CN105043391A - Creating method, navigation method and device for planimetric map of multistorey building, and device - Google Patents
Creating method, navigation method and device for planimetric map of multistorey building, and device Download PDFInfo
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- CN105043391A CN105043391A CN201510375281.3A CN201510375281A CN105043391A CN 105043391 A CN105043391 A CN 105043391A CN 201510375281 A CN201510375281 A CN 201510375281A CN 105043391 A CN105043391 A CN 105043391A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/003—Maps
- G09B29/005—Map projections or methods associated specifically therewith
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Abstract
The embodiment of the invention discloses a creating method, a navigation method and a device for a planimetric map of a multistorey building. The creating method for the planimetric map of the multistorey building comprises the steps of determining a base storey and at least one auxiliary storey from a building with at least two storeys, wherein the auxiliary storey is at least one storey except the base storey in the building; taking the original map of the base storey as a center figure of the planimetric map of the building; mapping the original map of the base storey one by one from inside to outside to form an annular figure surrounding the center figure. Maps of different storeys are displayed in one planimetric map by acquiring the corresponding mapping map of each storey in the multistorey building in the planimetric map, and the user experience is enriched.
Description
Technical field
The embodiment of the present invention belongs to indoor navigation technical field, relates to a kind of creation method of multi-story structure plane map, air navigation aid and device.
Background technology
Today of internet fast development, map and navigation based on LBS (LocationBasedService, position-based service) become the service that people more and more rely on.But the map displaying of multi-story structure inside and the development of airmanship, but greatly fall behind outdoor map and show and navigation.This mainly because indoor situations is more complicated, map shows and navigation granularity requirements is thinner etc. that reason causes.
Existing interior of building map is shown and air navigation aid, substantially show with the map of outdoor and airmanship similar: after determining the concrete floor of buildings at the current place of user, show the plane map (map of other floors cannot be seen) of current floor, navigate based on current plane map simultaneously.When user's floor changes, need to switch plane map.
In such scheme, the cartographic information of different floor can not be shown simultaneously, and can only navigate the inner user of being of a certain floor, the indoor navigation across floor cannot be realized.
Summary of the invention
The object of the embodiment of the present invention proposes a kind of creation method of multi-story structure plane map, air navigation aid and device, to show the map of different floor in a sheet of planar map, and realizes the indoor navigation across floor.
On the one hand, embodiments provide a kind of creation method of multi-story structure plane map, comprising:
From at least two-layer buildings, determine foundation floor and at least one auxiliary floor, wherein, described auxiliary floor is at least one floor in described buildings except described foundation floor;
Using the central figure of the original map of described foundation floor as described buildings plane map;
According to order from the inside to the outside, the original map of described auxiliary floor is mapped to one by one the ring-like pattern surrounding described central figure.
On the other hand, embodiments provide a kind of indoor navigation method, the plane map that the creation method based on the multi-story structure plane map provided in any embodiment of the present invention obtains, the method comprises:
Obtain indoor path planning request, described indoor path planning request is included in the start position in initial mapping map and is stopping mapping the final position in map;
According to described plane map, described indoor path planning request is planned.
Again on the one hand, embodiments provide a kind of creation apparatus of multi-story structure plane map, comprising:
Floor determining unit, for determining foundation floor and at least one auxiliary floor from least two-layer buildings, wherein, described auxiliary floor is at least one floor in described buildings except described foundation floor;
Foundation floor map unit, for using the central figure of the original map of described foundation floor as described buildings plane map;
Auxiliary floor map unit, for according to order from the inside to the outside, is mapped to the ring-like pattern surrounding described central figure one by one by the original map of described auxiliary floor.
Again on the one hand, embodiments provide a kind of indoor navigation device, the plane map that the creation apparatus based on the multi-story structure plane map provided in any embodiment of the present invention obtains, this device comprises:
Acquisition request unit, for obtaining indoor path planning request, described indoor path planning request is included in the start position in initial mapping map and is stopping mapping the final position in map;
Request planning unit, for planning described indoor path planning request according to described plane map.
The creation method of the multi-story structure plane map that the embodiment of the present invention provides, air navigation aid and device, by obtaining the mapping map that in multi-story structure, each floor is corresponding in plane map, achieve the map showing different floor in a sheet of planar map, also achieve the indoor navigation across floor, enrich Consumer's Experience.
Accompanying drawing explanation
The schematic flow sheet of the creation method of a kind of multi-story structure plane map that Fig. 1 a provides for the embodiment of the present invention one;
The schematic diagram of a kind of multi-story structure plane map that Fig. 1 b provides for the embodiment of the present invention one;
The schematic flow sheet of a kind of indoor navigation method that Fig. 2 a provides for the embodiment of the present invention two;
The displaying schematic diagram of a kind of indoor navigation result that Fig. 2 b provides for the embodiment of the present invention two;
The structural representation of the creation apparatus of a kind of multi-story structure plane map that Fig. 3 provides for the embodiment of the present invention three;
The structural representation of a kind of indoor navigation side device that Fig. 4 provides for the embodiment of the present invention four.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.Be understandable that, specific embodiment described herein is only for explaining the present invention, but not limitation of the invention.It also should be noted that, for convenience of description, illustrate only part related to the present invention in accompanying drawing but not entire infrastructure.
Embodiment one
The schematic flow sheet of the creation method of a kind of multi-story structure plane map that Fig. 1 a provides for the embodiment of the present invention one.The present embodiment is applicable to the situation that user wants the cartographic information simultaneously obtaining multi-story structure inside.The method can by client executing.See Fig. 1 a, the creation method of the multi-story structure plane map that the present embodiment provides specifically comprises following operation:
Operate 11, from least two-layer buildings, determine foundation floor and at least one auxiliary floor, wherein, described auxiliary floor is at least one floor in described buildings except described foundation floor.
Optionally, this operation comprises: the ground floor of described buildings is defined as foundation floor, and at least one deck adjacent on described foundation floor is defined as auxiliary floor; Or the floor at user place is defined as the foundation floor in described buildings, at least one deck adjacent on described foundation floor is defined as auxiliary floor; Or the one deck under the floor at user place is defined as the foundation floor in described buildings, at least one deck adjacent on described foundation floor is defined as auxiliary floor; Or according to the selection instruction of described user, from least two-layer described buildings, determine foundation floor and at least one auxiliary floor.
Operate 12, using the central figure of the original map of described foundation floor as described buildings plane map.
Operate 13, according to order from the inside to the outside, the original map of described auxiliary floor be mapped to one by one the ring-like pattern surrounding described central figure.
Exemplary, floor based on the ground floor of buildings, when the second layer and third layer are for auxiliary floor, the original map of the second layer is mapped to the ring-like pattern surrounding central figure, the original map of third layer is mapped to the ring-like pattern comprising central figure, the mapping map that namely third layer is corresponding surrounds mapping map corresponding to the adjacent second layer again.
Optionally, the original map of described auxiliary floor is mapped to the ring-like pattern surrounding described central figure, specifically comprises: calculate in the original map of described auxiliary floor, the relative position information between each position point and central point; Draw described location point mapping point corresponding in described plane map according to described relative position information, form described ring-like pattern.
Exemplary, original map is abstracted into the geometric figure of rule, obtains geometric central point, and using the central point of geometric central point as original map.Such as when geometric figure is circle using the central point of the center of circle as original map, when geometric figure is rectangle, using the central point of diagonal line intersection point as original map.
It should be noted that, when the original map shape difference of auxiliary floor is larger, can be normalized each original map, each original map is all abstracted into same geometric configuration.After the original map of every layer of buildings is processed into same geometric figure, only need obtain the central point of arbitrary original map, can using the central point of the location point corresponding with this central point as other original map.
Optionally, described location point mapping point corresponding in described plane map is drawn according to described relative position information, form described ring-like pattern to comprise: in the original map of described auxiliary floor, obtain the relative direction of each position point and central point, the relative direction of the central point of the mapping point corresponding as this location point and described central figure; Relative distance D:D=(m-n) h+d of the mapping point corresponding according to this location point of following formulae discovery and the central point of described central figure, wherein, d is the distance between this location point and auxiliary floor original map central point, m is the number of plies of this auxiliary floor, n is the number of plies of described foundation floor, and h is the distance of the frame of central figure in described relative direction and the central point of described central figure.
With reference to figure 1b, as follows with the buildings of common n layer, and floor based on ground floor, each floor on ground floor is auxiliary floor is that the creation method of example to this buildings plane map illustrates.
First, the mapping of ground floor map: using the central figure of the original map of ground floor as buildings plane map, correspondingly using the central point of the central point of ground floor original map as buildings plane map.
Secondly, the mapping of second layer map: the original map of the second layer is mapped as the ring-like pattern surrounding central figure.Concrete, in the original map of the second layer, the relative direction obtaining each position point A and central point O2 is as the relative direction of the central point O' of mapping point A' corresponding to this location point A and central figure, such as location point A is positioned at 30 ° of directions of central point O2, then the mapping point A' that location point A is corresponding is positioned at 30 ° of directions of the central point O' of central figure.Further, according to the relative distance D of following formulae discovery mapping point A' and central point O':
D=h+d, wherein, d is the distance between this location point A and central point O2, and h is the distance of the frame of central figure in described relative direction and the central point O' of described central figure.
That is, with the central point O2 of second layer original map for initial point, carry out 360 degree of scannings, dead ahead map seen by unspecified angle, then the corresponding outside being mapped to the ground floor map of equal angular.After having scanned, define the second layer and map map, now central figure is equivalent to mapping point corresponding to central point O2.
Subsequently, n-th layer map maps.According to order from the inside to the outside, after in layer mapping, the original map of n-th layer is mapped as (n-1)th layer of ring-like pattern mapped outside map.So far, n original map is become the ring plain map that is total to n layer.
It should be noted that, in buildings plane map, for the Architectural Elements in the ring-type map of 2nd ~ n layer, compared to the not change of original map size, but the amplification of the corresponding generation of the vector distance between element.
The situation too much to floor, if the map presentation device of user is screen constrained, then acquiescence shows the cartographic information of the upper and lower r of user's designated floor some (such as 3) layer, temporarily by the Information hiding of other floors, shows when user needs again.
The creation method of the multi-story structure plane map that the embodiment of the present invention provides, by the original map of building complex being mapped to cleverly on a sheet of planar map, make user can more intuitive and convenient understand association between the inner case of whole buildings and information and floor at synchronization, and then decision-making and navigation can be carried out according to the cartographic information of whole buildings, namely, the method achieve the map showing different floor in a sheet of planar map, enrich Consumer's Experience.
Embodiment two
The schematic flow sheet of a kind of indoor navigation method that Fig. 2 a provides for the embodiment of the present invention two.The present embodiment is applicable to the situation that user wants to carry out in multi-story structure inside indoor navigation.The method can by client executing.See Fig. 2 a, the plane map of the creation method acquisition of the multi-story structure plane map that the indoor navigation method that the present embodiment provides provides based on any embodiment of the present invention, this indoor navigation method specifically comprises following operation:
Operate 21, obtain indoor path planning request, described indoor path planning request is included in the start position in initial mapping map and is stopping mapping the final position in map.
Exemplary, when user performs predetermined registration operation corresponding to indoor path planning, obtain initial mapping map and stop mapping map, and start position and final position.Such as, when user double-clicks any position of buildings plane map, using the mapping map belonging to this position as initial mapping map, and using this position as start position, when user double-clicks a certain position of buildings plane map again, mapping map belonging to this position is mapped map as termination, and using this position as final position.
Operate 22, according to described plane map, described indoor path planning request planned.
Optionally, according to described plane map, described indoor path planning request is planned, specifically comprise: if described initial mapping map is from described to stop mapping map different, then perform following operation: the initial path determining the boarding in described start position to described initial mapping map according to described start position and described initial mapping map, and show described initial path in initial mapping map; Map according to described final position and described termination the termination path that map determines to stop to map boarding in map position to terminal, and map in map in termination and show described termination path.
Optionally, described boarding comprises boarding upstairs, boarding and two-way boarding downstairs.
As shown in Figure 2 b, when user needs to navigate to the final position B' of third layer from the start position B of ground floor, determine the initial path R1 of start position B to the boarding upstairs risen in central figure or two-way boarding C1, and in central figure, show described initial path R1, also determine that third layer maps the termination path R2 of boarding downstairs corresponding in map or two-way boarding C3 position B' to terminal, and map in map in third layer and show described termination path R2.
Map is mapped identical in initial mapping map and termination, when namely carrying out the indoor navigation of same layer, if initial mapping map is the central figure of buildings plane map, then identical with conventional planar air navigation aid, do not repeat them here; If initial mapping map is ring-like pattern, then using the guidance path of the determined line segment of start position and final position as correspondence, the wherein overlapping part of guidance path and non-initial mapping map area is corresponding with the central point of initial mapping map place floor.Concrete, as shown in Figure 2 b, at the boarding C3 that the start position of user is third layer, when final position is the D3 location point of third layer, now the line segment at boarding C3 and D3 location point place is defined as corresponding guidance path R3, wherein the overlapping part EF of guidance path R3 and non-initial mapping map area is corresponding with the central point of third story layer, and the line segment EF namely in guidance path R3 corresponds to the central point of third story layer.
It should be noted that, the guidance path in the present embodiment is not limited to straight line, also can be other forms such as curve.
The indoor navigation method that the embodiment of the present invention provides, by the navigation feature based on buildings plane map, user can know the path of current floor and the path of other floors while intuitive and convenient.Shown by map of the present invention and the combination of air navigation aid, user is carried out to the experience lifting successful of LBS related application in indoor.
Embodiment three
The structural representation of the creation apparatus of a kind of multi-story structure plane map that Fig. 3 provides for the embodiment of the present invention three.The present embodiment is applicable to the situation that user wants the cartographic information simultaneously obtaining multi-story structure inside.See Fig. 3, the creation apparatus of this multi-story structure plane map can be used as client, and its concrete structure is as follows:
Floor determining unit 31, for determining foundation floor and at least one auxiliary floor from least two-layer buildings, wherein, described auxiliary floor is at least one floor in described buildings except described foundation floor;
Foundation floor map unit 32, for using the central figure of the original map of described foundation floor as described buildings plane map;
Auxiliary floor map unit 33, for according to order from the inside to the outside, is mapped to the ring-like pattern surrounding described central figure one by one by the original map of described auxiliary floor.
Optionally, described auxiliary floor map unit 33 specifically for:
Calculate in the original map of described auxiliary floor, the relative position information between each position point and central point;
Draw described location point mapping point corresponding in described plane map according to described relative position information, form described ring-like pattern.
Optionally, described auxiliary floor map unit 33 specifically for:
In the original map of described auxiliary floor, obtain the relative direction of each position point and central point, the relative direction of the central point of the mapping point corresponding as this location point and described central figure;
The relative distance D of the mapping point corresponding according to this location point of following formulae discovery and the central point of described central figure:
D=(m-n) h+d, wherein, d is the distance between this location point and auxiliary floor original map central point, and m is the number of plies of this auxiliary floor, n is the number of plies of described foundation floor, and h is the distance of the frame of central figure in described relative direction and the central point of described central figure.
Optionally, described floor determining unit 31 specifically for:
The ground floor of described buildings is defined as foundation floor, at least one deck adjacent on described foundation floor is defined as auxiliary floor; Or
The floor at user place is defined as the foundation floor in described buildings, at least one deck adjacent on described foundation floor is defined as auxiliary floor; Or
One deck under the floor at user place is defined as the foundation floor in described buildings, at least one deck adjacent on described foundation floor is defined as auxiliary floor; Or
According to the selection instruction of described user, from least two-layer described buildings, determine foundation floor and at least one auxiliary floor.
The said goods can perform that any embodiment of the present invention provides by the creation method of the multi-story structure plane map of client executing, possess the corresponding functional module of manner of execution and beneficial effect.
Embodiment four
The structural representation of a kind of indoor navigation device that Fig. 4 provides for the embodiment of the present invention four.The present embodiment is applicable to the situation that user wants to carry out in multi-story structure inside indoor navigation.See Fig. 4, the plane map that this indoor navigation device obtains based on the creation apparatus of the multi-story structure plane map provided in any embodiment of the present invention, and can be used as client, its concrete structure is as follows:
Acquisition request unit 41, for obtaining indoor path planning request, described indoor path planning request is included in the start position in initial mapping map and is stopping mapping the final position in map;
Request planning unit 42, for planning described indoor path planning request according to described plane map.
Optionally, ask planning unit 42 specifically for:
If described initial mapping map from described to stop mapping map different, then performs following operation:
Determine the initial path of the boarding in described start position to described initial mapping map according to described start position and described initial mapping map, and show described initial path in initial mapping map;
Map according to described final position and described termination the termination path that map determines to stop to map boarding in map position to terminal, and map in map in termination and show described termination path.
Optionally, described boarding comprises boarding upstairs, boarding and two-way boarding downstairs.
The said goods can perform that any embodiment of the present invention provides by the indoor navigation method of client executing, possess the corresponding functional module of manner of execution and beneficial effect.
Note, above are only preferred embodiment of the present invention and institute's application technology principle.Skilled person in the art will appreciate that and the invention is not restricted to specific embodiment described here, various obvious change can be carried out for a person skilled in the art, readjust and substitute and can not protection scope of the present invention be departed from.Therefore, although be described in further detail invention has been by above embodiment, the present invention is not limited only to above embodiment, when not departing from the present invention's design, can also comprise other Equivalent embodiments more, and scope of the present invention is determined by appended right.
Claims (14)
1. a creation method for multi-story structure plane map, is characterized in that, comprising:
From at least two-layer buildings, determine foundation floor and at least one auxiliary floor, wherein, described auxiliary floor is at least one floor in described buildings except described foundation floor;
Using the central figure of the original map of described foundation floor as described buildings plane map;
According to order from the inside to the outside, the original map of described auxiliary floor is mapped to one by one the ring-like pattern surrounding described central figure.
2. method according to claim 1, is characterized in that, the original map of described auxiliary floor is mapped to the ring-like pattern surrounding described central figure, specifically comprises:
Calculate in the original map of described auxiliary floor, the relative position information between each position point and central point;
Draw described location point mapping point corresponding in described plane map according to described relative position information, form described ring-like pattern.
3. method according to claim 2, is characterized in that, draws described location point mapping point corresponding in described plane map, form described ring-like pattern and comprise according to described relative position information:
In the original map of described auxiliary floor, obtain the relative direction of each position point and central point, the relative direction of the central point of the mapping point corresponding as this location point and described central figure;
The relative distance D of the mapping point corresponding according to this location point of following formulae discovery and the central point of described central figure:
D=(m-n) h+d, wherein, d is the distance between this location point and auxiliary floor original map central point, and m is the number of plies of this auxiliary floor, n is the number of plies of described foundation floor, and h is the distance of the frame of central figure in described relative direction and the central point of described central figure.
4. method according to claim 1, is characterized in that, determines that foundation floor and at least one auxiliary floor comprise from least two-layer buildings:
The ground floor of described buildings is defined as foundation floor, at least one deck adjacent on described foundation floor is defined as auxiliary floor; Or
The floor at user place is defined as the foundation floor in described buildings, at least one deck adjacent on described foundation floor is defined as auxiliary floor; Or
One deck under the floor at user place is defined as the foundation floor in described buildings, at least one deck adjacent on described foundation floor is defined as auxiliary floor; Or
According to the selection instruction of described user, from least two-layer described buildings, determine foundation floor and at least one auxiliary floor.
5. an indoor navigation method, the plane map that the creation method based on the arbitrary described multi-story structure plane map of claim 1-4 obtains, it is characterized in that, the method comprises:
Obtain indoor path planning request, described indoor path planning request is included in the start position in initial mapping map and is stopping mapping the final position in map;
According to described plane map, described indoor path planning request is planned.
6. method according to claim 5, is characterized in that, plans, specifically comprise according to described plane map to described indoor path planning request:
If described initial mapping map from described to stop mapping map different, then performs following operation:
Determine the initial path of the boarding in described start position to described initial mapping map according to described start position and described initial mapping map, and show described initial path in initial mapping map;
Map according to described final position and described termination the termination path that map determines to stop to map boarding in map position to terminal, and map in map in termination and show described termination path.
7. method according to claim 6, is characterized in that, described boarding comprises boarding upstairs, boarding and two-way boarding downstairs.
8. a creation apparatus for multi-story structure plane map, is characterized in that, comprising:
Floor determining unit, for determining foundation floor and at least one auxiliary floor from least two-layer buildings, wherein, described auxiliary floor is at least one floor in described buildings except described foundation floor;
Foundation floor map unit, for using the central figure of the original map of described foundation floor as described buildings plane map;
Auxiliary floor map unit, for according to order from the inside to the outside, is mapped to the ring-like pattern surrounding described central figure one by one by the original map of described auxiliary floor.
9. device according to claim 8, is characterized in that, described auxiliary floor map unit specifically for:
Calculate in the original map of described auxiliary floor, the relative position information between each position point and central point;
Draw described location point mapping point corresponding in described plane map according to described relative position information, form described ring-like pattern.
10. device according to claim 9, is characterized in that, described auxiliary floor map unit specifically for:
In the original map of described auxiliary floor, obtain the relative direction of each position point and central point, the relative direction of the central point of the mapping point corresponding as this location point and described central figure;
The relative distance D of the mapping point corresponding according to this location point of following formulae discovery and the central point of described central figure:
D=(m-n) h+d, wherein, d is the distance between this location point and auxiliary floor original map central point, and m is the number of plies of this auxiliary floor, n is the number of plies of described foundation floor, and h is the distance of the frame of central figure in described relative direction and the central point of described central figure.
11. devices according to claim 8, is characterized in that, described floor determining unit specifically for:
The ground floor of described buildings is defined as foundation floor, at least one deck adjacent on described foundation floor is defined as auxiliary floor; Or
The floor at user place is defined as the foundation floor in described buildings, at least one deck adjacent on described foundation floor is defined as auxiliary floor; Or
One deck under the floor at user place is defined as the foundation floor in described buildings, at least one deck adjacent on described foundation floor is defined as auxiliary floor; Or
According to the selection instruction of described user, from least two-layer described buildings, determine foundation floor and at least one auxiliary floor.
12. 1 kinds of indoor navigation devices, the plane map that the creation apparatus based on the arbitrary described multi-story structure plane map of claim 8-11 obtains, it is characterized in that, the method comprises:
Acquisition request unit, for obtaining indoor path planning request, described indoor path planning request is included in the start position in initial mapping map and is stopping mapping the final position in map;
Request planning unit, for planning described indoor path planning request according to described plane map.
13. devices according to claim 12, is characterized in that, request planning unit specifically for:
If described initial mapping map from described to stop mapping map different, then performs following operation:
Determine the initial path of the boarding in described start position to described initial mapping map according to described start position and described initial mapping map, and show described initial path in initial mapping map;
Map according to described final position and described termination the termination path that map determines to stop to map boarding in map position to terminal, and map in map in termination and show described termination path.
14. devices according to claim 13, is characterized in that, described boarding comprises boarding upstairs, boarding and two-way boarding downstairs.
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| CN107632285A (en) * | 2017-09-19 | 2018-01-26 | 北京小米移动软件有限公司 | Map building and amending method and device |
| CN110926461A (en) * | 2019-10-29 | 2020-03-27 | 北京全路通信信号研究设计院集团有限公司 | Indoor positioning method and system based on ultra wide band and navigation method and system |
| CN112013844A (en) * | 2019-05-31 | 2020-12-01 | 北京小米智能科技有限公司 | Method and device for establishing indoor environment map |
| CN114267203A (en) * | 2021-12-31 | 2022-04-01 | 浙江树人学院（浙江树人大学） | Shared parking system |
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