CN105424045A - Road network building and pathfinding method for indoor cross-layer pathfinding - Google Patents
Road network building and pathfinding method for indoor cross-layer pathfinding Download PDFInfo
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- CN105424045A CN105424045A CN201510826126.9A CN201510826126A CN105424045A CN 105424045 A CN105424045 A CN 105424045A CN 201510826126 A CN201510826126 A CN 201510826126A CN 105424045 A CN105424045 A CN 105424045A
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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
Abstract
The invention discloses a road network for indoor cross-layer pathfinding and provides a search method of indoor cross-layer paths based on the road network. According to the road network building and pathfinding method, two possibilities of a direct cross-layer and a transfer cross-layer are included, and a user regards a pathfinding result as navigation in a room and can find out the destination quickly. Due to the fact that preset effective cross-layer road network data are adopted for the cross-layer paths, the situation that an optimal solution is searched for in a huge solution space is avoided, and the search speed of the cross-layer road network can be greatly increased.
Description
Technical field
The road network that the present invention relates to a kind of indoor cross-layer pathfinding builds and method for searching, and especially a kind of road network being applied in the indoor cross-layer pathfinding of mobile terminal builds and method for searching, belongs to indoor cross-layer pathfinding technical field.
Background technology
Along with the high speed development of mobile Internet, and the continuous reinforcement of mobile terminal processing power, based on location-based service more and more used.But be no matter that location or pathfinding aspect are main or concentrate on outdoor at present, indoor section is relatively less.
Indoor pathfinding has larger essential distinction with outdoor, two dimension generally can be regarded as in the search volume of pathfinding by outdoor in logic, and most of Commercial Complex, office building etc. need the scene of indoor pathfinding to be all multilayer, needs solve the problem in cross-layer and layer correctly, efficiently.
Summary of the invention
One of the technical problem to be solved in the present invention is to provide a kind of road network construction method of indoor cross-layer pathfinding.
Two of the technical problem to be solved in the present invention is to provide a kind of indoor cross-layer method for searching: solve cross-layer and go directly, and transfer cross-layer two kinds of situations.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions:
A road network construction method for indoor cross-layer pathfinding, is characterized in that, the road network construction method of described indoor cross-layer pathfinding comprises the steps:
A: build cross-layer data road network dot information: often capable expression road network point, with " v " beginning, after with some numbering in the generic term for a building, e. g. Apartment, store, a movie theater, etc. of road network point, level number and respective layer;
B: build the routing information between cross-layer road network point: often capable expression one paths, start with " p ", what follow below is starting point road network point and the terminal road number node in path, between with "-" separate, then be path information portion, being separated by the road number node of process successively in path with " | ", is finally the weighting length in this cross-layer path.
A kind of indoor cross-layer method for searching, is characterized in that: described indoor cross-layer method for searching comprises the steps:
A: first build road network information;
B: the floor first belonging to starting point and terminal searches out qualified one or more path from cross-layer road network, the condition met is that the path starting point floor in cross-layer road network is identical with starting point floor, and end point floor is identical with terminal floor;
C: if there are many qualified paths, select one that wherein weights are the shortest;
D: in floor search of setting out from starting point to path in the layer of cross-layer path starting point;
E: traversal cross-layer path, if adjacent two points in cross-layer path are arranged in same floor, method for searching path search in layer is then adopted to substitute original 2 direct direct access paths in cross-layer path with path in the actual layer between 2, layer, otherwise from cross-layer path starting point to the cross-layer part of cross-layer path end point pathway;
F: go out destination search from cross-layer path end point to the layer of terminal in path;
G: the path of d, e, f step gained is assembled successively the cross-layer path that can obtain from origin-to-destination.
The main beneficial effect of the present invention: the road network building a kind of indoor cross-layer pathfinding, complete the search in indoor cross-layer path on this basis, comprise through cross-layer, and transfer cross-layer two kinds may, make application person in indoor with this pathfinding result for navigation, find destination rapidly.Because the cross-layer route searching in this method have employed preset effective cross-layer road net data, avoid and search for more excellent solution in huge solution space, the road network search speed of cross-layer can be made greatly to accelerate.
Accompanying drawing explanation
Fig. 1 is cross-layer search routine figure of the present invention;
Fig. 2 is the Search Results schematic diagram of the embodiment of the present invention 1;
Fig. 3 is the Search Results schematic diagram of the embodiment of the present invention 2.
Embodiment
Be described further below in conjunction with drawings and Examples.
Basic thought of the present invention is: because floor each in the multi-story structure of reality can go to the starting point of other floors and few (being generally traction elevator, staircase or stair), therefore very limited to the active path quantity of intended target floor from appointment floor, therefore in this method, all possible effective cross-layer routing information is all stored in cross-layer road net data, greatly can accelerates search speed when follow-up cross-layer road network search.
The road network embodiment of cross-layer pathfinding:
The road network of cross-layer pathfinding stores with behavior unit, and an example is as follows:
v20259
v2255
v2317
v2422
v250
v2612
……
p0-50|1|2|3|4|517
p6-86|7|811
p6-96|7|8|913
p6-106|7|8|9|1017
p6-116|7|8|9|10|1120
p12-1412|13|1416
p12-1512|13|14|1519
p12-1612|13|14|15|1622
Above-mentioned Part I is cross-layer data road network dot information, often capable expression road network point, with " v " beginning, after with some numbering in the generic term for a building, e. g. Apartment, store, a movie theater, etc. of road network point, level number and respective layer;
Above-mentioned Part II represents the routing information between cross-layer road network point, often capable expression one paths, start with " p ", what follow below is starting point road network point and the terminal road number node in path, between with "-" separate, then be path information portion, being separated by the road number node of process successively in path with " | ", is finally the weighting length in this cross-layer path.
Indoor cross-layer method for searching embodiment 1:
The starting point of as can be seen from Figure 2 this time searching for and terminal are positioned at different floor, go directly in cross-layer path.This time during execution cross-layer route searching, step is as follows:
0, the floor first belonging to starting point and terminal searches out qualified one or more path from cross-layer road network.The condition that needs meet is that the path starting point floor in cross-layer road network is identical with starting point floor, and end point floor is identical with terminal floor;
If 1 has many qualified paths, select one that wherein weights are the shortest;
2, search for from starting point to path in the layer of cross-layer path starting point (using method for searching path in layer) at the floor that sets out;
3, from cross-layer path starting point to the cross-layer part of cross-layer path end point pathway;
4, in destination search is from cross-layer path end point to the layer of terminal path (using method for searching path in layer);
5, the path of 2,3,4 step gained is assembled successively the cross-layer path that can obtain from origin-to-destination.
Indoor cross-layer method for searching embodiment 2:
The starting point of as can be seen from Figure 3 this time searching for and terminal are positioned at different floor, and cross-layer path needs transfer not go directly.This time during execution cross-layer route searching, step is as follows:
0, the floor first belonging to starting point and terminal searches out qualified one or more path from cross-layer road network.The condition that needs meet is that the path starting point floor in cross-layer road network is identical with starting point floor, and end point floor is identical with terminal floor;
If 1 has many qualified paths, select one that wherein weights are the shortest;
2, search for from starting point to path in the layer of cross-layer path starting point (using method for searching path in layer) at the floor that sets out;
3, travel through cross-layer path, if adjacent two points in cross-layer path are arranged in same floor, then adopt method for searching path search in layer to substitute original 2 direct direct access paths in cross-layer path with path in the actual layer between 2, layer;
4, go out destination search from cross-layer path end point to the layer of terminal in path (use layer in method for searching path);
5, the path of 2,3,4 step gained is assembled successively the cross-layer path that can obtain from origin-to-destination.
Claims (2)
1. a road network construction method for indoor cross-layer pathfinding, is characterized in that, the road network construction method of described indoor cross-layer pathfinding comprises the steps:
A: build cross-layer data road network dot information: often capable expression road network point, with " v " beginning, after with some numbering in the generic term for a building, e. g. Apartment, store, a movie theater, etc. of road network point, level number and respective layer;
B: build the routing information between cross-layer road network point: often capable expression one paths, start with " p ", what follow below is starting point road network point and the terminal road number node in path, between with "-" separate, then be path information portion, being separated by the road number node of process successively in path with " | ", is finally the weighting length in this cross-layer path.
2. an indoor cross-layer method for searching, is characterized in that: described indoor cross-layer method for searching comprises the steps:
A: first build road network information;
B: the floor first belonging to starting point and terminal searches out qualified one or more path from cross-layer road network, the condition met is that the path starting point floor in cross-layer road network is identical with starting point floor, and end point floor is identical with terminal floor;
C: if there are many qualified paths, select one that wherein weights are the shortest;
D: in floor search of setting out from starting point to path in the layer of cross-layer path starting point;
E: traversal cross-layer path, if adjacent two points in cross-layer path are arranged in same floor, method for searching path search in layer is then adopted to substitute original 2 direct direct access paths in cross-layer path with path in the actual layer between 2, layer, otherwise from cross-layer path starting point to the cross-layer part of cross-layer path end point pathway;
F: go out destination search from cross-layer path end point to the layer of terminal in path;
G: the path of d, e, f step gained is assembled successively the cross-layer path that can obtain from origin-to-destination.
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| CN106289260A (en) * | 2016-08-09 | 2017-01-04 | 深圳橙立科技有限公司 | A kind of algorithm and its implementation realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map |
| CN106441305A (en) * | 2016-10-09 | 2017-02-22 | 北京超图软件股份有限公司 | Indoor floor-spanning path planning method and indoor floor-spanning path planning device |
| CN106643718A (en) * | 2016-07-22 | 2017-05-10 | 禾麦科技开发（深圳）有限公司 | Intelligent shopping guide system and method |
| CN106895840A (en) * | 2017-03-22 | 2017-06-27 | 西北工业大学 | Automation builds the indoor paths planning method of minimal path net collection |
| CN107402008A (en) * | 2016-05-19 | 2017-11-28 | 阿里巴巴集团控股有限公司 | The method, apparatus and system of indoor navigation |
| CN108663047A (en) * | 2017-03-27 | 2018-10-16 | 深圳市耀航信息技术有限公司 | A kind of cross-layer paths planning method |
| CN112539749A (en) * | 2020-06-30 | 2021-03-23 | 深圳优地科技有限公司 | Robot navigation method, robot, terminal device and storage medium |
| WO2022052906A1 (en) * | 2020-09-09 | 2022-03-17 | 华为技术有限公司 | Navigation method, device and system |
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| CN106441305A (en) * | 2016-10-09 | 2017-02-22 | 北京超图软件股份有限公司 | Indoor floor-spanning path planning method and indoor floor-spanning path planning device |
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| CN112539749A (en) * | 2020-06-30 | 2021-03-23 | 深圳优地科技有限公司 | Robot navigation method, robot, terminal device and storage medium |
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