CN107273907A

CN107273907A - Indoor orientation method, commodity information recommendation method and device, electronic equipment

Info

Publication number: CN107273907A
Application number: CN201710526796.8A
Authority: CN
Inventors: 孙凯; 孙小雷
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2017-06-30
Filing date: 2017-06-30
Publication date: 2017-10-20
Anticipated expiration: 2037-06-30
Also published as: CN107273907B

Abstract

The application provides a kind of indoor orientation method, commodity information recommendation method and device, electronic equipment, and indoor orientation method includes：Determine first initial position co-ordinates of the node device when entering region；Based on the same characteristic point in adjacent two field pictures, the first relative position of the node device relatively described first initial position co-ordinates when moving in this region is determined；According to first initial position co-ordinates and first relative position, position coordinates of the node device in the region is determined.Space length of the technical scheme interior joint equipment that the application is provided in moving process by photographing module when shooting adjacent two field pictures is nearer, therefore for photographing module, the camera lens at larger field angle is not needed, therefore the lower deployment cost of node device can be reduced.

Description

Indoor orientation method, commodity information recommendation method and device, electronic equipment

Technical field

The application is related to field of locating technology, more particularly to a kind of indoor orientation method, commodity information recommendation method and dress Put, electronic equipment.

Background technology

Indoors in location technology, lamp decoration positioning is the carrier by the way that photographing module is fixed on the carrier for needing to position In motion process, photographing module, which is caught, is located at aerial lamp decoration feature, if two neighboring lamp decoration is distant, may surpass The angle of visual field of photographing module is crossed, in order to ensure positioning performance, it is necessary to which photographing module has the larger angle of visual field, causes the portion of camera lens Affix one's name to cost increase.

The content of the invention

In view of this, the application provides a kind of indoor orientation method, commodity information recommendation method and device, electronic equipment.

To achieve the above object, the application offer technical scheme is as follows：

According to the first aspect of the application, it is proposed that a kind of indoor orientation method, including：

Determine first initial position co-ordinates of the node device when entering region；

Based on the same characteristic point in adjacent two field pictures, determine relative when the node device is moved in this region First relative position of first initial position co-ordinates；

According to first initial position co-ordinates and first relative position, determine the node device in the area Position coordinates in domain.

According to the second aspect of the application, it is proposed that a kind of commodity information recommendation method, including：

The indoor orientation method provided by above-mentioned first aspect determines position coordinates in the zone；

Based on position coordinates in this region, it is determined that needing the merchandise news recommended；

The displaying merchandise news for needing to recommend.

According to the third aspect of the application, it is proposed that a kind of indoor positioning device, including：

First determining module, for determining first initial position co-ordinates of the node device when entering region；

Second determining module, for based on the same characteristic point in adjacent two field pictures, determining the node device in institute State the first relative position of relatively described first initial position co-ordinates when being moved in region；

3rd determining module, for first initial position co-ordinates determined according to first determining module and institute First relative position of the second determining module determination is stated, position coordinates of the node device in the region is determined.

According to the fourth aspect of the application, it is proposed that a kind of merchandise news recommendation apparatus, including：

4th determining module, the indoor orientation method for being provided by above-mentioned first aspect determines that the node device exists Position coordinates in region；

5th determining module, for the position coordinates determined based on the 4th determining module, it is determined that needing to recommend Merchandise news；

Display module, for showing the merchandise news that the needs that the 5th determining module is determined are recommended.

According to the 5th of the application the aspect, it is proposed that a kind of computer-readable recording medium, the storage medium is stored with Computer program, the computer program is used to perform the indoor orientation method that above-mentioned first aspect is provided, or, perform above-mentioned The commodity information recommendation method that second aspect is provided.

According to the 6th of the application the aspect, it is proposed that a kind of electronic equipment, the electronic equipment includes：

Processor；Memory for storing the processor-executable instruction；

Wherein, the processor, for performing the indoor orientation method that above-mentioned first aspect is provided.

According to the 7th of the application the aspect, it is proposed that a kind of electronic equipment, the electronic equipment includes：

Processor；Memory for storing the processor-executable instruction；

Wherein, the processor, for performing the commodity information recommendation method that above-mentioned second aspect is provided.

From above technical scheme, node device shoots adjacent two field pictures in moving process by photographing module When space length it is nearer, therefore for photographing module, it is not necessary to the camera lens at larger field angle, therefore node can be reduced set Standby lower deployment cost.

Brief description of the drawings

Fig. 1 is the schematic diagram of a scenario for the indoor locating system that the application is applicable；

Fig. 2A is a kind of schematic flow sheet of indoor orientation method shown in the exemplary embodiment of the application one；

Fig. 2 B are the top views in region in Fig. 2A illustrated embodiments；

Fig. 3 A are the schematic flow sheets of another indoor orientation method shown in the exemplary embodiment of the application one；

Fig. 3 B are the schematic diagrames of the registration pattern of the porch in region in Fig. 3 A illustrated embodiments；

The previous frame image in the adjacent two field pictures of graphical representation shown in Fig. 3 C；

The latter two field picture in the adjacent two field pictures of graphical representation shown in Fig. 3 D；

Fig. 3 E are the schematic diagrames that the position offset between adjacent two field pictures how is determined in Fig. 3 A illustrated embodiments；

Fig. 4 A are the first perimeter strip at area entry and the second boundary bar shown in the exemplary embodiment of the application one Position view；

Fig. 4 B are the first border at area entry shown in the exemplary embodiment of the application one and the position of the second boundary Put schematic diagram；

Fig. 5 A are the schematic flow sheets of another indoor orientation method shown in the exemplary embodiment of the application one；

Fig. 5 B are the top views between region and subregion in Fig. 5 A illustrated embodiments；

Fig. 5 C are the partial perspective views between region and subregion in Fig. 5 A illustrated embodiments；

Fig. 6 A are the schematic flow sheets of another indoor orientation method shown in the exemplary embodiment of the application one；

Fig. 6 B are the schematic shapes of virtual boundary, the first perimeter strip and the second boundary bar in Fig. 6 A illustrated embodiments；

Fig. 7 A are the schematic flow sheets of another indoor orientation method shown in the exemplary embodiment of the application one；

Fig. 7 B are the position relationship schematic diagrams of virtual boundary, the first border and the second boundary in Fig. 7 A illustrated embodiments；

Fig. 8 A are the schematic flow sheets of another indoor orientation method shown in the exemplary embodiment of the application one；

Fig. 8 B are schematic diagram of second registration pattern in virtual boundary in Fig. 8 A illustrated embodiments；

Fig. 9 is a kind of schematic flow sheet of commodity information recommendation method shown in the exemplary embodiment of the application one；

Figure 10 is the structural representation of a kind of electronic equipment shown in the exemplary embodiment of the application one；

Figure 11 is the structural representation of another electronic equipment shown in the exemplary embodiment of the application one；

Figure 12 is a kind of structural representation of indoor positioning device shown in the exemplary embodiment of the application one；

Figure 13 is the structural representation of another indoor positioning device shown in the exemplary embodiment of the application one；

Figure 14 is a kind of structural representation of merchandise news recommendation apparatus shown in the exemplary embodiment of the application one.

Embodiment

Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended The example of the consistent apparatus and method of some aspects be described in detail in claims, the application.

It is the purpose only merely for description specific embodiment in term used in this application, and is not intended to be limiting the application. " one kind ", " described " and "the" of singulative used in the application and appended claims are also intended to including majority Form, unless context clearly shows that other implications.It is also understood that term "and/or" used herein refers to and wrapped It may be combined containing one or more associated any or all of project listed.

It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application A little information should not necessarily be limited by these terms.These terms are only used for same type of information being distinguished from each other out.For example, not departing from In the case of the application scope, the first information can also be referred to as the second information, similarly, and the second information can also be referred to as One information.Depending on linguistic context, word as used in this " if " can be construed to " ... when " or " when ... When " or " in response to determining ".

Fig. 1 is the schematic diagram of a scenario for the indoor locating system that the application is applicable；As shown in figure 1, indoor locating system can Can move indoors including multiple node device (for example, small handcart 11, small handcart 12 ..., small handcart 1N, N it is fixed for the interior The quantity of small handcart in the system of position) and computing device 10, wherein, computing device 10 can be personal computer (PC), also may be used Think server.

It should be noted that when node device performs the embodiment of the present application, node device can enter entering for region Start position fixing process during mouth, and perform indoor orientation method described herein, for example, location equipment itself determines entering area The first initial position co-ordinates during domain, the photographing module installed based on itself is shot to the scene in region, and carries out spy An identification is levied, node device is positioned in the zone afterwards；When computing device the embodiment of the present application, computing device Can detection node equipment in real time position, the first initial position co-ordinates when it is determined that node device is entering region receive The image in region that node device is shot, and Feature point recognition is carried out, node device is positioned in the zone afterwards.

Fig. 2A is a kind of schematic flow sheet of indoor orientation method shown in the exemplary embodiment of the application one, and Fig. 2 B are figures The top view in region in 2A illustrated embodiments；The present embodiment can apply in computing devices such as personal computer, servers and Need to carry out on the node device (for example, small handcart of merchandise store) of indoor positioning, as shown in Figure 2 A, comprise the following steps：

Step 201, first initial position co-ordinates of the node device when entering region are determined.

In one embodiment, node device can be the location equipment for needing to carry out indoor positioning, for example, merchandise store Small handcart.In one embodiment, as shown in Figure 2 B, in a region 20, physical boundary 211, physical boundary 212 could be included And physical boundary 213, wherein, physical boundary 212 and physical boundary 213 are counter, and physical boundary 211 is wall, wherein, area Plane where domain can set a plane coordinate system XOY in advance, the first initial position co-ordinates using the origin of plane coordinate system as Reference point, the first initial position co-ordinates can be the coordinate points in plane coordinate system XOY.

Porch in region, some objects of reference demarcated, the coordinate of the object of reference can be coated with the ground in advance Information can be recorded in the presets list.When detecting node device by object of reference, you can determine that node device is entering Enter the first initial position co-ordinates during region.

Step 202, the same characteristic point in the adjacent two field pictures gathered based on photographing module, determines node device in area With respect to the first relative position of the first initial position co-ordinates when being moved in domain.

In one embodiment, characteristic point can be recognized for stain, spitball on ground etc. by image-recognizing method The pixel gone out.When the preset frame rate of shooting image is higher, same stain or spitball can appear in adjacent two field pictures In, with the movement of node device, it can continue to identify characteristic point new on image by image-recognizing method, new based on this Characteristic point determines the first relative position with respect to the first initial coordinate position when node device is moved in the zone.

Step 203, according to the first initial position co-ordinates and the first relative position, position of the node device in region is determined Put coordinate.

In one embodiment, can based on the first initial position co-ordinates and the first relative position and value, obtain node and set The standby position coordinates in region, for example, the first initial position co-ordinates are [x0, y0], the first relative position is [Δ x, Δ y], Then the position coordinates of node device in the zone is [x0+ Δs x, y0+ Δ y].

In the present embodiment, node device shoots space during adjacent two field pictures by photographing module in moving process It is closer to the distance, thus for photographing module, it is not necessary to the camera lens at larger field angle, therefore the deployment of node device can be reduced Cost.

Fig. 3 A are the schematic flow sheets of another indoor orientation method shown in the exemplary embodiment of the application one, and Fig. 3 B are The schematic diagram of the registration pattern of the porch in region in Fig. 3 A illustrated embodiments, the adjacent two field pictures of graphical representation shown in Fig. 3 C In previous frame image, the latter two field picture in the adjacent two field pictures of graphical representation shown in Fig. 3 D, Fig. 3 E are real shown in Fig. 3 A Apply the schematic diagram that the position offset between adjacent two field pictures how is determined in example；The present embodiment is on the basis of above-described embodiment On, it is illustrative exemplified by how determining the first initial position co-ordinates and the first relative position, as shown in Figure 3A, bag Include following steps：

Step 301, the node device position coordinates of the first registration pattern for passing through in the zone when entering region is determined.

As shown in Figure 3 B, in the porch in region, multiple first registration patterns can be coated with, for example, the first registration pattern 31, etc., the first registration pattern can be the different figures such as triangle, circle, square, can also be filled out in each figure Pattern of different shapes is filled, different colors can also be filled in each figure.In one embodiment, multiple first positioning figures Case can have the combination of different shapes either different color or different shape and different colours.In one embodiment, it is many The position coordinates of individual first registration pattern in the zone can be demarcated in advance in the zone, the position of the first registration pattern in the zone Putting coordinate can store after demarcation.

In another embodiment, as shown in Figure 3 B, one the first reference point 32 can be set in porch, first reference 32 position coordinates in the zone of point can be demarcated in advance, relative position of multiple first registration patterns with respect to first reference point 32 It can demarcate in advance, correspondingly, relative position and the first reference point that can be based on the first registration pattern with respect to the first reference point exist First position coordinate in region, determines the position coordinates of the first registration pattern in the zone.

In one embodiment, photographing module can be installed in the bottom of node device, ground is gathered by photographing module Image, is identified based on image-recognizing method and is located at the first registration pattern in an intermediate position on image in image, this first Registration pattern can be the combination of shape, color or shape and color.

Step 302, the position coordinates based on the first registration pattern in the zone, determine node device enter region when First initial position co-ordinates.

Corresponding with above-mentioned steps 301, then the position coordinates of the first registration pattern in the zone is that can be considered node device The first initial position co-ordinates when entering region.

Step 303, coordinate offset amount of the same characteristic point in adjacent two field pictures in image coordinates system is determined.

As shown in figs. 3 c and 3d, represent respectively in the previous frame image and adjacent two field pictures in adjacent two field pictures Latter two field picture, characteristic point 35 is the same characteristic point in the adjacent two images.If detecting characteristic point 35 in former frame figure The coordinate in image coordinates system as in is the coordinate in [a1, b1], image coordinates system of the characteristic point 35 in latter two field picture For [a2, b2], then coordinate offset amount of the same characteristic point in adjacent two field pictures in image coordinates system is [a2-a1, b2- b1]。

Step 304, the lens imaging parameter based on coordinate offset amount and photographing module, determines that node device is shooting phase Position offset during adjacent two field pictures.

When shooting previous frame image, node device is in the zone with respect to the second relative position of the first initial position co-ordinates For [A1, B1], the method that can be described in advance using the present embodiment is calculated and obtained, after the picture is taken during a two field picture node device in area In domain with respect to the first initial position co-ordinates relative position be [A2, B2], [A2, B2] be amount to be asked, due to [A1, B1] with [A2, B2] it is relative first initial position co-ordinates, therefore [A1, B1] can be equal to the position coordinates being considered as in the zone with [A2, B2].

As shown in FIGURE 3 E, on the premise of the pel array of photographing module and ground are in horizontality, image planes are sat Mark system coordinate offset amount be [a2-a1, b2-b1], if the physical width of unit pixel be m, can based on photographing module into It is theoretical according to similar triangles as theoretical, obtain：Wherein, f is shooting mould The lens focus of block, H is object distance, i.e. distance of the ground to camera lens.On the premise of photographing module is fixed on node device, thing Known quantity is can be considered away from H, position offset Δ S can obtain by above-mentioned formula.

In one embodiment, it can determine to take the photograph by the coordinate offset amount in the adjacent two field pictures in image coordinates system As module is shooting the offset direction angle α of adjacent two field pictures, i.e.In another embodiment, can be with The offset direction angle α that node device arrives [A2, B2] in moving process from [A1, B1] is calculated by gyroscope.By above-mentioned public affairs FormulaObtain after position offset Δ S, section can be calculated based on Δ S and α Position offset of the point device when shooting adjacent two field pictures in the zone, i.e.,：[ΔS_x,ΔS_y]=[Δ S*cos α, Δ S* sinα]。

Step 305, it is determined that node device is with respect to the first initial bit in the previous frame image in shooting adjacent two field pictures Put the second relative position of coordinate.

In one embodiment, can since the first initial position co-ordinates, by the method similar with above-mentioned steps 304, Being added up by iteration, it is initial with respect to first in the zone to obtain the node device when shooting the previous frame image of adjacent two field pictures Second relative position of position coordinates is [A1, B1], is no longer described in detail herein.

Step 306, based on position offset and the second relative position, determine when node device is moved in the zone with respect to First relative position of one initial position co-ordinates.

For example, the second relative position is [A1, B1], position offset is [Δ S*cos α, Δ S*sin α], then node device The first relative position with respect to the first initial position co-ordinates is [A1+ Δ S*cos α, B1+ Δ S*sin α].

Step 307, according to the first initial position co-ordinates and the first relative position, position of the node device in region is determined Put coordinate.

For example, the first initial position co-ordinates are [x0, y0], the first relative position is [A1+ Δ S*cos α, B1+ Δs S*sin α], position coordinates of the node device in region is [x0+A1+ Δ S*cos α, y0+B1+ Δ S*sin α].

In the present embodiment, due to the first registration pattern can be rapidly deployed to the entrance in region by way of coating Place, the influence to whole region during deployment is smaller, therefore deployment is flexible, can substantially reduce maintenance to whole region into This；Lens imaging parameter based on coordinate offset amount and photographing module, determines node device when shooting adjacent two field pictures Position offset, and first relative position of the node device with respect to the first initial position co-ordinates is determined based on position offset Put, be greatly improved the positioning precision to node device.

Fig. 4 A are the first perimeter strip at area entry and the second boundary bar shown in the exemplary embodiment of the application one Position view；On the basis of above-described embodiment, with reference to Fig. 3 B descriptions, as shown in Figure 4 A, for the porch in region, go back The first perimeter strip 41 and the second boundary bar 42 can be coated with, wherein, the first perimeter strip 41 is close to the region 30 shown in Fig. 3 B, second Perimeter strip 42 is away from region 30；Based on the first perimeter strip 41 and the second boundary bar 42, it may be determined that node device entering in the zone Do well, specifically include following steps：

Obtain the first boundary characteristic information of the first perimeter strip and the second boundary characteristic information of the second boundary bar；

It is determined that the very first time order when recognizing the first perimeter strip and the second boundary bar；

Based on very first time order and the first boundary characteristic information, the second boundary characteristic information, determine that node device is Region is still left into region.

If for example, first detect the first perimeter strip 41, after detect the second boundary bar 42, then can determine that node device leaves To region 30, if first detecting the second boundary bar 42, after detect the first perimeter strip 41, then can determine that node device will enter area Domain 30.

Fig. 4 B are the first border at area entry shown in the exemplary embodiment of the application one and the position of the second boundary Put schematic diagram；On the basis of above-described embodiment, as shown in Figure 4 B, for the porch in region, the first border can also be buried 43 and the second boundary 44, wherein, the 3rd border 43 is close to region 30, and the 4th border 44 is away from region 30；Based on the first border 43 With the second boundary 44, equally can determine that node device in the zone enter to do well, specifically include following steps：

Obtain first boundary marking on the first border and the second boundary mark of the second boundary；

It is determined that the second time sequencing when getting the first boundary marking and the second boundary mark；

Based on the second time sequencing, the first boundary marking and the second boundary mark, it is to enter region to determine node device Still region is left.

It is similar with above-mentioned coating perimeter strip, if first detecting the first border 43, after detect the second boundary 44, then can determine that Node device escape to region 30, if first detecting the second boundary 44, after detect the first border 43, then can determine that node device To enter region 30.

As shown in Figure 4 B, can below the corresponding floor in the first border 43 pre-buried first group of signal projector (signal is sent out Circle in the first border 43 of the emitter for example shown in Fig. 4 B), and pre-buried second below the corresponding place of the second boundary 44 Group signal projector (circle in the second boundary 44 of the signal projector for example shown in Fig. 4 B), due to signal projector is pre-buried In the porch of region 30 shown in Fig. 3 B, therefore the visual effect of whole scene is not interfered with.First group of signal projector and Interval between two neighboring signal projector in two groups of signal projectors can determine according to the width of node device, only It is able to ensure that node device avoids the interference of the broadcast singal of adjacent boundary when being moved to border.

In one embodiment, signal projector can be according to the real time demand of region (for example, merchandise store In business hours section) persistently launch the boundary marking that signal projector place border is carried in broadcast singal, broadcast singal. In one embodiment, signal projector can be the signal projectors such as infrared, ultrasonic wave.In one embodiment, node device is connecing Receive after the broadcast singal, the broadcast singal can be transmitted to computing device, computing device parses side from broadcast singal Boundary mark is known；In another embodiment, node device directly can also parse boundary marking from broadcast singal.

Above-mentioned Fig. 4 A and Fig. 4 B embodiments, by detection node equipment in the zone enter to do well, it may be determined whether need Start or close the positioning to node device, it is to avoid unnecessary location Calculation.

Fig. 5 A are the schematic flow sheets of another indoor orientation method shown in the exemplary embodiment of the application one, and Fig. 5 B are Top view in Fig. 5 A illustrated embodiments between region and subregion, Fig. 5 C be in Fig. 5 A illustrated embodiments region and subregion it Between partial perspective view；The present embodiment can be applied in personal computer, server and need to carry out the node of indoor positioning In equipment (for example, small handcart of merchandise store), as shown in Figure 5A, comprise the following steps：

Step 501, if detecting the subregion that node device is moved in region, the boundary marking of the subregion is determined.

In one embodiment, as shown in figs. 5 b and 5 c, in a region 50, many sub-regions can be included, for example, 9 sub-regions shown in Fig. 5 B, for subregion 51, it comprises physical boundary 511, physical boundary 512 and thing Border 514 is managed, wherein, physical boundary 512 and physical boundary 514 are counter, and physical boundary 511 is wall, it follows that this Shen Please described in the border that can not pass through of physical boundary, subregion 51 further comprises virtual boundary 513.Virtual boundary represents user The border of subregion can be passed in and out, by the line formation virtual boundary between the end of two relative physical boundaries, for example, thing The line of border 512 and the left end of physical boundary 514 is managed, virtual boundary 513 described herein can be formed.

In one embodiment, boundary marking can be used to indicate that the identity of subregion, in a region, a son Region can correspond to one or two boundary markings, for example, the boundary line that the correspondence of subregion 51 one can be passed in and out, for example virtually Border 513, then its correspondence one boundary marking, subregion 52 due to being that left and right sides can be passed through, therefore its correspondence two borders Mark.The description of other subregions shown in Fig. 5 B refers to the description of subregion 51 or subregion 52, no longer detailed herein State.

Step 502, based on boundary marking, the second place coordinate of the second reference point of subregion in the zone is determined.

In one embodiment, the reference point mark of the subregion corresponding with boundary marking is searched from first the presets list Know, wherein, first the presets list is used for the boundary marking in posting field and with reference to the corresponding relation between point identification；From second The second place coordinate corresponding with reference point identification is determined in the presets list, wherein, second the presets list, which is used to record, to be referred to Corresponding relation between the position coordinates of point identification and the reference point in the zone.Wherein, first the presets list is as shown in table 1, Second the presets list is as shown in table 2.In one embodiment, second reference point can be set at each virtual boundary, such as Black round dot shown in Fig. 5 B, the position coordinates of the second reference point 515 in region 50 can be obtained by demarcating in advance, One can be set for each second reference point refer to point identification, by the second reference point identification record in first the presets list, Corresponding relation between the position coordinates and reference point identification of each the second reference point is recordable in second the presets list. For example, after the boundary marking of subregion 51 is identified, first the presets list can be searched based on boundary marking, from the first default row The mark of reference point 515, then the mark based on the second reference point 515 are found in table, is searched and second from second the presets list The corresponding second place coordinate [x1, y1] of mark of reference point 515.

Table 1

Boundary marking	With reference to point identification
		ABC1	BCD1
ABC2	BCD2
		…	…

Table 2

With reference to point identification	Second place coordinate
		BCD1	[x1, y1]
BCD2	[x2, y2]
		…	…

In another embodiment, first the presets list and second the presets list can be merged into same list, at this Three can be included in list, i.e. boundary marking, with reference to point identification, second place coordinate, the list is as shown in table 3.

Table 3

Boundary marking	With reference to point identification	Second place coordinate
			ABC1	BCD1	[x1, y1]
ABC2	BCD2	[x2, y2]
			…	…	…

Step 503, determine node device in subregion with respect to the second reference point third phase to position.

In one embodiment, coordinate of the reference point in subregion can be considered as the origin of subregion, or, it is son There is the coordinate of certain deviation amount in region with respect to proven origin.In one embodiment, it can be set by control The photographing module put on node device gathers image over the ground, and node is determined by the same characteristic features point in the image that collects The relative displacement of relative reference point when equipment is moved in subregion.For example, second of second reference point 515 in subregion Coordinate is put for [M0, N0], the photographing module on node device is by being continuously shot image over the ground, by calculating adjacent two frames figure Coordinate offset amount of the characteristic point in the adjacent two field pictures as in, and based on the side similar with above-mentioned Fig. 3 A illustrated embodiments Method, calculates the third phase of node device relative second reference point 515 in movement to position [Δ m, Δ n].

Step 504, according to third phase to position and second place coordinate, update position of the node device in region and sit Mark.

In one embodiment, can based on third phase to position and second place coordinate and value, egress can be calculated and set The standby position coordinates in subregion, for example, third phase contraposition is set to [Δ m, Δ n], second place coordinate is [M0, N0], then Position coordinates of the node device in subregion is [M0+ Δs m, N0+ Δ n], so as to update node device in the zone Position coordinates.

In the present embodiment, by being many sub-regions by the region division in two-dimensional finite space, due to the second of subregion The second place coordinate of reference point in the zone is the coordinate value demarcated, and the coordinate value can accurately represent the second reference point Position in the zone, and relative displacement of the node device with respect to the second reference point in subregion can eliminate node device and exist Accumulated error in whole region, therefore the relative displacement by node device in subregion, amendment phase that can be interim To the error of displacement, so as to improve the positioning precision of node device in the zone.

Fig. 6 A are the schematic flow sheets of another indoor orientation method shown in the exemplary embodiment of the application one, and Fig. 6 B are The schematic shapes of virtual boundary, the 3rd perimeter strip and the 4th perimeter strip in Fig. 6 A illustrated embodiments；The present embodiment is in above-mentioned reality On the basis of applying example, exemplified by boundary marking when how to determine that node device is being moved to the border of subregion and Fig. 5 B are combined It is illustrative, as shown in Figure 6A, comprise the following steps：

Step 601, the 3rd boundary characteristic information of the 3rd perimeter strip and the 4th boundary characteristic letter of the 4th perimeter strip are obtained Breath.

In one embodiment, the 3rd perimeter strip and the 4th perimeter strip can be arranged on virtual boundary 513 as shown in Figure 5 B Place, for example, as shown in Figure 6B, at virtual boundary 513, side is provided with the 3rd perimeter strip 61, and opposite side is provided with the 4th border Bar 62.In addition, the width of perimeter strip can not be limited, as long as the feature of perimeter strip can be identified by the method for image recognition Information.In one embodiment, the 3rd boundary characteristic information and the 4th boundary characteristic information can be believed for the color of perimeter strip Breath, or the shape information of perimeter strip, or be the combination of colouring information and shape information.In one embodiment, the 3rd The shape of perimeter strip and the 4th perimeter strip can be Quick Response Code, or with that can characterize the shape of uniqueness, for example, scheme The 3rd perimeter strip 61 shown in 6B is horizontal strip, and the 4th perimeter strip 62 is oblique strip.

Step 602, it is determined that recognizing the 3rd perimeter strip and the 3rd time sequencing during four perimeter strips.

For example, direction movement of the node device from the 3rd perimeter strip 61 to the 4th perimeter strip 62, represents that user promotes node Equipment enters subregion 51, if direction movement of the node device from the 4th perimeter strip 62 to the 3rd perimeter strip 61, represents that user pushes away Dynamic node device leaves subregion 51.During node device is moved, if first being recognized in the image gathered from photographing module Gone out the 3rd perimeter strip 61, after have identified the 4th perimeter strip 62, represent that node device enters subregion 61；If from photographing module The 4th perimeter strip 62 is first have identified in the image of collection, after have identified the 3rd perimeter strip 61, represent that node device leaves son Region 51.

Step 603, based on the 3rd time sequencing and the 3rd boundary characteristic information, the 4th boundary characteristic information, it is determined that sub The boundary marking in region.

If for example, from photographing module gather image in first have identified the 3rd perimeter strip 61, after have identified the 4th side Boundary's bar 62, represents that node device enters subregion 51, can now will be close to perimeter strip (that is, the 4th perimeter strip of subregion 51 62) it is considered as the border of subregion, can be by searching the shape information for record delimitation bar and the corresponding relation of boundary marking List, find with the corresponding boundary marking of the 4th perimeter strip 62, the boundary marking is defined as the corresponding border of subregion 51 Mark.

In the present embodiment, due to perimeter strip can print on the ground, when perimeter strip shape design it is readily identified and When there is uniqueness in whole region, then occur disturbing during perimeter strip is recognized or the possibility of error can pole It is small, and the cost of later maintenance perimeter strip is low, and maintenance cost is not present for (for example, merchandise store) in practical application scene Pressure.In addition, splitting by perimeter strip to whole region from physical space, whole region is set to be divided into many height Region, when being positioned to node device, it is only necessary to positioned in subregion, effectively reduce node device in region Position error.

Fig. 7 A are the schematic flow sheets of another indoor orientation method shown in the exemplary embodiment of the application one, and Fig. 7 B are The position relationship schematic diagram of virtual boundary, the 3rd border and the 4th border in Fig. 7 A illustrated embodiments；The present embodiment is in above-mentioned reality On the basis of applying example, exemplified by boundary marking when how to determine that node device is being moved to the border of subregion and Fig. 5 B are combined It is illustrative, as shown in Figure 7 A, comprise the following steps：

Step 701, the 3rd boundary marking on the 3rd border and the 4th boundary marking on the 4th border are obtained.

In one embodiment, as shown in Figure 7 B, can below the corresponding floor in the 3rd border 71 pre-buried 3rd group of signal Transmitter (circle in the 3rd border 71 of the signal projector for example shown in Fig. 7 B), and in the corresponding place in the 4th border 72 The pre-buried 4th group of signal projector in lower section (circle in the 4th border 72 of the signal projector for example shown in Fig. 7 B), due to that will believe Number transmitter is embedded in below the floor in the region 30 shown in Fig. 3 B or the region 50 shown in Fig. 5 B, therefore is not interfered with whole The visual effect of scene.3rd border 71 and the 4th border 72 can be located at the both sides of virtual boundary 513, wherein, the 3rd group of signal Interval between two neighboring signal projector in transmitter and the 4th group of signal projector can be according to the width of node device Spend to determine, as long as being able to ensure that node device avoids the interference of the broadcast singal of adjacent boundary when being moved to border.

Step 702, it is determined that the 4th time sequencing when getting the 3rd boundary marking and four boundary markings.

In one embodiment, computing device can record the time point for getting boundary marking, for example, node device is from Direction from three borders 71 to the 4th border 72 move, represent user promote node device enter subregion 51, if node device from 4th border 72 is moved to the direction on the 3rd border 71, represents that user promotes node device to leave subregion 51.In node device In mobile process, if first receiving the boundary marking on the 3rd border 71 from computing device, after receive the side on the 4th border 72 Boundary mark is known, and represents that node device enters subregion 51；If first receiving the boundary marking on the 4th border 72, after receive the 3rd side The boundary marking on boundary 71, represents that node device leaves subregion 51.

Step 703, based on the 4th time sequencing, the side of subregion is determined from the 3rd boundary marking and the 4th boundary marking Boundary mark is known.

For example, if computing device first receives the boundary marking on the 3rd border 71, after receive the border on the 4th border 72 Mark, represents that node device enters subregion 51, the border (that is, the 4th border 72) that can now will be close to subregion 51 is considered as The border of subregion 51, regard the boundary marking on the 4th border 72 as the corresponding boundary marking of subregion 51；If computing device is first Receive the boundary marking on the 4th border 72, after receive the boundary marking on the 3rd border 71, represent that node device will leave son Region 51.

In the present embodiment, whole region is split from physical space by border, whole region is divided into Many sub-regions, when being positioned to node device, it is only necessary to positioned in subregion, effectively reduce node device in son Position error in region.

Fig. 8 A are the schematic flow sheets of another indoor orientation method shown in the exemplary embodiment of the application one, and Fig. 8 B are The schematic diagram of registration pattern in Fig. 8 A illustrated embodiments；The present embodiment is on the basis of above-described embodiment, how to determine node With respect to exemplified by the relative displacement of reference point and illustrative with reference to Fig. 5 B when equipment is moved in subregion, such as Fig. 8 A institutes Show, comprise the following steps：

Step 801, second initial position co-ordinates of the node device when entering subregion are determined.

In one embodiment, the second registration pattern of photographing module collection is determined, determines the second registration pattern with respect to second The position coordinates of reference point, the position coordinates based on the second registration pattern with respect to the second reference point determines node device in entrance The second initial position co-ordinates during subregion；As shown in Figure 8 B, on virtual boundary 513, Fill Color can be pre-coated with Or different the second registration pattern with each shape of filling figure, each the second registration pattern the second reference point of distance Position coordinates can be demarcated in advance, photographing module can by being moved in node device during gather the second registration pattern Characteristic information, for example, in the second registration pattern shown in Fig. 8 B, when photographing module is arranged on the central point of node device, The second middle registration pattern then can be located in image by recognizing, the second middle registration pattern relative the is located at based on this The position coordinates of two reference points, determines second initial position co-ordinates of the node device when entering subregion 51；For example, such as Fig. 8 B Shown, rectangular coordinate system in subregion 51 can be with the second reference point (shown in black round dot) for origin, and x-axis and y-axis can be with The right-angle side difference vertical with two of subregion 51 is parallel, if the nearest triangle of distance reference point is identified as the second positioning Pattern, the distance of the center of triangle distance reference point along the x-axis direction is Δ x0, then the triangle can be determined in son The second initial position co-ordinates in region 51 are [p0, q0].

Step 802, the same characteristic point in the adjacent two field pictures gathered based on photographing module, determines node device in son With respect to the 4th relative position of the second initial position co-ordinates in region.

In one embodiment, photographing module can be adjusted according to the real needs of positioning precision pre- when gathering image If frequency, for example, when positioning precision is higher, predeterminated frequency is adjustable big, it may thereby be ensured that same characteristic point exists Position offset in adjacent two field pictures is smaller, then can accurately be tracked out by the image captured by photographing module Movement locus of the node device in subregion.

Step 803, based on the position relationship between the second initial position co-ordinates and the second reference point and the 4th relative position Put, determine node device in subregion with respect to the second reference point third phase to position.

In one embodiment, specifically how to determine node device in subregion with respect to the 3rd of the second initial position co-ordinates Relative position may refer to the associated description of above-mentioned Fig. 5 A illustrated embodiments, will not be described in detail herein.

In the present embodiment, because the second registration pattern and the second reference point are not directed to the renewal or improvement of hardware, Therefore cost is low, and the second registration pattern and the second reference point can be rapidly deployed into indoor ground by way of coating Face, the influence to whole region during deployment is smaller, therefore deployment is flexible, can substantially reduce maintenance to whole region into This.

Fig. 9 is a kind of schematic flow sheet of commodity information recommendation method shown in the exemplary embodiment of the application one；This reality Applying example can be applied on node device, can also be using on the computing device, and the present embodiment combination above-described embodiment is shown Example property explanation, as shown in figure 9, comprising the following steps：

Step 901, the position coordinates of node device in the zone is determined.

The indoor orientation method that can be provided by above-mentioned Fig. 2A-Fig. 8 A illustrated embodiments obtain node device in the zone Position coordinates.

Step 902, the position coordinates based on node device in the zone, it is determined that needing the merchandise news recommended.

In one embodiment, node device can be with each pre-recorded counter in the region 30 shown in Fig. 3 B or Fig. 5 B institutes The merchandise news that position and each counter in the region 50 shown are sold, it is determined that the position coordinates apart from node device is nearest Counter is identified, it is determined that the merchandise news associated with counter mark, from associated merchandise news, the commodity that price is turned down Information is defined as the merchandise news for needing to recommend.

Step 903, the merchandise news for needing to recommend is pushed.

In one embodiment, it is necessary to which the merchandise news recommended can be illustrated on the display screen of node device, or pass through The mode of speech play is notified to user.

In the present embodiment, based on the positioning result to node device, can allow the user to conveniently know in region needs The merchandise news preferentially checked, not only improves the timely recommendation of merchandise news, again user can be made to buy quality-high and inexpensive business Product.

Embodiment with foregoing indoor orientation method is corresponding, and present invention also provides the embodiment of indoor positioning device.

The embodiment of the application indoor positioning device can be using on an electronic device, and electronic equipment can be in the application Node device, or computing device.Device embodiment can be realized by software, can also pass through hardware or soft or hard The mode that part is combined is realized.It is by electronic equipment where it as the device on a logical meaning exemplified by implemented in software Processor corresponding computer program instructions in nonvolatile memory are read in internal memory what operation was formed.From hardware layer It is a kind of hardware structure diagram of electronic equipment where the application indoor positioning device, except Figure 10 institutes as shown in Figure 10 for face Outside the processor, internal memory, network interface and the nonvolatile memory that show, the electronic equipment in embodiment where device leads to Often according to the actual functional capability of the electronic equipment, other hardware can also be included, this is repeated no more.

The embodiment of the application merchandise news recommendation apparatus can using on an electronic device, wherein, electronic equipment can be with For the node device in the application, or computing device.Device embodiment can be realized by software, can also be by hard The mode of part or software and hardware combining is realized.It is by its institute as the device on a logical meaning exemplified by implemented in software Formation is run in corresponding computer program instructions in nonvolatile memory to be read to the processor of electronic equipment internal memory 's.It is a kind of hardware knot of electronic equipment where the application merchandise news recommendation apparatus as shown in figure 11 for hardware view Composition, in addition to the processor shown in Figure 11, internal memory, network interface and nonvolatile memory, device institute in embodiment Electronic equipment generally according to the electronic equipment actual functional capability, can also include other hardware, this is repeated no more.

The application also provides a kind of computer-readable recording medium, and the storage medium is stored with computer program, described Computer program is used to perform the indoor orientation method that above-mentioned Fig. 2A-Fig. 8 A illustrated embodiments are provided, or, perform above-mentioned Fig. 9 The commodity information recommendation method that illustrated embodiment is provided.

Figure 12 is a kind of structural representation of indoor positioning device shown in the exemplary embodiment of the application one, such as Figure 12 institutes Show, indoor positioning device includes：First determining module 121, the second determining module 122, the 3rd determining module 123.

First determining module 121, for determining first initial position co-ordinates of the node device when entering region；

Second determining module 122, for based on the same characteristic point in adjacent two field pictures, determining node device in region With respect to the first relative position of the first initial position co-ordinates when middle mobile；

3rd determining module 123, for the first initial position co-ordinates and second determined according to the first determining module 121 The first relative position that determining module 122 is determined, determines position coordinates of the node device in region.

Figure 13 is the structural representation of another indoor positioning device shown in the exemplary embodiment of the application one, such as Figure 13 Shown, on the basis of above-mentioned embodiment illustrated in fig. 12, the first determining module 121 includes：

First determining unit 1211, for determining the first registration pattern that node device passes through when entering region；

Second determining unit 1212, for the first registration pattern for being determined based on the first determining unit 1211 in the zone Position coordinates, determines first initial position co-ordinates of the node device when entering region.

In one embodiment, the second determining unit 1212 can be used for：

Determine relative position of first registration pattern with respect to the first reference point；

Based on the first registration pattern with respect to the first reference point relative position and the first reference point in the zone first Position coordinates, determines first initial position co-ordinates of the node device when entering region.

In one embodiment, the second determining module 122 may include：

3rd determining unit 1221, for determining seat of the same characteristic point in image coordinates system in adjacent two field pictures Mark offset；

4th determining unit 1222, for the coordinate offset amount and photographing module determined based on the 3rd determining unit 1221 Lens imaging parameter, it is determined that shoot adjacent two field pictures when position offset；

5th determining unit 1223, for determining the node device phase in the previous frame image in shooting adjacent two field pictures To the second relative position of the first initial position co-ordinates；

6th determining unit 1224, it is single for being determined based on the defined location offset of the 4th determining unit 1222 and the 5th The second relative position that member 1223 is determined, determines first relative position of the node device with respect to the first initial position co-ordinates.

In one embodiment, device may also include：

First acquisition module 124, for obtain the first perimeter strip the first boundary characteristic information and the second boundary article the Two boundary characteristic information；

4th determining module 125, for determining the first acquisition module 124 when recognizing the first perimeter strip and the second boundary bar The very first time order；

5th determining module 126, is obtained for the very first time order determined based on the 4th determining module 125 and first First boundary characteristic information of the determination of module 124, the second boundary characteristic information, determine that node device is into region or left Region, if node device enters region, the first determining module 121, which is performed, determines that node device is first initial when entering region Position coordinates.

In one embodiment, device may also include

Second acquisition module 127, for obtaining first boundary marking on the first border and the second boundary of the second boundary Mark；

6th determining module 128, for determining to get the first boundary marking and the second boundary in the second acquisition module 127 The second time sequencing during mark；

7th determining module 129, for determined based on the 6th determining module 128 the second time sequencing, second obtain mould The first boundary marking and the second boundary mark that block 127 is got, determine that node device is into region or leaves region, If node device enters region, the first determining module 121 performs the first initial position for determining node device when entering region Coordinate.

In one embodiment, device may also include：

8th determining module 1210, if for detecting the subregion that node device is moved in region, determining subregion Boundary marking；

9th determining module 1211, for the boundary marking determined based on the 8th determining module 1210, determines subregion The second place coordinate of second reference point in the zone；

Tenth determining module 1212, for determining that third phase of the node device with respect to the second reference point in subregion is aligned Put；

Location updating module 1213, the third phase for being determined according to the tenth determining module 1212 is determined to position and the 9th The second place coordinate that module 1211 is determined, updates position of the node device of the 3rd determining module 123 determination in region and sits Mark.

In one embodiment, the 8th determining module 1210 specifically for：

Obtain the 3rd boundary characteristic information of the 3rd perimeter strip and the 4th boundary characteristic information of the 4th perimeter strip；

It is determined that the 3rd time sequencing when recognizing the 3rd perimeter strip and four perimeter strips；

Based on the 3rd time sequencing and the 3rd boundary characteristic information, the 4th boundary characteristic information, the side of subregion is determined Boundary mark is known.

In one embodiment, the 8th determining module 1210 specifically for：

Obtain the 3rd boundary marking on the 3rd border and the 4th boundary marking on the 4th border；

It is determined that the 4th time sequencing when getting the 3rd boundary marking and four boundary markings；

Based on the 4th time sequencing, the boundary marking of subregion is determined from the 3rd boundary marking and the 4th boundary marking.

In one embodiment, the 9th determining module 1211 specifically for：

The reference point identification of the subregion corresponding with boundary marking is searched from first the presets list；

The second place coordinate corresponding with the second reference point identification is determined from second the presets list, wherein, second is pre- If list is used to record the corresponding relation between the position coordinates of reference point identification and the reference point in the zone.

In one embodiment, the tenth determining module 1212 specifically for：

Determine second initial position co-ordinates of the node device when entering subregion；

Based on the same characteristic point in adjacent two field pictures, node device relative second initial position in subregion is determined 4th relative position of coordinate；

Based on the position relationship between the second initial position co-ordinates and the second reference point and the 4th relative position, it is determined that section Point device in subregion with respect to the second reference point third phase to position.

In one embodiment, adjacent two field pictures be photographing module according to default filming frequency shoot on figure over the ground Picture, photographing module is located on node device.

Figure 14 is a kind of structural representation of merchandise news recommendation apparatus shown in the exemplary embodiment of the application one, is such as schemed Shown in 14, merchandise news recommendation apparatus includes：Position coordinates determining module 141, merchandise news determining module 142, merchandise news Pushing module 143.

Position coordinates determining module 141, for the indoor orientation method provided by above-mentioned Fig. 2A-Fig. 8 A any embodiments Determine the position coordinates of node device in the zone；

Merchandise news determining module 142, for based on the defined location coordinate of position coordinates determining module 141, it is determined that needing The merchandise news to be recommended；

Merchandise news pushing module 143, the commodity letter recommended for pushing the need for merchandise news determining module 142 is determined Breath.

In one embodiment, merchandise news determining module 142 specifically for：

It is determined that the adjoining counter mark of position coordinates with node device in the zone；

It is determined that the merchandise news associated with counter mark；

From associated merchandise news, the merchandise news that price is turned down is defined as to the merchandise news for needing to recommend.

Those skilled in the art will readily occur to its of the application after considering specification and putting into practice invention disclosed herein Its embodiment.The application is intended to any modification, purposes or the adaptations of the application, these modifications, purposes or Person's adaptations follow the general principle of the application and including the undocumented common knowledge in the art of the application Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the application and spirit are by following Claim is pointed out.

It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability Comprising so that process, method, commodity or equipment including a series of key elements are not only including those key elements, but also wrap Include other key elements being not expressly set out, or also include for this process, method, commodity or equipment intrinsic want Element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that wanted including described Also there is other identical element in process, method, commodity or the equipment of element.

The preferred embodiment of the application is the foregoing is only, not to limit the application, all essences in the application God is with principle, and any modification, equivalent substitution and improvements done etc. should be included within the scope of the application protection.

Claims

1. a kind of indoor orientation method, it is characterised in that methods described includes：

Based on the same characteristic point in adjacent two field pictures, determine relatively described when the node device is moved in this region First relative position of the first initial position co-ordinates；

According to first initial position co-ordinates and first relative position, determine the node device in the region Position coordinates.

2. according to the method described in claim 1, it is characterised in that it is described determine node device when entering region first at the beginning of Beginning position coordinates, including：

Determine the node device position coordinates of the first registration pattern for passing through in this region when entering region；

Position coordinates based on first registration pattern in this region, determines that the node device is entering the region When the first initial position co-ordinates.

3. method according to claim 2, it is characterised in that the determination node device pass through when entering region the The position coordinates of one registration pattern in this region, including：

Determine relative position of first registration pattern with respect to the first reference point that node device passes through when entering region；

Relative position and first reference point based on first registration pattern with respect to the first reference point is in the region In first position coordinate, determine the position coordinates of first registration pattern in this region.

4. according to the method described in claim 1, it is characterised in that the same characteristic point based in adjacent two field pictures, The first relative position of the node device relatively described first initial position co-ordinates when moving in this region is determined, is wrapped Include：

Determine coordinate offset amount of the same characteristic point in adjacent two field pictures in image coordinates system；

Lens imaging parameter based on the coordinate offset amount and the photographing module, it is determined that shooting the adjacent two frames figure Position offset during picture；

It is determined that in the previous frame image in shooting the adjacent two field pictures relatively described first initial bit of the node device Put the second relative position of coordinate；

Based on the position offset and second relative position, determine that the node device moves phase in this region To the first relative position of first initial position co-ordinates.

5. according to the method described in claim 1, it is characterised in that methods described also includes：

It is determined that the very first time order when recognizing first perimeter strip and the second boundary bar；

Based on very first time order and the first boundary characteristic information, the second boundary characteristic information, institute is determined Stating node device is into the region or leaves the region.

6. according to the method described in claim 1, it is characterised in that methods described also includes

It is determined that the second time sequencing when getting first boundary marking and the second boundary mark；

Based on second time sequencing, first boundary marking and the second boundary mark, determine that the node is set Standby is to enter the region or leave the region.

7. according to the method described in claim 1, it is characterised in that methods described also includes：

If detecting the subregion that the node device is moved in the region, the boundary marking of the subregion is determined；

Based on the boundary marking, the second place coordinate of the second reference point of the subregion in this region is determined；

Determine the third phase of the node device relatively described second reference point in the subregion to position；

According to the third phase to position and the second place coordinate, position of the node device in the region is updated Coordinate.

8. method according to claim 7, it is characterised in that the boundary marking of the determination subregion, including：

It is determined that the 3rd time sequencing when recognizing the 3rd perimeter strip and four perimeter strip；

Based on the 3rd time sequencing and the 3rd boundary characteristic information, the 4th boundary characteristic information, institute is determined State the boundary marking of subregion.

9. method according to claim 7, it is characterised in that the boundary marking of the determination subregion, including：

It is determined that the 4th time sequencing when getting the 3rd boundary marking and four boundary marking；

Based on the 4th time sequencing, the subregion is determined from the 3rd boundary marking and the 4th boundary marking Boundary marking.

10. method according to claim 7, it is characterised in that described to be based on the boundary marking, determines the subregion The second reference point second place coordinate in this region, including：

The reference point identification of the subregion corresponding with the boundary marking is searched from first the presets list；

Determine to refer to the corresponding second place coordinate of point identification with described second from second the presets list, wherein, described the Two the presets lists are used to record the corresponding relation between the position coordinates of reference point identification and the reference point in the zone.

11. method according to claim 7, it is characterised in that the determination node device is in the subregion The third phase of relatively described second reference point to position, including：

Determine second initial position co-ordinates of the node device when entering the subregion；

Based on the same characteristic point in adjacent two field pictures, determine the node device relatively described second in the subregion 4th relative position of initial position co-ordinates；

Based on the position relationship between second initial position co-ordinates and second reference point and the 4th relative position Put, determine the third phase of the node device relatively described second reference point in the subregion to position.

12. according to any described methods of claim 1-11, it is characterised in that the adjacent two field pictures are pressed for photographing module According to the shooting of default filming frequency on image over the ground, the photographing module is located on the node device.

13. a kind of commodity information recommendation method, it is characterised in that methods described includes：

The position of the node device in the zone is determined by any described indoor orientation methods of the claims 1-12 Coordinate；

Based on the position coordinates, it is determined that needing the merchandise news recommended；

Push the merchandise news for needing to recommend.

14. method according to claim 13, it is characterised in that described to be based on the position coordinates, it is determined that needing to recommend Merchandise news, including：

It is determined that the adjoining counter mark of position coordinates with the node device in this region；

It is determined that the merchandise news associated with counter mark；

From the associated merchandise news, the merchandise news that price is turned down is defined as to the merchandise news for needing to recommend.

15. a kind of indoor positioning device, it is characterised in that described device includes：

Second determining module, for based on the same characteristic point in adjacent two field pictures, determining the node device in the area First relative position of relatively described first initial position co-ordinates when being moved in domain；

3rd determining module, for first initial position co-ordinates determined according to first determining module and described First relative position that two determining modules are determined, determines position coordinates of the node device in the region.

16. a kind of merchandise news recommendation apparatus, it is characterised in that described device includes：

Position coordinates determining module, for determining the section by any described indoor orientation methods of the claims 1-12 The position coordinates of point device in the zone；

Merchandise news determining module, for the position coordinates determined based on the position coordinates determining module, it is determined that needing The merchandise news of recommendation；

Merchandise news display module, for showing the commodity letter that the needs that the merchandise news determining module is determined are recommended Breath.

17. a kind of computer-readable recording medium, it is characterised in that the storage medium is stored with computer program, the meter Calculation machine program is used to perform any described indoor orientation methods of the claims 1-12, or, perform the claims Any described commodity information recommendation methods of 13-14.

18. a kind of electronic equipment, it is characterised in that the electronic equipment includes：

Processor；Memory for storing the processor-executable instruction；

Wherein, the processor, for performing any described indoor orientation methods of the claims 1-12.

19. a kind of electronic equipment, it is characterised in that the electronic equipment includes：

Processor；Memory for storing the processor-executable instruction；

Wherein, the processor, for performing any described commodity information recommendation methods of the claims 13-14.