CN110146072A - A kind of paths planning method, server and readable storage medium storing program for executing - Google Patents
A kind of paths planning method, server and readable storage medium storing program for executing Download PDFInfo
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- CN110146072A CN110146072A CN201910418030.7A CN201910418030A CN110146072A CN 110146072 A CN110146072 A CN 110146072A CN 201910418030 A CN201910418030 A CN 201910418030A CN 110146072 A CN110146072 A CN 110146072A
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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Abstract
The embodiment of the invention discloses a kind of paths planning method, server and readable storage medium storing program for executing, research and develop map data management component for autonomous Design, correctly navigation is accomplished in time in the variation of the indoor map that can timely update road net data.The method comprise the steps that server receives the path planning request that client is sent, the path planning request includes path planning type, origin information, endpoint information；The server calculates path planning according to path planning request and preset indoor map road net data；The server sends the path planning to the client, and the path planning shows the path planning for the client.
Description
Technical field
The present invention relates to the communications field more particularly to a kind of paths planning methods, server and readable storage medium storing program for executing.
Background technique
It is guided in algorithm in existing indoor map navigation route, using the method for road-net node pathfinding, realizes indoor ground
Scheme single floor, across the pathfinding between any two points in floor, more buildings, short same of the path distance sought is realized by the algorithm
When, guarantee that path direction is correct, it is few to turn round, it is corresponding with the relationship of anchor point.By calculating the distance on each section of way and general line,
It can be evaluated whether the time needed for reaching from origin-to-destination.
Existing indoor navigation technology has the following problems: 1) can only calculate after determining navigation starting point and navigation terminal
A shortest path is supplied to user's use out, but cannot be needed to provide path appropriate according to user, as certain user needs
The mode walked staircase rather than directly walk elevator reaches across floor terminal.2) since navigation map cannot be according to the change of indoor situations
Change and more new information, the guidance path of planning is caused to be easy to appear impassable situation；Such as certain elevator temporary repair, if navigation
It just will appear the impassable situation in path to the elevator, and then lead to useless navigation.
Summary of the invention
The embodiment of the invention provides a kind of paths planning method, server and readable storage medium storing program for executing, are used for autonomous Design
Map data management component is researched and developed, correctly navigation is accomplished in time in the variation of the indoor map that can timely update road net data.
In view of this, first aspect of the embodiment of the present invention provides a kind of paths planning method, may include:
Server receives the path planning request that client is sent, path planning request include path planning type,
Origin information, endpoint information；
The server calculates path planning according to path planning request and preset indoor map road net data；
The server sends the path planning to the client, and the path planning is shown for the client
The path planning.
Optionally, in some embodiments of the invention, the preset indoor map road net data includes indoor each
The road network of layer, the mark in each road network section, starting point unique identification, terminal unique identification, directional information, floor mark
Know, section weighted value.
Optionally, in some embodiments of the invention, the path planning type include: obstructed paths, necessary path,
Weight path or shortest path.
Optionally, in some embodiments of the invention, the method also includes:
The server receives the update request that the client is sent；
The server is requested according to the update, updates the preset indoor map road net data.
Optionally, in some embodiments of the invention, the server according to the path planning request and it is preset
Indoor map road net data calculates path planning, comprising:
The server is requested according to the path planning, determines the road where the origin information and the endpoint information
Section；
The server uses algorithm of the breadth First in conjunction with depth-first, in the preset indoor map road network number
In, the section where the origin information and the endpoint information is searched for obtain path planning combination；
The server determines path planning in path planning combination according to the path planning type；
The server determines the information in each section in the path planning；
The server sends the path planning to the client, comprising:
The server sends the information in each section in the path planning to the client.
Optionally, in some embodiments of the invention, the server is according to the path planning type on the road
Path planning is determined in diameter planning combination, comprising:
When the path planning type is obstructed paths, the server encounters obstacle in path planning combination
Where point when section, stop search section where the barrier point, carries out the search of lower a road section, determines the path planning；
Alternatively,
When the path planning type is necessary path, the server uses starting point in path planning combination
To the first necessary point, first necessary o'clock to the second necessary point, the mode of the second necessary point to terminal, successively executes shortest path and search
Rope obtains set of minimal paths；
The server merges the set of minimal paths, obtains the path planning；
Alternatively,
When the path planning type is weight path, server selection in path planning combination is all
Highest one group of section weighted value as the path planning；
Alternatively,
When the path planning type is shortest path, the server selects section in path planning combination
Shortest one group of length as the path planning.
Optionally, in some embodiments of the invention, the method also includes:
When the server determines that the state of the path planning is impassabitity, then stop search current road segment, into
The search of the lower a road section of row.
Second aspect of the embodiment of the present invention provides a kind of server, may include:
Receiving module, for receiving the path planning request of client transmission, the path planning request includes that path is advised
Draw type, origin information, endpoint information；
Processing module, for calculating path rule according to path planning request and preset indoor map road net data
It draws；
Sending module, for sending the path planning to the client, the path planning is used for the client
Show the path planning.
Optionally, in some embodiments of the invention, the preset indoor map road net data includes indoor each
The road network of layer, the mark in each road network section, starting point unique identification, terminal unique identification, directional information, floor mark
Know, section weighted value.
Optionally, in some embodiments of the invention, the path planning type include: obstructed paths, necessary path,
Weight path or shortest path.
Optionally, in some embodiments of the invention,
The receiving module is also used to receive the update request that the client is sent；
The processing module is also used to be requested according to the update, updates the preset indoor map road net data.
Optionally, in some embodiments of the invention,
The processing module is specifically used for being requested according to the path planning, determines the origin information and the terminal
Section where information；Using algorithm of the breadth First in conjunction with depth-first, in the preset indoor map road net data
In, the section where the origin information and the endpoint information is searched for obtain path planning combination；According to the path
Plan that type determines path planning in path planning combination.
Optionally, in some embodiments of the invention,
The processing module is specifically used for when the path planning type is obstructed paths, in the path planning group
Where encountering barrier point in conjunction when section, stop search section where the barrier point, carries out the search of lower a road section, determines institute
State path planning；
Alternatively,
The processing module is specifically used for when the path planning type is necessary path, in the path planning group
In conjunction using starting point to the first necessary point, first necessary o'clock to the second necessary point, the second necessary point to terminal by the way of, successively hold
Row Shortest Path Searching, obtains set of minimal paths；The set of minimal paths is merged, the path planning is obtained；
Alternatively,
The processing module is specifically used for when the path planning type is weight path, in the path planning group
Selected in conjunction highest one group of all section weighted values as the path planning；
Alternatively,
The processing module is specifically used for when the path planning type is shortest path, in the path planning group
Selected in conjunction shortest one group of road section length as the path planning.
Optionally, in some embodiments of the invention,
The processing module is also used to then stop search and work as when the state for determining the path planning is impassabitity
Preceding section carries out the search of lower a road section.
Third aspect present invention provides a kind of server, may include:
Transceiver, processor, memory, wherein the transceiver, the processor and the memory are connected by bus
It connects；
The memory, for storing operational order；
The transceiver, for receiving the path planning request of client transmission, the path planning request includes path
Plan type, origin information, endpoint information；The path planning is sent to the client, the path planning is for described
Client shows the path planning；
The processor, for calculating path according to path planning request and preset indoor map road net data
Planning.
Optionally, in some embodiments of the invention, the preset indoor map road net data includes indoor each
The road network of layer, the mark in each road network section, starting point unique identification, terminal unique identification, directional information, floor mark
Know, section weighted value.
Optionally, in some embodiments of the invention, the path planning type include: obstructed paths, necessary path,
Weight path or shortest path.
Optionally, in some embodiments of the invention,
The transceiver is also used to receive the update request that the client is sent；
The processor is also used to be requested according to the update, updates the preset indoor map road net data.
Optionally, in some embodiments of the invention,
The processor is specifically used for being requested according to the path planning, determines the origin information and terminal letter
Section where ceasing；Using algorithm of the breadth First in conjunction with depth-first, in the preset indoor map road net data,
Section where the origin information and the endpoint information is searched for obtain path planning combination；According to the path planning
Type determines path planning in path planning combination.
Optionally, in some embodiments of the invention,
The processor is specifically used for combining when the path planning type is obstructed paths in the path planning
In when encountering section where barrier point, stop search section where the barrier point, carries out the search of lower a road section, determine described in
Path planning；
Alternatively,
The processor is specifically used for combining when the path planning type is necessary path in the path planning
It is middle using starting point to the first necessary point, first necessary o'clock to the second necessary point, the second necessary point to terminal by the way of, successively execute
Shortest Path Searching obtains set of minimal paths；The set of minimal paths is merged, the path planning is obtained；
Alternatively,
The processor is specifically used for combining when the path planning type is weight path in the path planning
It is middle select highest one group of all section weighted values as the path planning；
Alternatively,
The processor is specifically used for combining when the path planning type is shortest path in the path planning
It is middle select shortest one group of road section length as the path planning.
Optionally, in some embodiments of the invention,
The processor is also used to then stop search current when the state for determining the path planning is impassabitity
Section carries out the search of lower a road section.
Fourth aspect present invention provides a kind of readable storage medium storing program for executing, is stored thereon with computer program, the computer journey
The paths planning method as described in first aspect and first aspect any optional implementation is realized when sequence is executed by processor
The step of.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
In embodiments of the present invention, server receives the path planning request that client is sent, the path planning request
Including path planning type, origin information, endpoint information；The server is according to path planning request and preset interior
Map road net data calculates path planning；The server sends the path planning, the path planning to the client
The path planning is shown for the client.Map data management component can be researched and developed with autonomous Design, because of preset room
Interior map road net data can with real-time update, so, can accomplish in time correctly navigation.
Detailed description of the invention
Technical solution in order to illustrate the embodiments of the present invention more clearly, below will be to institute in embodiment and description of the prior art
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a system architecture diagram applied by the embodiment of the present invention；
Fig. 2 is one embodiment schematic diagram of paths planning method in the embodiment of the present invention；
Fig. 3 is the flow diagram of the embodiment of the present invention；
Fig. 4 is one embodiment schematic diagram of server in the embodiment of the present invention；
Fig. 5 is another embodiment schematic diagram of server in the embodiment of the present invention.
Specific embodiment
The embodiment of the invention provides a kind of paths planning method, server and readable storage medium storing program for executing, are used for autonomous Design
Map data management component is researched and developed, correctly navigation is accomplished in time in the variation of the indoor map that can timely update road net data.
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention are described, it is clear that described embodiment is only present invention a part
Embodiment, instead of all the embodiments.Based on the embodiments of the present invention, it should fall within the scope of the present invention.
As shown in Figure 1, may include: server and at least one for system architecture diagram applied by the embodiment of the present invention
Client.
Illustratively, client may include general hand held electronic terminals, such as smart phone, portable terminal, end
End, personal digital assistant (Personal Digital Assistant, PDA), portable media player (Personal
Media Player, PMP) device, laptop, notebook (Note Pad), WiMAX (Wireless
Broadband, Wibro) terminal, tablet computer (personal computer, PC) and intelligence PC.The application applies also for
Non-portable electronic device such as provides the smart television of camera function.
The present invention has carried out the planning of various ways by certain Data Structure Design, to path, including but not limited to
Two o'clock path navigation, multiple spot path navigation, weight path navigation, obstructed paths navigation, necessary path navigation, shortest path are led
Boat, and unique identification is carried out to each node, support across floor navigation；And to each of path planning in path search process
The state in section is determined that confirmation could be used as navigation section after can passing through, to avoid useless navigation.Autonomous Design is ground
Map data management component is sent out, the indoor map that can timely update road net data accomplishes in time correctly navigation.
Technical solution of the present invention is described further by way of examples below, as shown in Fig. 2, real for the present invention
One embodiment schematic diagram for applying paths planning method in example may include:
201, server receive client send path planning request, path planning request include path planning type,
Origin information, endpoint information.
User end to server initiates path planning request.Path planning request may include path planning type (most
Short path, weight path, obstructed paths, necessary path), origin information, endpoint information, barrier point array, necessary array etc.
Information.
Wherein, origin information may include start position information and starting point floor ID, and endpoint information may include terminal position
Confidence breath, terminal floor ID.
202, server calculates path planning according to path planning request and preset indoor map road net data.
Wherein it is possible to understand, preset indoor map road net data is saved after being handled by Primary Stage Data to number
According to library, real-time edition update can also be carried out by autonomous map datum management assembly.The preset indoor map road net data
Mark, starting point unique identification, terminal unique identification, direction including indoor each layer of road network, each road network section
Information, floor identification, section weighted value.
Illustratively, server can draw out each layer of road network, and in road network according to indoor arrangement
Joint should be key node, and ID, starting point unique identification, terminal unique identification, the direction letter of each road network line segment is arranged
Breath (be such as divided into it is two-way, forward with reverse three kinds), floor ID, section weighted value information.
The server calculates path planning according to path planning request and preset indoor map road net data,
May include:
The server is requested according to the path planning, determines the road where the origin information and the endpoint information
Section；The server uses algorithm of the breadth First in conjunction with depth-first, in the preset indoor map road net data,
Section where the origin information and the endpoint information is searched for obtain path planning combination；The server is according to institute
It states path planning type and determines path planning in path planning combination.
Further, the server determines that path is advised in path planning combination according to the path planning type
It draws, can include but is not limited to:
(1) when the path planning type is obstructed paths, the server encounters in path planning combination
Where barrier point when section, stop search section where the barrier point, carries out the search of lower a road section, determines the path rule
It draws；
Alternatively,
(2) when the path planning type is necessary path, the server uses in path planning combination
Starting point successively executes shortest path to the first necessary point, the mode of the second necessary point to terminal at first necessary o'clock to the second necessary point
Path search obtains set of minimal paths；The server merges the set of minimal paths, obtains the path planning；
Alternatively,
(3) when the path planning type is weight path, the server selects in path planning combination
Highest one group of all section weighted values are as the path planning；
Alternatively,
(4) when the path planning type is shortest path, the server selects in path planning combination
Shortest one group of road section length as the path planning.
It should be noted that then stopping searching when the server determines that the state of the path planning is impassabitity
Rope current road segment carries out the search of lower a road section.
Illustratively, after server receives the path planning request that server receives client transmission, accessible room
Interior map road net data, building or reading caching road network adjacency matrix.Find the section where each coordinate points.Use breadth First
Algorithm search path in conjunction with depth-first.Judge path planning type.
Wherein, judge that path planning type can include but is not limited to following several implementations:
1. obstructed paths where encountering barrier point when section, abandon search current road segment, carry out searching for lower a road section
Rope.
2. necessary path, using starting point+necessary point 1, the mode of the necessary necessary point n+ terminal of the necessary point 2 ... of point 1+, successively
A Shortest Path Searching is executed, finally merges set of minimal paths, as final path.
3. weight path after searching out combination of paths, filters out highest one group of all section weighted values as final
Path.
4. shortest path after searching out combination of paths, filters out shortest one group of road section length, when there are more than two
When path length is identical, least one group of section number is filtered out as final path.The above search process is both needed to each section
State is judged, when state is impassabitity, is then abandoned search current road segment, is carried out the search of lower a road section.
Optionally, it carries out direction to each section in final path to determine, such as straight trip, left-hand rotation.
Optionally, in some embodiments of the invention, the server receives the update request that the client is sent；
The server is requested according to the update, updates the preset indoor map road net data.
Illustratively, server uses autonomous map datum management assembly, modification road network position, weight, prevailing state etc..
203, server is planned to client transmitting path, and path planning shows paths planning for client.
Server plans that path planning shows paths planning for client to client transmitting path.It is understood that
It is that path planning can be understood as navigation results, i.e., the navigation results include path and navigation information, the indoor map of client
It can show paths and navigation information.
As shown in figure 3, being the flow diagram of the embodiment of the present invention.
In embodiments of the present invention, server receives the path planning request that client is sent, the path planning request
Including path planning type, origin information, endpoint information；The server is according to path planning request and preset interior
Map road net data calculates path planning；The server sends the path planning, the path planning to the client
The path planning is shown for the client.Map data management component can be researched and developed with autonomous Design, because of preset room
Interior map road net data can with real-time update, so, can accomplish in time correctly navigation.
In embodiments of the present invention, server can support multiple indoor map path planning mode, including shortest path,
The necessary path of multiple spot, obstructed paths, weight path etc..Weight distribution is carried out to the section in indoor map road network, works as execution
When weight is planned, entire path weight value value is calculated, selects peak as final path.To each node in indoor map road network
Carry out state judgement, confirmation can prevailing states.Using autonomous map datum management assembly, road network position, weight, state are modified
Deng.
As shown in figure 4, may include: for one embodiment schematic diagram of server in the embodiment of the present invention
Receiving module 401, for receiving the path planning request of client transmission, the path planning request includes path
Plan type, origin information, endpoint information；
Processing module 402, for calculating path according to path planning request and preset indoor map road net data
Planning；
Sending module 403, for sending the path planning to the client, the path planning is used for the client
End shows the path planning.
Optionally, in some embodiments of the invention, the preset indoor map road net data includes indoor each
The road network of layer, the mark in each road network section, starting point unique identification, terminal unique identification, directional information, floor mark
Know, section weighted value.
Optionally, in some embodiments of the invention, the path planning type include: obstructed paths, necessary path,
Weight path or shortest path.
Optionally, in some embodiments of the invention,
Receiving module 401 is also used to receive the update request that the client is sent；
Processing module 402 is also used to be requested according to the update, updates the preset indoor map road net data.
Optionally, in some embodiments of the invention,
Processing module 402 is specifically used for being requested according to the path planning, determines the origin information and terminal letter
Section where ceasing；Using algorithm of the breadth First in conjunction with depth-first, in the preset indoor map road net data,
Section where the origin information and the endpoint information is searched for obtain path planning combination；According to the path planning
Type determines path planning in path planning combination.
Optionally, in some embodiments of the invention,
Processing module 402 is specifically used for combining when the path planning type is obstructed paths in the path planning
In when encountering section where barrier point, stop search section where the barrier point, carries out the search of lower a road section, determine described in
Path planning；
Alternatively,
Processing module 402 is specifically used for combining when the path planning type is necessary path in the path planning
It is middle using starting point to the first necessary point, first necessary o'clock to the second necessary point, the second necessary point to terminal by the way of, successively execute
Shortest Path Searching obtains set of minimal paths；The set of minimal paths is merged, the path planning is obtained；
Alternatively,
Processing module 402 is specifically used for combining when the path planning type is weight path in the path planning
It is middle select highest one group of all section weighted values as the path planning；
Alternatively,
Processing module 402 is specifically used for combining when the path planning type is shortest path in the path planning
It is middle select shortest one group of road section length as the path planning.
Optionally, in some embodiments of the invention,
Processing module 402 is also used to then stop search current when the state for determining the path planning is impassabitity
Section carries out the search of lower a road section.
As shown in figure 5, may include: for one embodiment schematic diagram of server in the embodiment of the present invention
Transceiver 501, processor 502, memory 503, wherein transceiver 501, processor 502 and memory 503 pass through
Bus connection；
Memory 503, for storing operational order；
Transceiver 501, for receiving the path planning request of client transmission, the path planning request includes that path is advised
Draw type, origin information, endpoint information；The path planning is sent to the client, the path planning is used for the visitor
Family end shows the path planning；
Processor 502, for calculating path rule according to path planning request and preset indoor map road net data
It draws.
Optionally, in some embodiments of the invention, the preset indoor map road net data includes indoor each
The road network of layer, the mark in each road network section, starting point unique identification, terminal unique identification, directional information, floor mark
Know, section weighted value.
Optionally, in some embodiments of the invention, the path planning type include: obstructed paths, necessary path,
Weight path or shortest path.
Optionally, in some embodiments of the invention,
Transceiver 501 is also used to receive the update request that the client is sent；
Processor 502 is also used to be requested according to the update, updates the preset indoor map road net data.
Optionally, in some embodiments of the invention,
Processor 502 is specifically used for being requested according to the path planning, determines the origin information and the endpoint information
The section at place；Use algorithm of the breadth First in conjunction with depth-first, in the preset indoor map road net data, root
It searches for obtain path planning combination according to the section where the origin information and the endpoint information；According to the path planning class
Type determines path planning in path planning combination.
Optionally, in some embodiments of the invention,
Processor 502 is specifically used for when the path planning type is obstructed paths, in path planning combination
Where encountering barrier point when section, stop search section where the barrier point, carries out the search of lower a road section, determines the road
Diameter planning；
Alternatively,
Processor 502 is specifically used for when the path planning type is necessary path, in path planning combination
Using starting point to the first necessary point, first necessary o'clock to the second necessary point, the second necessary point to terminal by the way of, successively execute most
Short-circuit path search, obtains set of minimal paths；The set of minimal paths is merged, the path planning is obtained；
Alternatively,
Processor 502 is specifically used for when the path planning type is weight path, in path planning combination
Select highest one group of all section weighted values as the path planning；
Alternatively,
Processor 502 is specifically used for when the path planning type is shortest path, in path planning combination
Select shortest one group of road section length as the path planning.
Optionally, in some embodiments of the invention,
Processor 502 is also used to when the state for determining the path planning is impassabitity, then stop search current road
Section, carries out the search of lower a road section.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When implemented in software, it can entirely or partly realize in the form of a computer program product.
The computer program product includes one or more computer instructions.Load and execute on computers the meter
When calculation machine program instruction, entirely or partly generate according to process or function described in the embodiment of the present invention.The computer can
To be general purpose computer, special purpose computer, computer network or other programmable devices.The computer instruction can be deposited
Storage in a computer-readable storage medium, or from a computer readable storage medium to another computer readable storage medium
Transmission, for example, the computer instruction can pass through wired (example from a web-site, computer, server or data center
Such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, microwave) mode to another website
Website, computer, server or data center are transmitted.The computer readable storage medium can be computer and can deposit
Any usable medium of storage either includes that the data storages such as one or more usable mediums integrated server, data center are set
It is standby.The usable medium can be magnetic medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or partly lead
Body medium (such as solid state hard disk Solid State Disk (SSD)) etc..
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of paths planning method characterized by comprising
Server receives the path planning request that client is sent, and the path planning request includes path planning type, starting point
Information, endpoint information；
The server calculates path planning according to path planning request and preset indoor map road net data；
The server sends the path planning to the client, described in the path planning is shown for the client
Path planning.
2. the method according to claim 1, wherein the preset indoor map road net data includes indoor every
One layer of road network, the mark in each road network section, starting point unique identification, terminal unique identification, directional information, floor mark
Know, section weighted value.
3. the method according to claim 1, wherein the path planning type includes: obstructed paths, necessary road
Diameter, weight path or shortest path.
4. method according to any one of claim 1-3, which is characterized in that the method also includes:
The server receives the update request that the client is sent；
The server is requested according to the update, updates the preset indoor map road net data.
5. method according to any one of claim 1-3, which is characterized in that the server is according to the path planning
Request and preset indoor map road net data, calculate path planning, comprising:
The server is requested according to the path planning, determines the section where the origin information and the endpoint information；
The server uses algorithm of the breadth First in conjunction with depth-first, in the preset indoor map road net data
In, the section where the origin information and the endpoint information is searched for obtain path planning combination；
The server determines path planning in path planning combination according to the path planning type.
6. according to the method described in claim 5, it is characterized in that, the server is according to the path planning type described
Path planning is determined in path planning combination, comprising:
When the path planning type is obstructed paths, the server encounters barrier point institute in path planning combination
At section, stop search section where the barrier point, carries out the search of lower a road section, determines the path planning；
Alternatively,
When the path planning type is necessary path, the server is in path planning combination using starting point to the
Necessary point, first necessary o'clock to the second necessary point, the mode of the second necessary point to terminal, successively execute Shortest Path Searching,
Obtain set of minimal paths；
The server merges the set of minimal paths, obtains the path planning；
Alternatively,
When the path planning type is weight path, the server selects all sections in path planning combination
Highest one group of weighted value as the path planning；
Alternatively,
When the path planning type is shortest path, the server selects road section length in path planning combination
Shortest one group as the path planning.
7. according to the method described in claim 5, it is characterized in that, the method also includes:
When the server determines that the state of the path planning is impassabitity, then stop search current road segment, carries out down
The search of a road section.
8. a kind of server characterized by comprising
Receiving module, for receiving the path planning request of client transmission, the path planning request includes path planning class
Type, origin information, endpoint information；
Processing module, for calculating path planning according to path planning request and preset indoor map road net data；
Sending module, for sending the path planning to the client, the path planning is shown for the client
The path planning.
9. a kind of server, which is characterized in that including processor, the processor is for executing the computer stored in memory
It realizes when program such as the step of paths planning method of any of claims 1-7.
10. a kind of readable storage medium storing program for executing, is stored thereon with computer program, which is characterized in that the computer program is processed
It realizes when device executes such as the step of paths planning method of any of claims 1-7.
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