison and positioning. When a handheld device (such as a mobile phone, tablet, etc.) receives a signal from a wireless positioning target, it can quickly obtain positioning information. However, modern business messages change rapidly, and exhibition venues often change design as needed. However, the wireless positioning beacons set up in the exhibition hall require professionals to perform construction one by one, and when the design position in the exhibition hall is changed, a large-scale change may be required for construction, which is very inconvenient and expensive to purchase and maintain.

Therefore, it is very important to have an indoor positioning technology that is easy to construct, and has low purchase and maintenance costs, and a method of guiding movement.

According to one of the viewpoints, the present invention provides a method for locating an object by a serial positioning method, which includes: determining position information of an original reference point; using a handheld device according to a movement displacement from the original reference point, At least a straight line distance between the device and at least one forward reference point, and an angle between the direction of at least the straight line and a reference direction to determine position information of the at least one forward reference point; and according to the relative position relationship between the at least one forward reference point and the object, Determines the location of the object.

In an embodiment, at least one forward reference point includes a first forward reference point, and at least the straight line distance includes a first straight distance. In the foregoing, the handheld device is moved according to the movement from the original reference point, the handheld device and the at least one forward reference point. The at least straight line distance, and the angle between the at least straight line distance and the reference direction, to determine the position information of at least one forward reference point include: the handheld device according to the movement displacement from the original reference point, the handheld device and the first forward reference The first straight-line distance of the points and the angle between the direction of the first straight-line distance and the reference direction determine the position information of the first forward reference point.

In an embodiment, the foregoing step of determining the position information of the object according to the relative position relationship between the at least one forward reference point and the object includes: according to the relative position relationship between the handheld device and the first forward reference point, and one of the handheld device and the object. A sensing distance and the angle between the direction of the first sensing distance and the reference direction to determine the position information of the object; or, the handheld device moves from the first forward reference point to the movement of the object to determine the object's position Location information.

In one embodiment, the handheld device includes a distance measuring unit, and the distance measuring unit performs distance measurement by using an optical radar (Light Detection And Ranging), a voice coil motor, low-energy laser ranging, or optical ranging.

In an embodiment, at least one of the forward reference points includes a second forward reference point, and at least the straight line distance includes a second straight line distance. The foregoing is based on at least a straight line distance between the handheld device and the at least one forward reference point, and at least a straight line. The angle between the distance direction and the reference direction to determine the position information of at least one forward reference point further includes: using the handheld device to move according to the movement from the first forward reference point, the second position between the handheld device and the second forward reference point The straight-line distance and the angle between the direction of the second straight-line distance and the reference direction determine the position information of the second forward reference point.

In an embodiment, the foregoing step of determining the position information of the object according to the relative position relationship between at least one forward reference point and the object includes: one of the handheld device and the object according to the relative position relationship between the handheld device and the second forward reference point; The second sensing distance and the angle between the direction of the second sensing distance and the reference direction to determine the position information of the object; or, the handheld device determines the object according to the movement displacement from the second forward reference point to the object Location information.

In an embodiment, the position information of the second forward reference point is not determined by sensing a straight line distance between the original reference point and the second forward reference point.

In one embodiment, the position information of the original reference point and the first and second forward reference points respectively include a plurality of height information, and the height information may be individually set or defined as the same height.

In one embodiment, the first forward reference point or the second forward reference point is located in an indoor space.

In an embodiment, the step of determining the position information of the first forward reference point or the second forward reference point does not include receiving a signal of a wireless beacon.

In one embodiment, the step of determining the position information of the original reference point includes: using a signal from Global Positioning System (GPS), Near Field Communication (NFC), Wireless Beacon, or by Digitized information in cadastral data to determine the location of the original datum point.

In one embodiment, the reference direction is a geomagnetic direction.

According to one of the viewpoints, the present invention provides a method for guiding movement, including: providing an original reference point, and achieving relative positioning between a handheld device and an original reference point; providing a plurality of display positions, and arriving at the handheld device at any time. Displaying a message on the handheld device in the vicinity of a placement on the handheld device; and providing a virtual screen on the handheld device, and displaying on the virtual screen when the handheld device and the placement match a preset positional relationship Corresponding relevant information to locate the relative relationship between the handheld device and the placement.

In an embodiment, the aforementioned step of the handheld device reaching the adjacent area of any display position includes: the handheld device judges that the handheld device has reached the adjacent area of any display position according to the movement displacement from the original reference point.

In one embodiment, the adjacent area of any placement includes: within a distance range centered on any placement position; or within a distance centered on a guide information position corresponding to any placement position.

In one embodiment, on the virtual screen, each placement includes a comparison target, and the vicinity of the placement includes a guide information position, and the guide information position includes a known relative position to the original reference point. The information position also includes a comparison object corresponding to one of the comparison targets. When the handheld device reaches the vicinity of the display area, the steps of displaying the information related to the placement on the handheld device include: the handheld device is in the vicinity of the display area. , The matching object at the position of the navigation information is displayed.

In an embodiment, the comparison target and the comparison object may include a corresponding geometric shape, a corresponding text, a corresponding color, or a corresponding pattern.

In an embodiment, the handheld device and the display position conform to a preset positional relationship, and the comparison object and the comparison target in the virtual screen at least partially overlap.

In one embodiment, when the handheld device and the display position match the preset positional relationship, the step of displaying the relevant related information on the virtual screen includes: activating the alignment mode of the comparison object, moving the handheld device to make the virtual screen The middle comparison object and the comparison target are at least partially overlapped, and when the comparison object and the comparison target are at least partially overlapped in the virtual screen, the relevant related information is displayed on the virtual screen.

According to one of the viewpoints, the present invention provides a method for guiding movement, including: providing a first display position; providing a virtual picture on a handheld device, the virtual picture providing a plurality of display options, and a user displaying the options It determines a display option corresponding to the first placement, wherein the display option corresponding to the first placement determines the position information corresponding to the first placement, wherein the handheld device includes a ranging unit; the ranging unit determines the handheld device and the The sensing distance of one of the first display positions determines the position information of the handheld device according to the position information of the first display position, the sensing distance, and the angle between the direction of the sensing distance and a reference direction; moving the handheld device according to the handheld device Position information of the handheld device and the movement displacement of the handheld device from determining the position information to determine the position information of the handheld device after the movement; providing a second display position; and the position information of the handheld device after the movement corresponds to the proximity of the second display position While in the area, a message related to the second placement is displayed on the handheld device.

In one embodiment, the aforementioned step of displaying the information related to the second placement on the handheld device includes: the virtual screen provides multiple display options, and the user decides one of the display options corresponding to the second placement among the display options. In one embodiment, the display option corresponding to the second placement may determine the position information corresponding to the second placement.

In one embodiment, the method for guiding movement further includes: determining a sensing distance between the handheld device and one of the second display positions by a distance measuring unit; and correcting the handheld according to the sensing distance of the handheld device and the second display position. Location information of the device after it has moved.

In one embodiment, when the position information of the handheld device after the movement corresponds to the vicinity of the second display location, the step of displaying the information on the second display location on the handheld device includes: after the handheld device is moved Location information, corresponding to the vicinity of the second placement, on the virtual screen, the second placement includes a comparison target, the vicinity of the second placement includes a navigation information location, and the navigation information location includes and One of the first placements has a known relative position, and the navigation information position further includes an alignment object corresponding to one of the comparison targets. In one embodiment, when the handheld device and the second display position conform to a preset positional relationship, a corresponding related message is displayed on the virtual screen, thereby locating the relative relationship between the handheld device and the second display position.

The foregoing and other technical contents, features, and effects of the present invention will be clearly presented in the following detailed description of a preferred embodiment with reference to the accompanying drawings. The directional terms mentioned in the following embodiments, such as: up, down, left, right, front, or rear, are only directions referring to the attached drawings. The drawings in the present invention are schematic, and are mainly intended to represent the functional relationship between each device and each component. As for the shape, thickness, and width, they are not drawn to scale.

The present invention provides a method for locating an object by a serial positioning method. Referring to FIG. 1, an embodiment according to the present invention is shown, which includes: determining position information of an original reference point (S1); using a handheld device According to the movement displacement from the original reference point, at least a straight line distance between the handheld device and at least one forward reference point (in this embodiment, the first forward reference point is taken as an example) (in this embodiment, the first straight line distance is taken as an example), and the first straight line The angle between the direction of the distance and a reference direction determines the position information of the first forward reference point (S2); and determines the position information of the object according to the relative position relationship between the first forward reference point and the object (S3).

In one embodiment, the step of determining the position information (S1) of the original reference point includes: using a signal from a global positioning system (GPS), near field communication (NFC, Near Field Communication), a wireless positioning beacon (Wireless beacon), Or use the digitized information in the cadastral data to determine the location information of the original reference point.

FIG. 2 shows the relationship between the original reference point, the handheld device, and the first forward reference point in an embodiment according to step S2. The handheld device may be, for example, but not limited to, a mobile phone, a tablet computer, a notebook computer, etc., and may also be a dedicated navigation machine for a specific exhibition venue (such as, but not limited to, a museum, a zoo, a botanical garden, a supermarket, an amusement park, etc.). The movement displacements X1 and Y1 of the handheld device from the original reference point can be obtained by sensing based on an electronic compass (not shown) and a motion sensor (not shown) provided on the handheld device. The electronic compass can be used to determine the coordinate directions X and Y. According to the sensing values of the electronic compass and the motion sensor, the movement displacement X1 and Y1 of the handheld device from the original reference point can be determined. The first linear distance between the handheld device and one of the first forward reference points can be sensed by a ranging unit in the handheld device. The ranging unit may include an optical radar (Light Detection And Ranging), a voice coil motor, a low-energy laser rangefinder, or an optical rangefinder for distance measurement. The ranging unit is usually installed in a general smart phone, and it is mostly a ranging unit for mid-range ranging (usually the longest ranging range is about 10 to 20 meters). In addition, the handheld device can sense the angle between the direction of the first straight distance and a reference direction N according to the electronic compass to determine the position information of the first forward reference point. The aforementioned reference direction N can be, for example, the geomagnetic direction. According to the figure, the direction Y is parallel to the reference direction N, but the implementation is not limited to this directional relationship. For example, the coordinate directions X and Y can also be determined according to the indoor space where the forward reference point is placed, and there is an angular relationship with the reference direction N, for example, the direction X is the northeast direction, and the direction Y is the southeast direction.

With continued reference to FIG. 2, the movement of the aforementioned handheld device from the original reference point may be a curved trajectory. The movement displacements X1 and Y1 in the figure represent the displacements of the curved track of the handheld device from the original reference point in the X and Y directions.

With continued reference to FIG. 2, the handheld device and the first forward reference point include a first linear distance, and the direction of the first linear distance and a reference direction N include an included angle φ1. The relative position between the handheld device and the first forward reference point can be determined according to the first linear distance and the included angle φ1. For example, XD1 and YD1 in the drawing may be determined according to the first straight line distance and the included angle φ1. In this way, according to the drawing, the position information of the first forward reference point can be determined according to the movement displacement of the handheld device from the original reference point and the relative position of the handheld device and the first forward reference point. For example, the relative position between the first forward reference and the original reference point in the X direction is X1 + XD1, and the relative position in the Y direction is Y1 + YD1.

Generally used for distance measurement, high-energy laser rangefinders are often used, and the effective range of the distance measurement can exceed 100 meters. However, the equipment used is expensive and the operation is complicated. It can be easily obtained in ordinary daily life. The ranging unit used in the present invention has low energy consumption and is configured for many common handheld devices such as smart phones. With sequence positioning, the location information of the object can be determined by the handheld unit containing a ranging unit for mid-range ranging. Therefore, the object positioning method of the object of the present invention can be completed only by using a handheld device commonly used in daily life, which is very simple.

FIG. 3A shows the relative positional relationship between the first forward reference point and the object in an embodiment. The aforementioned step (S3) of determining the position information of the object based on the relative position relationship between the at least one forward reference point and the object includes: one of the handheld device and the object according to the relative position relationship between the handheld device and the first forward reference point XO1, YO1, The first sensing distance and the angle φ2 between the direction of the first sensing distance and the reference direction N to determine the position information of the object (for example, the relative position relationship XS1 can be generated according to the first sensing distance and the angle φ2. YS1). The relative positional relationship between the handheld device and the first forward reference point XO1, YO1 can be a sensing value generated by a movement displacement, or based on the distance and angle of the handheld device and the first forward reference point.

FIG. 3B shows another embodiment according to the present invention. Wherein, the step of determining the position information (S3) of the object according to the relative positional relationship between the at least one forward reference point and the object may include: the handheld device determines the object according to the movement displacement from the first forward reference point to the object Location information. According to the figure, the movement displacement of the handheld device from the first forward reference point to the object can be a curved trajectory, and the curve trajectory is in the X and Y directions, and the movement displacements from the first forward reference point are XM1, YM1, respectively. . In this way, the position information of the object can be determined according to the movement displacements XM1, YM1 of the handheld device from the first forward reference point to the object.

FIG. 4 shows an embodiment of the present invention, in which at least one forward reference point includes a second forward reference point, at least a straight line distance includes a second straight line distance, and the foregoing is based on at least a straight line distance between the handheld device and the at least one forward reference point. And at least the angle between the direction of the straight line distance and the reference direction to determine the position information (S2) of at least one forward reference point, further comprising: using the handheld device to move X2 (in the X direction from the first forward reference point) ), Y2 (along the Y direction), the second straight distance between the handheld device and the second forward reference point, and the angle φ3 between the direction of the second straight distance and the reference direction N to determine the position information of the second forward reference point. Among them, the handheld device can be a curved track according to the movement from the first forward reference point, and the movement displacement X2 and Y2 in the figure represent the curved track of the handheld device from the first forward reference point in the X and Y directions. Displacement. The relative position between the handheld device and the second forward reference point can be determined according to the second linear distance and the included angle φ3. The displacements XD2 and YD2 in the figure can be determined, for example, based on the second straight-line distance and the included angle φ3.

FIG. 5A shows the relative positional relationship between the second forward reference point and the object in an embodiment. The aforementioned step (S3) of determining the position information of the object according to the relative position relationship between at least one forward reference point and the object includes: according to the relative position relationship between the handheld device and the second forward reference point XO2 (in the X direction), YO2 (along Y direction), the second sensing distance of one of the handheld device and the object, and the angle φ4 between the direction of the second sensing distance and the reference direction N (in one embodiment, the second sensing distance and the angle φ4 can be used to Generate the relative position relationship XS2, YS2) to determine the position information of the object. The relative positional relationship XO2, YO2 of the handheld device and the second forward reference point can be determined by the sensing value generated by the movement displacement, or according to the distance and angle sensing of the handheld device and the second forward reference point.

FIG. 5B shows another embodiment according to the present invention. Wherein, the step of determining the position information of the object (S3) according to the relative positional relationship between the at least one forward reference point and the object may include: the handheld device determines the object according to the movement displacement from the second forward reference point to the object Location information. According to the figure, the movement displacement of the handheld device from the second forward reference point to the object can be a curved trajectory, and the curve trajectory is in the X and Y directions, and the movement displacements from the second forward reference point are XM2, YM2, respectively. . According to the movement displacements XM2, YM2 of the handheld device from the second forward reference point to the object, the position information of the object can be determined.

As mentioned above, the position information of the second forward reference point is not determined by sensing the straight line distance between the original reference point and the second forward reference point. In this way, when the straight line distance between the original reference point and the second forward reference point is longer, and the straight line distance exceeds that which can be sensed by the ranging unit of the middle distance ranging, the user can determine one by one by using the sequence positioning method of the present invention. Advance the position of the reference point to determine the position of the object. In particular, according to the present invention, it is possible to sense information at a longer distance without using a long-distance ranging unit such as a high-energy laser rangefinder. The sequence positioning method of the present invention is not limited by complex environments such as site furnishings. By means of the sequence positioning method, a path for advancing the reference point can be selected to avoid sensing obstacles caused by the miscellaneous environment to determine the position information of the object.

In an embodiment, the position information of the original reference point and the first and second forward reference points may each include multiple height information, and the height information may be individually set or defined as the same height. Generally, users hold the handheld devices at the same height. However, if the height of the object is different from the handheld device, the height of the object can also be set individually. Generally, a handheld device, such as a smart phone, often includes a gyroscope. In one embodiment, when the height of the object is different from that of the handheld device, the height of the object can also be determined by the swing sensing value of the gyroscope. Therefore, it is a known technology and will not be described in detail.

In one embodiment, the first forward reference point or the second forward reference point is located in an indoor space. An indoor space is, for example, an exhibition hall, of which some space may be located indoors and some space may be located outdoors; or the entire space of the exhibition hall may be located indoors. The serial positioning method of the present invention is different from conventional technologies such as GPS positioning, and is limited to outdoor positioning. According to the present invention, although the first forward reference point or the second forward reference point is located in an indoor space, the position information of the forward reference point can be determined by a sequence positioning method.

In an embodiment, the step of determining the position information of the first forward reference point and the second forward reference point may be performed in accordance with the sequence positioning method of the present invention, and does not include receiving a signal of a wireless beacon. If necessary, some of the forward reference points can be based on the wireless positioning mark to assist in determining the position information of the forward reference point.

In one embodiment, the reference direction is a geomagnetic direction. Other reference directions are available if required.

FIG. 6 shows a method for guiding movement according to an aspect of the present invention. The method includes: providing an original reference point and achieving relative positioning between a handheld device and an original reference point (S4); and providing a plurality of display positions. , And when the handheld device reaches the vicinity of any of the placements, display the information related to the placement on the handheld device (S5); and provide a virtual screen on the handheld device, and when the handheld device and the placement meet the preset During the positional relationship, a corresponding related message is displayed on the virtual screen to locate the relative relationship between the handheld device and the display position (S6).

This method of guiding movement, such as, but not limited to, it can be applied to museums, zoos, botanical gardens, stores, amusement parks, school or company garden party activities, etc., can be used by exhibitors to guide guests, or to encourage guests Follow the path of design.

Similar to the method for locating an object by a serial positioning method provided in the present invention, the step of determining the position information (S1) of the original reference point also includes: using global positioning system (GPS), short-range wireless communication (NFC, Near Field Communication), wireless beacon signals, or digitized information in cadastral data to determine the position information of the original reference point.

In addition, according to the sequence positioning method provided by the present invention, the position information of the determined forward reference point or object can be used to determine the position information of the display position. Alternatively, the position information of the placement may correspond to the position information of the forward reference point or the object.

FIG. 7 shows an embodiment in which the aforementioned steps for the handheld device to reach an adjacent area of any display position include: the handheld device is displaced XH1 (in the X direction) and YH1 (in the Y direction) according to the movement from the original reference point, Determine whether the handheld device has reached a nearby area of a display location. Referring to FIG. 7, according to the movement from the original reference point, the handheld device may be a curved track, and the movement displacements of the curved track in the X and Y directions are XH1 and YH1, respectively.

In an embodiment, the adjacent area of any placement includes a distance within a distance from the center of any placement (FIG. 7). Alternatively, the adjacent area is within a distance from the center of the guide information position corresponding to any of the placements (FIG. 8), and the guide information position is a display position of the guide information of the placement provided in the virtual screen.

FIG. 9A shows an embodiment according to the present invention, wherein on a virtual screen, each display position includes a comparison target (the comparison target may be a product, an exhibit, or any object, and a circle is used as an example in the figure) To represent match goals). The adjacent area of the display position includes a guide information position, and the guide information position includes a known relative position from the original reference point (the known relative position can be determined by the sequence positioning method of the present invention), the guide information position It also includes a comparison object corresponding to one of the comparison targets (in one embodiment, the comparison object is circular in the drawing to correspond to a circular comparison target). The foregoing step of displaying the information related to the placement on the handheld device when the handheld device reaches the vicinity of the display location includes: when the handheld device is in the vicinity of the display location, displaying the comparison object located at the guide information position. There is a known relative position between the guidance information position and the original reference point, and the relative position between the guidance information position and the display position is also known (this relative position can be determined by the sequence positioning method of the present invention). When the handheld device reaches the vicinity of the display position, a comparison object related to the display position appears on the virtual screen of the handheld device. In order to guide the user to operate the handheld device, the comparison object of the virtual screen can correspond to the comparison target. The virtual screen may also include a guide instruction, such as an arrow or a text description, to guide the user to move the handheld device, so that the comparison object of the virtual screen can be moved to the corresponding comparison target.

However, the comparison target and the comparison object of the present invention are not limited to the circles in the drawings. In one embodiment, the comparison target and the comparison object may include: corresponding geometric shapes, corresponding characters, corresponding colors, or corresponding patterns.

FIG. 9B shows an embodiment according to the present invention, in which the user starts to move the handheld device, so that in one embodiment, the handheld device and the display position conform to a preset positional relationship, and the comparison object and the comparison target in the virtual screen are at least Partial coincidence.

With continued reference to FIG. 9B, according to an embodiment of the present invention, when the handheld device and the display position conform to a preset position relationship, the above-mentioned step of displaying the corresponding relevant information on the virtual screen includes: activating an alignment mode of the comparison object , Move the handheld device so that the comparison object and the comparison target in the virtual screen at least partially overlap. The alignment mode of the comparison object is activated, for example, a state in which the comparison object is movable with the handheld device in the virtual screen is activated. When the comparison object and the comparison target are at least partially overlapped, a corresponding message is displayed on the virtual screen. The step of at least partial overlap of the comparison object and the comparison target may also determine the manner of at least partial overlap, such as the ratio of the weight of the comparison object and the comparison target, and the area of the weight of the comparison object and the comparison target. Wait. For another example, when the display range of the comparison object and the comparison target on the virtual screen is small, the comparison is more difficult, so the threshold for at least partial overlap may be lower. The ratio of the weight of the comparison object and the comparison target, Or the threshold of the area of the weight of the comparison object and the comparison target can be lower. For another example, when the display range of the comparison object and the comparison target on the virtual screen is large, the comparison difficulty is relatively low, so the threshold for at least partial overlap may be higher. Or the threshold of the area where the weight of the comparison object and the comparison target is high.

FIG. 10 shows a manner in which a comparison object and a comparison target in a virtual picture coincide at least partially according to an embodiment of the present invention. According to FIG. 10, an initial included angle θ is included between the position of the handheld device as the center and the connection between the guidance information position and the display position, respectively. When the handheld device and the display position conform to the preset positional relationship, the steps of displaying the relevant related information on the virtual screen include: rotating the handheld device at an initial angle θ, so that the handheld device corresponds to the comparison object after the rotation. The angle between the connection of the position (after the handheld device is rotated and comparing the object leaving the guide information position) with the connection between the handheld device and the display position after rotation is less than an allowable error. When the included angle after rotation is less than the allowable error, a corresponding message is displayed on the virtual screen.

Regardless of FIG. 9A, 9B, or 10, by simply moving or rotating the handheld device, by comparing the relative positions of the object and the comparison target, it can be confirmed whether the preset position relationship is met. Therefore, according to the present invention, the user (guest who visits the exhibition) does not need to perform complicated operations or calculations, but simply moves or rotates the handheld device so that the comparison object and the comparison target in the virtual screen at least partially overlap. Positioning can be achieved. During this operation, the step of locating the relative relationship between the handheld device and the display position does not need to sense the distance between the handheld device and the display position. However, if necessary, in the step of locating the relative relationship between the handheld device and the display position, a sensing distance between the handheld device and the display position may also be added. In addition, in order to encourage visitors to the exhibition to follow a specific route, or to encourage visitors to the exhibition to a specific exhibition site, a reward can be given when the relative positioning between the handheld device and one or more specific exhibition locations is reached; or A reward is given when a relative positioning is achieved sequentially with a plurality of specific placements; a reward is given when a relative positioning is achieved with one or more specific placements within a time limit, and so on. Or, when the relative positioning between the handheld device and a specific display location is achieved, position-related information can be displayed on the handheld device, such as the introduction of the exhibits displayed in the location, or a suggestion prompt for the guest to move next. ,and many more.

11A and 11B show a method for guiding movement according to another aspect of the present invention, including: providing a first display position (S7); providing a virtual picture on a handheld device, and the virtual picture providing a plurality of A display option. A user determines a display option corresponding to the first placement among the display options. The display option corresponding to the first placement determines the position information corresponding to the first placement. The handheld device includes a ranging unit ( S8); determining the sensing distance between the handheld device and one of the first display positions by the ranging unit, and determining the handheld position according to the position information of the first display position, the sensing distance, and the angle between the direction of the sensing distance and a reference direction Position information of the device (S9); determining position information of the handheld device after the mobile device is moved based on the position information of the handheld device and the movement displacement of the handheld device after determining the position information (S10); providing a second display position (S11); and When the position information of the handheld device after movement corresponds to the vicinity of the second display position, the display on the handheld device is related to the second exhibition. The position message is displayed (S12).

The method of guided movement shown in FIGS. 11A and 11B may omit the steps in the embodiment of the method of guided movement shown in FIG. 6: providing position information of the original reference point and achieving relative positioning with the handheld device and the original reference point. The handheld device in this embodiment can directly perform relative positioning with any of the display positions instead of starting relative positioning with the original reference point. In general, users may not be interested in the display items of the placements when they have not yet entered the various placements (such as the aforementioned museums, zoos, botanical gardens, stores, amusement parks, school or company park events, etc.) Therefore, the aforementioned steps of achieving relative positioning between the handheld device and the original reference point are not performed. When the user sees the display item of the placement (the first placement described above) and wants to know more about its content, he can proceed to the aforementioned step S8: providing a virtual screen on a handheld device, and the virtual screen provides multiple A display option. A user determines a display option corresponding to the first placement among the display options. FIG. 12 shows the placements and display options in the virtual screen of an embodiment. The display options may be drop-down display options displayed one by one, or display options in other display modes. For example, in one embodiment, the user may first enter the display option category according to the attributes, number, geometry, text, color, etc. corresponding to the first placement, and then determine a display corresponding to the first placement within the display option category. Options, which reduces the number of display options for quick selection.

In the foregoing embodiment, the data corresponding to the display option corresponding to the first placement includes the position information corresponding to the first placement. Therefore, when the user decides the display option corresponding to the first placement, the location information of the first placement can also be determined.

FIG. 13A shows that in the foregoing step S9, the sensing unit determines a sensing distance between the handheld device and one of the first display positions by the ranging unit. According to the position information of the first display position, the sensing distance, and the angle φ5 between the direction of the sensing distance and the reference direction N, the position information of the handheld device is determined. For example, in one embodiment, a relative position relationship XS3, YS3 may be generated according to the sensing distance and the included angle φ5 to determine the position information of the handheld device.

According to FIG. 13B, the handheld device starts to move from the position of FIG. 13A, and this movement may be a curved trajectory as shown in FIG. 13B. The position information of the handheld device is determined based on the position information of the handheld device (the dotted line handheld device) and the movement displacement of the handheld device after the position information is determined. The movement displacement of the handheld device after determining the position information can be a curved trajectory, and the curved trajectory is in the X and Y directions, and the movement displacements are XM3 and YM3, respectively. According to the movement displacement XM3, YM3 of the handheld device after determining the position information, the position information of the handheld device can be determined.

For the foregoing adjacent areas, reference may be made to the embodiments of FIGS. 14 and 15. According to FIG. 14, the judgment method of the adjacent area includes: within a distance range centered on the second display position. According to FIG. 15, the judgment method of the neighboring area includes: within a distance range centered on the position of the guide information corresponding to any of the placements.

According to an embodiment, the aforementioned step of displaying the information related to the second placement on the handheld device includes: the virtual screen provides multiple display options, and among the display options, the user determines a display option corresponding to the second placement . The implementation of this display option can be described with reference to the embodiment of FIG. 12. In one embodiment, when the user decides the display option corresponding to the second placement (the placement in the figure), the location information corresponding to the second placement may be determined at the same time.

The position information after the movement of the handheld device according to the movement displacement may be inaccurate due to sensor manufacturing or sensing errors. Therefore, in an embodiment, the method for guiding movement further comprises: determining a sensing distance between the handheld device and one of the second display positions by a distance measuring unit; and according to the sensing distance of the handheld device and the second display position, Correct the position information of the handheld device after moving. In this way, the present invention can correct the inaccuracy of the sensing distance between the handheld device and the second display position.

Similar to the embodiment of FIGS. 9A and 9B, when the position information of the handheld device after the movement corresponds to the vicinity of the second display position (the display position in FIGS. 9A and 9B), the display on the handheld device is related to the first The steps of the information of the two placements include: when the position information of the handheld device after movement corresponds to the vicinity of the second placement, on the virtual screen, the second placement includes a comparison target, and the second placement The adjacent area includes a guide information position, the guide information position includes a known relative position to the first display position, and the guide information position includes a comparison object corresponding to the comparison target. In one embodiment, when the handheld device and the second display position conform to a preset positional relationship, a corresponding related message is displayed on the virtual screen, thereby locating the relative relationship between the handheld device and the second display position.

The present invention has been described above with reference to the preferred embodiments, but the above is only for making those skilled in the art easily understand the content of the present invention, and is not intended to limit the scope of rights of the present invention. In the same spirit of the invention, those skilled in the art can think of various equivalent changes. In the embodiments, two steps connected directly as shown in the figure can be interposed with other steps that do not affect the main function, and only need to correspondingly modify the meaning of the relevant steps. All these can be deduced by analogy according to the teachings of the present invention. Therefore, the scope of the present invention should cover the above and all other equivalent changes. Each of the foregoing embodiments is not limited to being applied alone, and can also be applied in combination, such as, but not limited to, combining the two embodiments, or replacing the steps of one embodiment with the steps of the other embodiment.

N Reference direction S1, S2, S3, S4, S5, S6, S7, S8, S9, S10, S11, S12 Step X1, Y1, X2, Y2, XD1, YD1, XD2, YD2, XH1, YH1, XO1, YO1 , XO2, YO2, XS1, YS1, XS2, YS2, XS3, YS3, XM1, YM1, XM2, YM2, XM3, YM3 displacement X, Y direction φ1, φ2, φ3, φ4, φ5, θ included angle

[Fig. 1] Schematic diagram showing a method for locating an object according to an embodiment of the present invention; [Fig. 2] Schematic diagram showing the relationship between an original reference point, a handheld device, and a first forward reference point according to an embodiment of the present invention [Figures 3A and 3B] Schematic diagrams showing the relative positional relationship between the first forward reference point and the object according to the two embodiments of the present invention; [Figure 4] Showing the first and second forward reference points according to an embodiment of the present invention [Fig. 5A, 5B] Schematic diagram showing the relative positional relationship between the second forward reference point and the object according to the two embodiments of the present invention; [Fig. 6] Show the guided movement according to an embodiment of the present invention Schematic diagram of the method; [Figs. 7 and 8] Schematic diagrams showing the adjacent areas of the display position according to the two embodiments of the present invention; [Figs. 9A and 9B] the comparison target and the virtual screen according to an embodiment of the present invention Schematic diagram of the comparison object; [Fig. 10] shows a schematic diagram of the comparison target and the comparison object according to an embodiment of the present invention; [sections 11A, 11B ] Shows a schematic flow chart of a method for guiding movement according to an embodiment of the present invention; [Figure 12] shows a schematic view of a placement position and a display option in a virtual screen according to an embodiment of the present invention; [Figures 13A, 13B] shows a basis Schematic diagrams of the relative positional relationship between the handheld device and the first display position in the two embodiments of the present invention; [Figures 14 and 15] Schematic diagrams showing the adjacent areas of the second display position in accordance with the two embodiments of the present invention.

Claims (27)

A method for locating an object by a serial positioning method includes: determining position information of an original reference point; using a handheld device according to a movement displacement from the original reference point, the handheld device and at least one forward reference point At least a straight line distance, and an angle between the direction of the at least a straight line distance and a reference direction to determine the position information of the at least one forward reference point; and determining the relative position of the object according to the relative position relationship between the at least one forward reference point and the object Position information; wherein the at least one forward reference point includes a first forward reference point, the at least straight line distance includes a first straight distance, and the foregoing is based on the movement displacement of the handheld device from the original reference point, the handheld device and the The step of determining the position information of the at least one forward reference point by the at least one straight line distance of the at least one forward reference point and the angle between the direction of the at least one straight line and the reference direction includes: the handheld device starts from the original reference point according to Motion displacement, the handheld device and the first forward reference The first straight line distance, the first linear direction and distance of the angle between the reference direction, the first to determine the advanced position of the reference point information. The method for locating an object by a sequence positioning method as described in item 1 of the scope of the patent application, wherein the aforementioned step of determining the position information of the object according to the relative position relationship between the at least one forward reference point and the object includes: Determine the object according to the relative position relationship between the handheld device and the first forward reference point, a first sensing distance between the handheld device and the object, and an angle between the direction of the first sensing distance and the reference direction Position information of the object; or, the handheld device moves to the object from the first forward reference point to determine the position information of the object. The method for locating an object by a serial positioning method as described in item 1 of the scope of the patent application, wherein the handheld device includes a distance measuring unit, and the distance measuring unit uses a light radar and a voice coil motor. , Low-energy laser ranging, or optical ranging. The method for locating an object by a sequence positioning method as described in item 1 of the scope of the patent application, wherein the at least one forward reference point includes a second forward reference point, and the at least straight line distance includes a second straight line distance. The foregoing step of determining the position information of the at least one forward reference point based on at least a straight line distance between the handheld device and the at least one forward reference point, and an angle between the direction of the at least one straight line and the reference direction, further includes: The handheld device determines the movement according to the movement displacement from the first forward reference point, the second linear distance between the handheld device and the second forward reference point, and the angle between the direction of the second linear distance and the reference direction. Location information for the second forward reference point. The method for locating an object by a sequence positioning method as described in item 4 of the scope of the patent application, wherein the foregoing step of determining the position information of the object based on the relative position relationship between the at least one forward reference point and the object includes: : Determine the relative positional relationship between the handheld device and the second forward reference point, a second sensing distance between the handheld device and the object, and an angle between the direction of the second sensing distance and the reference direction The position information of the object; or, the handheld device determines the position information of the object according to the movement displacement from the second forward reference point to the object. The method for locating an object by a sequence positioning method as described in item 3 of the scope of patent application, wherein the position information of the second forward reference point is not by sensing between the original reference point and the second forward reference point Determined by the straight line distance. The method for locating an object by a sequence positioning method as described in item 3 of the scope of the patent application, wherein the position information of the original reference point and the first and second forward reference points each include multiple height information, which The height information can be set individually or defined as the same height. The method for positioning an object by a sequence positioning method as described in item 3 of the scope of the patent application, wherein the first forward reference point or the second forward reference point is located in an indoor space. The method for locating an object by a serial positioning method as described in item 3 of the scope of patent application, wherein the step of determining the position information of the first forward reference point or the second forward reference point does not include receiving a wireless positioning target ( Wireless beacon). The method for locating an object by a sequence positioning method as described in item 1, 2, 3, 4, 5, 6, 7, 8 or 9 of the scope of patent application, wherein the step of determining the position information of the original reference point Including: determining the original reference point by using global positioning system (GPS), near field communication (NFC, Near Field Communication), wireless beacon signals, or by digitizing information in cadastral data That location. The method for locating an object by a sequence positioning method as described in item 1, 2, 3, 4, 5, 6, 7, 8 or 9 of the scope of patent application, wherein the reference direction is a geomagnetic direction. A method for guiding movement includes: providing an original reference point and achieving relative positioning between a handheld device and an original reference point; providing a plurality of display positions, and when the handheld device reaches an adjacent area of any of the display positions, Displaying information related to the placement on the handheld device; and providing a virtual screen on the handheld device, and displaying the relevant correlation on the virtual screen when the handheld device and the placement conform to a preset positional relationship Information to locate the relative relationship between the handheld device and the placement; wherein on the virtual screen, each placement includes a comparison target, and the vicinity of the placement includes a navigation information location, the navigation information The position includes a known relative position to the original fiducial point, and the navigation information position includes a comparison object corresponding to the comparison target. When the handheld device reaches an adjacent area of the display position, the position The step of displaying the message related to the placement on the handheld device includes: the handheld device is in the vicinity of the placement , The ratio of the display at the position of the guide information on the object. The method for guiding movement as described in item 12 of the scope of patent application, wherein the comparison target and the comparison object include: corresponding geometric shapes, corresponding characters, corresponding colors, or corresponding patterns. The method for guiding movement as described in item 12 of the scope of patent application, wherein the aforementioned handheld device and the display position conform to a preset positional relationship, and the comparison object and the comparison target at least partially overlap in the virtual screen . The method for guiding movement according to item 12 of the scope of patent application, wherein when the handheld device and the placement meet a preset positional relationship, the steps of displaying the relevant related information on the virtual screen include: Activate the alignment mode of the comparison object, move the handheld device, so that the comparison object and the comparison target at least partially overlap in the virtual picture, and when the comparison object and the comparison target at least partially match in the virtual picture Overlapping, the relevant information of the match is displayed on the virtual screen. The method for guiding movement according to item 12 of the scope of patent application, wherein when the handheld device and the placement meet a preset positional relationship, the steps of displaying the relevant related information on the virtual screen include: When the handheld device and the display position conform to the preset positional relationship, an introduction to the exhibits displayed in the display position is displayed on the virtual screen, or a suggestion prompt for the next move is displayed. A method for guiding movement includes: providing a first display position; providing a virtual screen on a handheld device, the virtual screen providing a plurality of display options, and a user determining among the display options to correspond to the first display One of the display options of the position, wherein the display option corresponding to the first display position determines the position information corresponding to the first display position, wherein the handheld device includes a ranging unit; the handheld device is determined by the ranging unit A sensing distance from one of the first display positions, determining position information of the handheld device according to the position information of the first display position, the sensing distance, and an angle between a direction of the sensing distance and a reference direction; movement The handheld device determines the position information of the handheld device after the movement according to the position information of the handheld device and the movement displacement of the handheld device after determining the position information; provides a second display position; and when the handheld device is The location information after the movement corresponds to the second display location, the display on the handheld device is related to The second shows the position of the message. The method for guiding movement as described in item 17 of the scope of patent application, wherein the ranging unit uses optical radar (Light Detection And Ranging), voice coil motor, laser ranging, or optical ranging to perform ranging . The method for guiding movement as described in item 17 of the scope of patent application, wherein the aforementioned step of displaying information related to the second placement on the handheld device includes: the virtual screen provides multiple display options, and the user Among the display options, it is determined that the display option corresponds to one of the second placements. The method for guiding movement as described in item 19 of the scope of patent application, wherein the display option corresponding to the second display position determines the position information corresponding to the second display position. The method for guiding movement according to item 17 or 20 of the scope of patent application, further comprising: determining a sensing distance between the handheld device and one of the second display positions by using the ranging unit; and according to the handheld device and The sensing distance of the second display position corrects the position information of the handheld device after the movement. The method for guiding movement as described in item 17 of the scope of patent application, wherein when the position information of the handheld device after the movement corresponds to the vicinity of the second display position, the display on the handheld device is related to the The step of the information of the second placement includes: when the position information of the handheld device after the movement corresponds to the vicinity of the second placement, on the virtual screen, the second placement includes a comparison target, the The vicinity of the second placement includes a navigation information location, the navigation information location includes a known relative position to the first placement, and the navigation information location includes a ratio corresponding to the comparison target. To objects. The method for guiding movement as described in item 22 of the scope of patent application, wherein when the handheld device and the second display position conform to a preset positional relationship, a corresponding relevant message is displayed on the virtual screen, thereby positioning the The relative relationship between the handheld device and the second display position. The method for guiding movement as described in item 17 or 22 of the scope of patent application, wherein the adjacent area of the second placement includes: within a distance centered on the second placement; or corresponding to any The position of the navigation information of the placement is within a distance of the center. The method for guiding movement according to item 12, 13, 14, 15, or 16 of the scope of patent application, wherein the step of determining the position information of the original reference point includes: by means of Global Positioning System (GPS), short-range wireless Communication (NFC, Near Field Communication), wireless beacon signals, or digitized information in cadastral data to determine the location information of the original reference point. The method for guiding movement according to item 12, 13, 14, 15, or 16 of the scope of patent application, wherein the aforementioned step of the handheld device reaching an adjacent area of any of the placements includes: The movement displacement from the original fiducial point determines whether the handheld device has reached the adjacent area of any of the display positions. The method for guiding movement according to item 12, 13, 14, 15, or 16 of the scope of patent application, wherein the aforementioned step of the handheld device reaching an adjacent area of any of the placements includes: The movement displacement from the original fiducial point determines whether the handheld device has reached the adjacent area of any of the display positions.