CN113483749A

CN113483749A - Road network construction method and device, navigation equipment and robot

Info

Publication number: CN113483749A
Application number: CN202110762154.4A
Authority: CN
Inventors: 王顼; 李瑞远; 吴伟
Original assignee: Jingdong City Beijing Digital Technology Co Ltd
Current assignee: Jingdong City Beijing Digital Technology Co Ltd
Priority date: 2021-07-06
Filing date: 2021-07-06
Publication date: 2021-10-08

Abstract

The application provides a road network construction method, a road network construction device, a navigation device and a robot, wherein the method comprises the following steps: the method comprises the steps of obtaining an indoor plane graph of a target building, determining the spatial form of a base structure contained in the target building according to the indoor plane graph, obtaining target paths among all reachable points according to the spatial form of the base structure, and constructing and obtaining an indoor road network of the target building according to the target paths. According to the technical scheme, by determining the spatial form of the base structure in the target building, when the path between the reachable point of the base structure and the path between the first reachable point and the second reachable point of the base structure are calculated, the indoor space of the base structure can be fully considered, the base structure is prevented from being abstracted into one node simply, and the construction precision of an indoor road network is improved.

Description

Road network construction method and device, navigation equipment and robot

Technical Field

The application relates to the technical field of map construction, in particular to a road network construction method and device, navigation equipment and a robot.

Background

With the continuous construction and expansion of traffic roads, the outdoor traffic road network is universal, people can quickly determine the optimal path between a starting point and a destination by means of navigation software when going outdoors, but when the people go indoors through a large building, the outdoor navigation technology cannot be reused in indoor navigation due to the fact that the large building is internally provided with a plurality of complex space elements such as rooms, porches and stairs.

In the prior art, when an indoor navigation road network is constructed, in order to reuse an algorithm in the field of outdoor navigation, indoor complex spatial elements are abstracted into one node, and then the indoor road network is constructed according to paths between each indoor node and the node.

However, in this method in the prior art, since a certain complex spatial element is directly abstracted into one node, the constructed indoor road network is relatively rough, and the accuracy of the indoor road network is poor.

Disclosure of Invention

The application provides a road network construction method, a road network construction device, a navigation device and a robot, which are used for solving the problem of poor accuracy of an existing indoor road network.

In a first aspect, an embodiment of the present application provides a road network construction method, applied to a navigation device, including:

the method comprises the steps of obtaining an indoor plan view of a target building, and determining the spatial form of a base structure contained in the target building according to the indoor plan view, wherein the base structure comprises at least one boundary and at least one reachable point arranged on the boundary;

acquiring a target path between reachable points according to the spatial form of the infrastructure, wherein the reachable points are used for indicating an outlet or an inlet of the infrastructure;

and constructing and obtaining an indoor road network of the target building according to the target path.

In a possible design of the first aspect, the determining a spatial form of a infrastructure included in the target building according to the indoor plan includes:

determining the number of reachable points of the infrastructure and the boundaries of the infrastructure according to the indoor plan, wherein the boundaries of the infrastructure comprise open boundaries and closed boundaries;

and determining the spatial form of the infrastructure contained in the target building according to the boundary and the number of the reachable points.

In another possible design of the first aspect, the determining the spatial form of the infrastructure included in the target building according to the number of the boundaries and the reachable points includes:

if the boundary of the basic structure is a closed boundary and the number of the reachable points is equal to a preset value, determining that the spatial form of the basic structure is a simple form;

if the boundary of the basic structure is a closed boundary and the number of the reachable points is greater than the preset value, determining that the spatial form of the basic structure is a complex form;

and if the boundary of the basic structure is an open boundary, determining that the spatial form of the basic structure is an open form.

In yet another possible design of the first aspect, the obtaining a target path between reachable points according to a spatial form of the infrastructure includes:

acquiring the number of reachable points of the basic structure according to the spatial form of the basic structure;

if the number of the reachable points of the infrastructure is equal to the preset value, acquiring a path between the reachable point of the first infrastructure and the reachable point of the second infrastructure contained in the target building as the target path;

if the number of the reachable points of the infrastructure is greater than the preset value, acquiring a path between a first reachable point and a second reachable point of the infrastructure and a path between the reachable point of the first infrastructure and the reachable point of the second infrastructure included in the target building as the target path.

In another possible design of the first aspect, the obtaining a path between a first reachable point and a second reachable point of the infrastructure if the number of reachable points of the infrastructure is greater than the preset value includes:

if the number of the reachable points of the base structure is larger than the preset value, determining the obstacles contained in the base structure and the positions of the obstacles according to the indoor plan;

and acquiring a path between the first reachable point and the second reachable point of the basic structure according to the position of the obstacle.

In yet another possible design of the first aspect, the obtaining a path between a first reachable point and a second reachable point of the infrastructure according to the position of the obstacle includes:

determining whether the obstacle is a boundary of the base structure according to the position of the obstacle;

if the obstacle is the boundary of the base structure, acquiring the bending angle of the boundary;

and acquiring a path between a first reachable point and a second reachable point of the basic structure according to the bending angle of the boundary.

In another possible design of the first aspect, after determining that the spatial form of the infrastructure is the open form if the boundary of the infrastructure is the open boundary, the method further includes:

according to the indoor plan, fusing open boundaries of adjacent matrixes with open space forms to obtain fused matrixes, wherein the boundaries of the fused matrixes are closed boundaries obtained by fusing the open boundaries;

and acquiring the reachable point arranged on the boundary of the fusion infrastructure and the geometric central point of the fusion infrastructure as the reachable point of the fusion infrastructure.

In yet another possible design of the first aspect, before the obtaining the target path between the reachable points according to the spatial form of the infrastructure, the method further includes:

determining the floor number of the target building and the communication position among all floors according to the indoor plan;

and taking the communication position among all floors as an accessible point.

In yet another possible design of the first aspect, the constructing an indoor road network of the target building according to the target path includes:

acquiring a passing state of the target path according to the indoor plan, wherein the passing state is used for indicating whether the target path is conducted currently;

and constructing and obtaining an indoor road network of the target building according to the target path and the traffic state.

acquiring the intersection of each target path, wherein the intersection is used as a point at which the first target path and the second target path are communicated with each other;

and acquiring a path between the intersection point and the reachable point, and constructing and obtaining an indoor road network of the target building according to the target path and the path between the intersection point and the reachable point.

In yet another possible design of the first aspect, before constructing the indoor road network of the target building according to the target path, the method further includes:

and acquiring attribute information of each reachable point, and identifying each reachable point according to the attribute information.

In a second aspect, an embodiment of the present application provides a road network construction apparatus, including:

the system comprises a determining module, a processing module and a display module, wherein the determining module is used for acquiring an indoor plane map of a target building, and determining the spatial form of a basic structure contained in the target building according to the indoor plane map, and the basic structure comprises at least one boundary and at least one reachable point arranged on the boundary;

the acquisition module is used for acquiring a target path between all reachable points according to the spatial form of the infrastructure, wherein the reachable points are used for indicating an outlet or an inlet of the infrastructure;

and the construction module is used for constructing and obtaining an indoor road network of the target building according to the target path.

In a third aspect, an embodiment of the present application provides a navigation device, including a memory and at least one processor;

the memory stores computer-executable instructions;

the at least one processor executes computer-executable instructions stored by the memory, causing the at least one processor to perform the method as described above.

In a fourth aspect, an embodiment of the present application provides a robot, including a robot body and the above-mentioned navigation device, where the navigation device is disposed in the robot body, and the robot body is configured to navigate according to an indoor road network constructed by the navigation device.

In a fifth aspect, the present application provides a readable storage medium, in which computer instructions are stored, and when executed by a processor, the computer instructions are used to implement the method as described above.

In a sixth aspect, the present application provides a program product, which includes a computer program/instructions, and when executed by a processor, the computer program/instructions implement the method described above.

According to the road network construction method and device, the navigation equipment and the robot, the spatial form of the base structure in the target building is determined, so that when the path between the reachable point of the base structure and the reachable point of the base structure or the path between the first reachable point and the second reachable point of the base structure is calculated, the indoor space of the base structure can be fully considered, the situation that the base structure is abstracted into one node simply is avoided, and the construction precision of the indoor road network is improved.

Drawings

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

fig. 1 is a schematic view of an application scenario of a road network construction method provided in an embodiment of the present application;

fig. 2 is a schematic flow chart of a road network construction method according to a first embodiment of the present application;

FIG. 3 is a schematic structural diagram of a first embodiment of a spatial configuration of a substrate according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a second embodiment of a spatial configuration of a substrate according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of a spatial configuration of a fusion construct according to an embodiment of the present disclosure;

fig. 6 is a schematic flow chart of a road network construction method according to a second embodiment of the present application;

fig. 7 is a schematic structural diagram of a road network construction device according to an embodiment of the present application;

fig. 8 is a schematic block diagram of a navigation device provided in an embodiment of the present application.

With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms referred to in this application are explained first:

the basic structure is as follows:

the infrastructure refers to basic constituent units of an internal space of a building, including a room, a corridor, a hall and the like, and has geometrical types with different forms and properties of multiple sides, for example, the room includes a plurality of closed boundaries and at least one entrance, and the hall includes a plurality of open boundaries and a plurality of entrances.

Fig. 1 is a schematic view of an application scenario of a road network construction method provided in an embodiment of the present application, where the method may be applied to a navigation device, and the navigation device may be used for internal navigation of a large building, as shown in fig. 1, where the large building includes a room 11, a corridor 12, and a supermarket 13, the room 11 has a closed boundary and one entrance 111, the corridor 12 has an open boundary and at least one entrance, including an entrance 121, and the supermarket 13 has a closed boundary and at least one entrance, including an entrance 131, an entrance 132, and an entrance 133, where a solid line represents the closed boundary, the closed boundary may be an impassable physical obstacle such as a wall, a dashed line represents the open boundary, the open boundary is a virtual boundary, there is no physical obstacle, and a user may freely enter and exit the infrastructure from the open boundary.

Before a user uses the navigation device to navigate, the navigation device needs to construct an indoor road network of a large building, for example, if the room 11 is taken as a departure point and the supermarket 13 is taken as a destination, one road network may first pass through the entrance 111 and then enter the corridor 12 through the entrance 121, then leave the corridor 12 from an open boundary of the corridor 12 and enter the supermarket 13 through the entrance 132, and the other road network may directly pass through the entrance 111 and then enter the supermarket 13 through the entrance 131, and after the user inputs the departure point and the destination, the navigation device selects an optimal path according to the constructed road network.

In real-life applications, when constructing an indoor road network of a large building, although a spatial element capable of multiplexing an outdoor road network model, such as a passageway, is provided in the interior of the large building, the spatial element of the outdoor road network model cannot be multiplexed by spatial elements such as a room, a doorway, a staircase, and the like, and the structure of the large building is complex, and the spatial characteristics are greatly different from those of the outdoor road, so that the conventional outdoor navigation technology cannot be directly multiplexed into the indoor navigation field. How to establish an indoor road network model which can express vertical layering on height and comprises concave polygons and other complex space elements is a key problem for solving indoor navigation.

At present, in the prior art, when an indoor road network of a large building is constructed, a modeling mode of establishing a directed graph after simplification based on geometric features of indoor elements is adopted. In one approach, in order to make the indoor navigation system better reuse the algorithm of the outdoor navigation technology, the indoor space elements are abstracted excessively, for example, rooms are abstracted directly into one node, resulting in the accuracy of the constructed road network is insufficient, or the spatial semantics of the stairs/elevators inside the building are not considered, resulting in the path across floors being very rough and having only an exemplary navigation function. In view of the difference between the geometric features of the indoor space elements and the outdoor roads, another approach attempts to convert the geometric information of the indoor space elements into a modeling method of a road network model. The simplest of them is to reduce the independent areas in the room, e.g. rooms, into one node of a directed graph, and then to form a directed graph by connecting these different nodes. However, since various indoor areas have different spatial structures, the spatial structures have different spatial constraints, and a directed graph formed by directly connecting the nodes cannot reflect a real indoor space, and finally, the shortest path to be queried lacks accuracy. Based on the above, the prior art provides another improvement mode, by taking the indoor structural features of the building into consideration when constructing the directed graph, selecting the mark points of the elements such as rooms, corridors, hallways and the like as the nodes of the directed graph when modeling the indoor, and then fully taking the walls and doors into consideration as the obstacle points of the directed graph when constructing the directed graph, through the modification, the constructed road network model can better support the polygonal indoor elements. However, since the road network model uses points on the center line of the corridor as nodes of the road network, the generated road network has redundancy at the room exit, and the shortest path cannot be obtained.

In view of the above problems, embodiments of the present application provide a road network construction method, apparatus, navigation device, and robot, which are capable of determining a path between an reachable point and a reachable point of a base structure and a path between the reachable point and another reachable point of the base structure based on a spatial form inside the base structure when constructing an indoor road network of a building by determining the spatial form inside the base structure, so as to fully consider an internal spatial structure of the base structure and improve accuracy of the indoor road network.

The technical solution of the present application will be described in detail below with reference to specific examples. It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

Fig. 2 is a schematic flow chart of a road network construction method according to an embodiment of the present application, where the method may be applied to a navigation device, and for example, the navigation device may be a robot providing navigation service in a train station or an airport, or a household sweeping robot. As shown in fig. 2, the road network construction method may include the following steps:

s201, an indoor plane diagram of the target building is obtained, and the spatial form of the base structure contained in the target building is determined according to the indoor plane diagram.

Wherein the infrastructure includes at least one boundary and at least one reachable point disposed at the boundary. For example, the base structures may be classified into different categories according to the spatial forms of the base structures, the types and the numbers of boundaries included in the base structures of the different categories are different, and the number of reachable points is different.

Illustratively, the target building may be a railway station, the office of which may serve as a base structure of one category, and the waiting hall of which may serve as a base structure of another category. In general, an office is generally an enclosed space structure that is defined by multiple walls (i.e., closed boundaries) and is provided with a single access opening (e.g., a door) through which access to the office may be gained. The waiting hall is generally an open space structure and comprises an open boundary, a user can get in and out of the waiting hall through the open boundary, and meanwhile, the waiting hall further comprises a plurality of entrances and exits. Wherein, the above-mentioned access opening is the reachable point of this text.

In this embodiment, the infrastructure included in the target building may be obtained by dividing according to a preset dividing method, and for example, a plurality of divided infrastructures in the same category may be combined to form infrastructures in another other category, or infrastructures in another other category may be divided into a plurality of infrastructures in different categories.

The spatial form of the base structure may be used to indicate the shape of the base structure in the indoor plan view, for example, the shape of the room in the indoor plan view is a regular polygon, and at least one side of the regular polygon is provided with an entrance.

S202, acquiring a target path between the reachable points according to the spatial form of the infrastructure.

Wherein the reachable point is used to indicate an exit or entrance of the infrastructure.

In this embodiment, the reachable point of some infrastructure may be an intermediate node of the target route, and the reachable point of some infrastructure may only be a starting point or an ending point of the target route, for example, the waiting hall has two reachable points, such as a first exit and a first entrance, the room has only one reachable point, such as a third entrance, which is both an entrance of the room and an exit of the room, when constructing the target route between the first exit of the waiting hall and the third entrance of the room, the first entrance of the waiting hall may be an intermediate node, that is, the target route starts from the third entrance of the room, the first entrance of the waiting hall is an intermediate node, enters the waiting hall from the first entrance of the waiting hall, and passes through the waiting hall according to the spatial form of the waiting hall, and finally reaches the ending hall, that is the first exit of the waiting hall, and constructing and obtaining a target path.

For example, the spatial shape of the infrastructure may indicate the shape of the infrastructure, for example, according to the fact that the infrastructure may be a polygon, the sides of the polygon are the boundaries of the infrastructure. For example, the shape of the base structure may be a regular polygon or a polygon, and so on.

And S203, constructing an indoor road network of the target building according to the target path.

In this embodiment, an indoor road network of the whole target building can be obtained by integrating the target paths between the reachable points of all the infrastructure, specifically, it may be determined whether there is an intersection point between each entry landmark path, and if there is an intersection point, the two intersected target paths are marked as being in a state of being communicated with each other, so as to construct and obtain the indoor road network.

According to the method and the device, the path between the reachable points is determined by utilizing the space form of the base structure, the indoor space of the base structure can be effectively utilized, the simple abstraction of the base structure into one node is avoided, and the precision of an indoor road network is improved.

For example, on the basis of the above embodiments, in some embodiments, the step S201 of "determining the spatial form of the infrastructure included in the target building according to the indoor plan" may specifically be implemented by:

the number of reachable points of the infrastructure and the boundaries of the infrastructure are determined from the indoor floor plan.

The spatial configuration of the infrastructure contained in the target building is determined based on the boundaries and the number of reachable points.

Wherein the boundaries of the infrastructure include open boundaries and closed boundaries. The open boundary may be the dotted line in fig. 1, and is a virtual non-entity, the open boundary is traversable, and the closed boundary is a real entity, such as a solid wall, and the closed boundary is not traversable.

Illustratively, the base structure generally includes a left boundary, a right boundary, a front boundary, and a rear boundary, for a total of four directional boundaries, according to an indoor plan view.

The reachable point may be, for example, a doorway of a infrastructure, e.g. a room as a infrastructure, provided with a closed border and at least one doorway through which access to or exit from the interior of the room is possible.

For example, a room may have two reachable points, e.g., a first reachable point and a second reachable point, and a path between the first reachable point and the second reachable point may be inside the room, i.e., may be traversed from inside the room when it is desired to go from the first reachable point to the second reachable point.

Specifically, if a room is taken as an example of a basic structure, the room is generally a closed space, the boundary of the room is a closed boundary to block people from freely entering the room, and at least one entrance is generally formed in the room to serve as an accessible point of the room. Taking a hall as an example of a basic structure, the hall is generally an open space including a partially closed boundary and an open boundary for people to freely enter and exit, and the hall generally includes a plurality of entrances and exits.

According to the method and the device, the space forms of the base structures are determined by utilizing the number of the reachable points of the base structures and the types of the boundaries, the base structures with different space forms in the target building can be classified, the situation that the base structures in the target building are excessively abstracted into a space node is avoided, the space forms of the base structures are conveniently utilized subsequently, and a more accurate indoor road network is constructed.

Further, in some embodiments, the spatial form of the infrastructure may include a simple form, a complex form, and an open form, and the step of "determining the spatial form of the infrastructure included in the target building according to the number of the boundary and the reachable points" may be specifically implemented by:

if the boundary of the base structure is a closed boundary and the number of the reachable points is equal to a preset value, determining that the spatial form of the base structure is a simple form;

if the boundary of the base structure is a closed boundary and the number of the reachable points is greater than a preset value, determining that the spatial form of the base structure is a complex form;

and if the boundary of the base structure is an open boundary, determining that the spatial form of the base structure is an open form.

For example, the infrastructure may be rooms (e.g., offices), hallways (e.g., waiting halls), and hallways in the target building, with different spatial modalities that have different types of boundaries and numbers of reachable points.

Specifically, the preset value may be 1, for example, if the number of reachable points of a certain infrastructure is 1 and the infrastructure has a closed boundary, the infrastructure can only be used as a starting point or an ending point of the indoor road network, and the spatial form of the infrastructure is determined to be a simple form. If the number of reachable points of a certain infrastructure exceeds 1 and the infrastructure has a closed boundary, g, the infrastructure can be used as a middle point of an indoor road network, and the spatial form of the infrastructure is determined to be a complex form. If a certain infrastructure has an open boundary, the infrastructure is determined to be in an open form regardless of the number of reachable points, and the infrastructure in the open form can be used as an intermediate point of an indoor road network.

According to the method and the device, the base structures are divided into the simple form, the complex form and the open form, when the indoor road network is constructed subsequently, the path between the reachable point of each base structure and the road strength between the reachable points in the base structures can be determined according to the base structures in different forms, the simple abstraction of the base structures into one node is avoided, and the construction precision of the road network is improved.

Further, in some embodiments, the step of "obtaining the target path between the reachable points according to the spatial form of the infrastructure" may be implemented by:

if the number of the reachable points of the infrastructure is equal to a preset value, acquiring a path between the reachable point of the first infrastructure and the reachable point of the second infrastructure contained in the target building as a target path;

if the number of the reachable points of the infrastructure is larger than the preset value, a path between the first reachable point and the second reachable point of the infrastructure and a path between the reachable point of the first infrastructure and the reachable point of the second infrastructure contained in the target building are obtained and used as target paths.

Specifically, when the number of reachable points of a infrastructure is 1, the infrastructure may be abstracted as a node, which is used as a starting point or an end point in an indoor road network to establish a target path with reachable points of other infrastructures in a target building.

For example, in the case of a target building including two rooms, each room has only one reachable point (i.e., an entrance and an exit), and the reachable points of the two rooms correspond to a starting point and an ending point in the target path, respectively.

When the number of reachable points (i.e., ports) of the infrastructure exceeds 1, it means that the infrastructure has multiple ports, and at this time, the infrastructure can serve as an intermediate point, and a connection line between every two reachable points of the infrastructure can serve as a target path between the two reachable points.

Illustratively, taking the example where the target building includes two rooms (e.g., a first room and a second room) and a lobby, the first room and the second room both have only one reachable point, and the lobby has two reachable points (e.g., a first reachable point and a second reachable point), then the indoor road network includes a path from the reachable point of the first room to the reachable point of the second room. If the first room is taken as the starting point and the second room is taken as the ending point, the path between the first room and the second room may include the middle point of the entrance hall, i.e. the path may start from the reachable point of the first room, pass through the first reachable point of the entrance hall, leave the entrance hall from the second reachable point of the entrance hall, and finally reach the reachable point of the second room.

In this embodiment, if the infrastructure has multiple reachable points, the first reachable point may be any reachable point in the infrastructure, and the second reachable point may also be any reachable point in the infrastructure. The target path between the first reachable point and the second reachable point may be a connection line between the first reachable point and the second reachable point.

According to the method and the device, the number of the reachable points of the base structure is determined, and when the number of the reachable points of the base structure exceeds a preset value, the target path between the reachable points of the base structure can be obtained to construct a subsequent indoor road network, so that a certain base structure is prevented from being abstracted into a node simply, and the accuracy of the indoor road network is improved.

Further, in some embodiments, the step "obtaining a path between the first reachable point and the second reachable point of the infrastructure if the number of reachable points of the infrastructure is greater than the preset value" may specifically be implemented by the following steps:

if the number of the reachable points of the base structure is larger than a preset value, determining the obstacles contained in the base structure and the positions of the obstacles according to the indoor plan;

and acquiring a path between the first reachable point and the second reachable point of the infrastructure according to the position of the obstacle.

For example, the path between the first reachable point and the second reachable point may be a straight line formed by two points, the obstacle may be an object located on the straight line, for example, taking a hall as a basic structure, an exit and an entrance of the hall are respectively used as the first reachable point and the second reachable point, the straight line formed after the exit and the entrance are connected is located in the hall, and if seats in a row may be disposed in the hall and located on the straight line, the seats may be referred to as obstacles.

In this embodiment, whether an obstacle exists in the base structure may be determined according to the indoor plan view, and when an obstacle exists, a straight line formed between the first reachable point and the second reachable point may be modified and adjusted, and for example, the straight line may be divided into a plurality of line segments to avoid the obstacle.

According to the method and the device, the obstacles in the base structure are determined, the path between the first reachable point and the second reachable point of the base structure is further determined according to the positions of the obstacles, the internal space of the base structure can be considered in the building of the road network, and the precision of the built indoor road network is improved.

Further, in some embodiments, the step of "obtaining a path between the first reachable point and the second reachable point of the infrastructure according to the position of the obstacle" may be specifically implemented by the following steps:

if the obstacle is the boundary of the basic structure, acquiring the bending angle of the boundary;

and acquiring a path between the first reachable point and the second reachable point of the basic structure according to the bending angle of the boundary.

Fig. 3 is a schematic structural diagram of a first embodiment of a spatial configuration of a base structure provided in this embodiment of the present application, and as shown in fig. 3, the base structure is a complex base structure, and the spatial configuration of the base structure is an irregular polygon, one of which includes six closed boundaries, a first reachable point 31 and a second reachable point 32.

A connection line (for example, a dashed line in fig. 3) between the first reachable point 31 and the second reachable point 32 is an initial path between the two reachable points, and since the closed boundary of the infrastructure is located on the connection line, the initial path becomes an impassable state, and at this time, the path between the reachable point 31 and the reachable point 32 needs to be re-determined according to the position of the closed boundary.

In this embodiment, the bending angle α of the boundary may be determined by an indoor plan view, and a connection line formed between the first reachable point 31 and the second reachable point 32 is divided into a plurality of bent line segments according to the bending angle α, so as to obtain a path between the first reachable point 31 and the second reachable point 32.

Illustratively, the bend angle between the line segments may be determined based on the bend angle α.

Fig. 4 is a schematic structural diagram of a second embodiment of the spatial configuration of the basic structure provided in the present application, as shown in fig. 4, the basic structure is a complex basic structure which is an irregular polygon and includes six closed boundaries, a first reachable point 41 and a second reachable point 42.

Here, a connection line (such as a dashed line in fig. 4) between the first reachable point 41 and the second reachable point 42 is blocked by the closed boundary of the base structure, and at this time, the connection line between the first reachable point 41 and the second reachable point 42 may be divided into a plurality of bent line segments according to the bending angle β and the bending angle γ, and the bent line segments are used as a path between the first reachable point 41 and the second reachable point 42.

Illustratively, the path between the first reachable point 41 and the second reachable point 42 may be the shortest transit path.

According to the method and the device, the bending angle of the boundary of the base structure is determined, so that the path between the first reachable point and the second reachable point is further determined, the space inside the base structure can be fully considered, the situation that the whole base structure is simply abstracted into a node is avoided, and the accuracy of the constructed indoor road network is improved.

For example, on the basis of the above embodiments, in some embodiments, the road network construction method further includes the following steps:

and fusing the open boundaries of the adjacent matrixes with the open space forms according to the indoor plan view to obtain fused matrixes.

Wherein, the boundary of the fusion construct is a closed boundary obtained by fusing an open boundary.

In this embodiment, the basic structures may be fused with each other to form a larger basic structure, or one basic structure may be split into a plurality of basic structures, and for example, two adjacent basic structures with an open spatial form may be fused with each other to form a basic structure with a complex spatial form.

Taking two adjacent hallways as an example, each hallway has an open boundary, and after two adjacent hallways are fused, a fusion infrastructure with a closed boundary is formed.

For example, fig. 5 is a schematic diagram of a spatial configuration of a fusion infrastructure provided in an embodiment of the present application, and as shown in fig. 5, the fusion infrastructure may be a regular pentagon, a geometric center point may be a center point 50 of the regular pentagon, and a boundary of the fusion infrastructure is a closed boundary, which is obtained by fusing open boundaries of a plurality of adjacent infrastructures in an open configuration.

According to the method and the device, the base structures with the open boundaries are fused to form the fused base structures with the closed boundaries, and the boundaries of the fused base structures are determined, so that the paths among all reachable points of the fused boundaries can be effectively determined, and the accuracy of an indoor road network is improved.

determining the floor number of a target building and the communication position among all floors according to the indoor plan;

and taking the communication position among all floors as an accessible point.

In this embodiment, the target building may have a plurality of floors, each floor may be constructed to obtain an indoor road network, and there is a communication position between each floor, for example, the communication position may be a staircase, an elevator, or the like. By taking the communication positions among all floors as reachable points, the indoor road network construction of the target building with multiple floors can be realized, and the scene adaptability is improved.

In some embodiments, the step S203 may be specifically implemented by the following steps:

acquiring the passing state of a target path according to the indoor plan;

and constructing an indoor road network of the target building according to the target path and the traffic state.

The passing state is used for indicating whether the target path is conducted currently or not.

In the target building, for example, a door or the like is provided to be openable and closable, and if a door is provided on the target path, the target path is passable when the door is in an open state, and is not passable when the door is in a closed state. When an indoor road network is constructed, target paths which cannot pass can be removed, and errors of the constructed indoor road network are avoided.

For example, in some embodiments, the step S203 may be specifically implemented by the following steps:

acquiring the intersection point of each target path;

and acquiring paths between the intersection points and the reachable points, and constructing and obtaining an indoor road network of the target building according to the target path and the paths between the intersection points and the reachable points.

Wherein the intersection is used as a point where the first target path and the second target path are communicated with each other.

In this embodiment, the indoor road network may be formed by integrating all target paths, the number of the target paths is determined by the number of the infrastructure in the target building and the number of the reachable points, intersection points may exist between each indoor target path of the target building, new paths may be formed between the intersection points and the reachable points, and the indoor road network is constructed by integrating the newly formed paths and the target paths and removing repeated paths.

According to the method and the device, the cross points of the target paths are selected, and the paths between the cross points and the reachable points are determined, so that indoor road networks can be enriched further, and the complexity of the indoor road networks is improved.

Illustratively, in some embodiments, the road network construction method further includes the following steps:

For example, the attribute information of the reachable point may be input by the user, and the attribute information includes a numerical code and/or a literal name, for example, if a certain exit of the waiting hall is taken as a reachable point, the attribute information of the reachable point may correspond to exit 1.

Illustratively, the attribute information of each reachable point is different and unique.

According to the method and the device, the reachable points are identified, the constructed indoor road network can be convenient for a user to distinguish the reachable points of each indoor base structure, and the indoor road network is convenient to use for navigation.

Fig. 6 is a schematic flow chart of a second embodiment of a road network construction method provided in the embodiment of the present application, and as shown in fig. 6, the method includes the following steps:

s601, acquiring a starting point and an end point.

Specifically, the target building may be a high-rise building having a plurality of floors or a single-rise building having only one floor, and the floors may be communicated with each other through stairs or elevators. The starting point and the ending point can be located on the same floor or different floors.

Wherein the starting point and the ending point may be any reachable point in the target building.

And S602, judging whether the starting point and the ending point are positioned on the same floor.

And S603, determining the shortest path between the starting point and the ending point.

Specifically, if the starting point and the ending point are located on the same floor, the shortest path between the starting point and the ending point can be obtained as the target path by directly using a plan view of the target building and carrying out continuous reasoning calculation through a computer algorithm.

And S604, acquiring the data of the floor connecting points.

Specifically, if the starting point and the ending point are not on the same floor, the position point of the staircase or the elevator connecting the two floors can be determined, the position point is used as a middle node between the starting point and the ending point, and the shortest path between the starting point and the ending point is calculated.

For example, in the embodiment of the present application, when constructing an indoor road network, the indoor road network may be represented by one undirected graph G ═ V, E, where V represents reachable points of a infrastructure in a target building, and E represents all traversable target paths between reachable points inside the target building, and the undirected graph of the indoor road network is constructed by counting the paths between all reachable points.

Illustratively, the reachable point may be an entrance to a infrastructure contained within the interior of the target building, a stairway or elevator, and an intersection of each target path.

In this embodiment, the target route may refer to the shortest transit route between two reachable points.

In summary, the road network construction method provided in the embodiment of the present application determines the target path between the reachable points by using the spatial form of the infrastructure, fully considers the geometric characteristics of the internal space of the infrastructure, constructs and obtains the indoor road network of the target building with multiple floors based on the geometric principle of computation, and can implement accurate shortest path navigation in the target building based on the indoor road network.

The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.

Fig. 7 is a schematic structural diagram of a road network constructing apparatus according to an embodiment of the present application, and as shown in fig. 7, the road network constructing apparatus 70 includes: a determination module 71, an acquisition module 72 and a construction module 73.

The determining module 71 is configured to obtain an indoor plan of the target building, and determine a spatial form of a infrastructure included in the target building according to the indoor plan. And an obtaining module 72, configured to obtain a target path between each reachable point according to the spatial form of the infrastructure. And the building module 73 is used for building an indoor road network of the target building according to the target path.

Wherein, the basic structure comprises at least one boundary and at least one reachable point arranged on the boundary; the reachable point is used to indicate the exit or entrance of the infrastructure.

In some embodiments, the determining module 71 may be specifically configured to:

determining the number of reachable points of the infrastructure and the boundary of the infrastructure according to the indoor plan, wherein the boundary of the infrastructure comprises an open boundary and a closed boundary;

Optionally, in some embodiments, if the spatial form of the infrastructure includes a simple form, a complex form, and an open form, the determining module 71 may be specifically configured to:

Optionally, in some embodiments, the determining module 71 may be specifically configured to:

In some embodiments, the road network constructing device 70 further includes a fusion device, configured to:

according to an indoor plan, fusing open boundaries of adjacent matrixes with open space forms to obtain fused matrixes;

In some embodiments, the road network constructing apparatus further includes a communication apparatus, configured to:

and taking the communication position among all floors as an accessible point.

In some embodiments, the building module 73 may be specifically configured to:

acquiring the passing state of a target path according to the indoor plan;

Optionally, in some embodiments, the building module 73 may be specifically configured to:

acquiring the intersection point of each target path;

In some embodiments, the road network constructing device 70 further includes an identification device, configured to:

The apparatus provided in the embodiment of the present application can be used to execute the method, and the implementation principle and the technical effect are similar, which are not described herein again.

It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the determining module may be a processing element separately set up, or may be implemented by being integrated in a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and the function of the determining module is called and executed by a processing element of the apparatus. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element here may be an integrated circuit with signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.

In addition, the embodiment of the present application further provides a navigation device, which is applied to a robot, and is used for executing the road network construction method described in the foregoing embodiment. Exemplarily, fig. 8 is a schematic block diagram of a navigation device provided in an embodiment of the present application. As shown in fig. 8, the navigation apparatus 80 includes: at least one processor 81 and a memory 82.

Optionally, the navigation device may further include a bus 83 and a communication interface 84. Wherein the processor 81, the communication interface 84, and the memory 82 communicate with each other via the bus 83. A communication interface 84 for communicating with other devices.

The memory 82 stores computer-executable instructions. Processor 81 executes computer-executable instructions stored in memory to cause at least one processor to perform the methods described above.

In particular, the computer-executable instructions may include program code comprising computer operational instructions.

Processor 81 may be a central processing unit, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement an embodiment of the present invention. The navigation device includes one or more processors, which may be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.

The memory 82 may comprise high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

The embodiment of the application also provides a robot, which comprises a robot body and the navigation equipment, wherein the navigation equipment is arranged on the robot body.

The robot body is used for navigating according to an indoor road network constructed by the navigation equipment.

Specifically, the robot body can be a sweeping robot, a cleaning device for sweeping is arranged on the sweeping robot body, and the robot moves indoors through an indoor road network constructed by navigation equipment and executes a cleaning task.

Optionally, the robot may also be a robot arranged at an airport or a train station for navigation, and the robot body includes at least one display device for information interaction with a user.

The present embodiment further provides a readable storage medium, in which computer instructions are stored, and when at least one processor of the navigation device executes the computer instructions, the navigation device executes the road network construction method provided in the foregoing various embodiments.

The present embodiments also provide a program product comprising a computer program/instructions stored in a readable storage medium. The computer program/instructions may be read from a readable storage medium by at least one processor of the navigation device, and the computer program/instructions executed by the at least one processor may cause the electronic device to implement the road network construction method provided by the various embodiments described above.

In the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship; in the formula, the character "/" indicates that the preceding and following related objects are in a relationship of "division". "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.

It is to be understood that the various numerical references referred to in the embodiments of the present application are merely for convenience of description and distinction and are not intended to limit the scope of the embodiments of the present application. In the embodiment of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A road network construction method is applied to navigation equipment and comprises the following steps:

2. The method of claim 1, wherein said determining a spatial configuration of a infrastructure contained in said target building from said indoor floor plan comprises:

3. The method of claim 2, wherein the spatial aspects of the infrastructure include a simple aspect, a complex aspect, and an open aspect, and wherein determining the spatial aspect of the infrastructure included in the target building based on the boundary and the number of reachable points comprises:

4. The method of claim 3, wherein the obtaining the target path between the reachable points according to the spatial configuration of the infrastructure comprises:

5. The method of claim 4, wherein if the number of reachable points of the infrastructure is greater than the predetermined value, obtaining a path between a first reachable point and a second reachable point of the infrastructure comprises:

6. The method of claim 5, wherein obtaining a path between a first reachable point and a second reachable point of the infrastructure based on the position of the obstacle comprises:

7. The method according to claim 3, wherein after determining that the spatial form of the infrastructure is the open form if the boundary of the infrastructure is the open boundary, further comprising:

8. The method of claim 1, wherein before obtaining the target path between the reachable points according to the spatial configuration of the infrastructure, the method further comprises:

and taking the communication position among all floors as an accessible point.

9. The method of claim 1, wherein said constructing an indoor road network of said target building according to said target path comprises:

10. The method of claim 1, wherein said constructing an indoor road network of said target building according to said target path comprises:

11. The method according to any one of claims 1-10, wherein before constructing the indoor road network of the target building according to the target path, further comprising:

12. A road network construction device, comprising:

13. A navigation device comprising a memory and at least one processor;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of any one of claims 1-11.

14. A robot, comprising a robot body and the navigation apparatus of claim 13, wherein the navigation apparatus is disposed on the robot body, and the robot body is configured to navigate according to an indoor road network constructed by the navigation apparatus.

15. A readable storage medium having stored therein computer instructions, which when executed by a processor, are adapted to implement the method of any one of claims 1-11.

16. A program product comprising computer programs/instructions, characterized in that the computer programs/instructions, when executed by a processor, implement the method of any of claims 1-11.