CN106123898A - The indoor paths planning method resolved based on picture - Google Patents
The indoor paths planning method resolved based on picture Download PDFInfo
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- CN106123898A CN106123898A CN201610425045.2A CN201610425045A CN106123898A CN 106123898 A CN106123898 A CN 106123898A CN 201610425045 A CN201610425045 A CN 201610425045A CN 106123898 A CN106123898 A CN 106123898A
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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 kind of indoor paths planning method resolved based on picture, including: the schematic diagram in make-up room, schematic diagram comprises road and barrier；By pixel coordinatographs all in schematic diagram, it is judged that each coordinate points is barrier or road；Horizontal meaders is the coordinate points of road continuously, and vertical consolidation is the coordinate points of road continuously；Mark cross point and road terminal；At least one cross point bunch is formed according to all cross points；Obtain the central point in each cross point bunch, and set up the adjacency matrix of distance between the central point representing two cross points bunch；Obtain beginning and end, calculate shortest path according to the value of adjacency matrix.The present invention can directly parse the basic map data such as passing road, barrier, intersection, walking path according to the general introduction figure of indoor scene, merger, collect after cook up concrete pass.
Description
Technical field
The present invention relates to Path Planning Technique field, particularly relate to a kind of indoor path planning side resolved based on picture
Method.
Background technology
Along with the rise of mobile device, the application that position is relevant has the most gradually entered into our life so that we go out
Row is more and more convenient.Macroscopically, the equipment such as GPS, WIFI can be precisely positioned to very much city, block, road, various maps
All achieve navigation feature；But on microcosmic, when relating to concrete indoor scene, location macroscopically is the most not enough, generally
Be labeled as " XX park ", " XX building " etc., on the location of indoor scene, therefore also have the most certain blank.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of indoor path planning resolved based on picture
Method, can directly parse the bases such as passing road, barrier, intersection, walking path according to the general introduction figure of indoor scene
Plinth map datum, merger, collect after cook up concrete pass.
It is an object of the invention to be achieved through the following technical solutions: the indoor path planning side resolved based on picture
Method, including: the schematic diagram in make-up room, schematic diagram comprises road and barrier；By pixel coordinatographs all in schematic diagram, sentence
Disconnected each coordinate points is barrier or road；Horizontal meaders is the coordinate points of road continuously, and vertical consolidation is road continuously
Coordinate points；Mark cross point and road terminal；At least one cross point bunch is formed according to all cross points；Obtain each cross point
Bunch central point, and set up the adjacency matrix of distance between the central point representing two cross points bunch；Obtain beginning and end,
Value according to adjacency matrix calculates shortest path.
Judge that each coordinate points is barrier or road: resolve the rgb value of each coordinate points；Calculate the RGB of described coordinate points
Value and the difference of default road color value；If described difference is in preset range, then it is assumed that described coordinate points is road, otherwise
Think that described coordinate points is barrier.
Horizontal meaders is that the method for the coordinate points of road is continuously: travels through the coordinate points of every a line, finds out every row-coordinate point
In all be continuously the coordinate points of road；Obtain the midpoint of the described coordinate points being road continuously；Judge that often row is continuously as road
Coordinate points a good appetite suddenly appearing in a serious disease point beyond all coordinate points, if this coordinate points being labeled as barrier can cause the most horizontal up and down
Break-make is opened, the most not this coordinate points of labelling, otherwise this coordinate points is labeled as barrier.
Vertical consolidation is that the method for the coordinate points of road is continuously: travels through the coordinate points of every a line, finds out every row-coordinate point
In all be continuously the coordinate points of road；Obtain the midpoint of the described coordinate points being road continuously；Judge that often row is continuously as road
Coordinate points a good appetite suddenly appearing in a serious disease point beyond all coordinate points, if this coordinate points being labeled as barrier can cause the most horizontal up and down
Break-make is opened, the most not this coordinate points of labelling, otherwise this coordinate points is labeled as barrier.
The method forming at least one cross point bunch according to all cross points is: all cross points add intersection point set；
From cross point is gathered, take out a cross point, this cross point is added a new cross point bunch, and from cross point is gathered
Delete this cross point；Next cross point is taken out, it is judged that whether this cross point is in existing cross point bunch from cross point is gathered
In the surrounding in arbitrary cross point, the most then this cross point is added this cross point bunch, and deletes this friendship from cross point is gathered
Crunode；Otherwise this cross point is added a new cross point bunch, and deletes this cross point from cross point is gathered；Repeat this step
Suddenly, until described cross point collection is combined into sky, at least one cross point bunch is formed.
The acquisition methods of the central point in each cross point bunch is: for a cross point bunch, chooses wherein from this cross point
In bunch, the immediate point of the arithmetic average of all point coordinates is as the central point in this cross point bunch.
The acquisition methods of the value of described adjacency matrix is: judges that two cross points bunch are the most adjacent, if adjacent, then will abut against
The value of matrix is set to the distance between the central point in the two cross point bunch.
The initial value of described adjacency matrix is positive infinity.
Dijkstra's algorithm is used when calculating shortest path.
Described indoor paths planning method also includes: to every line in shortest path, calculates generation direction and changes
Point, will occur direction change point add set of keypoints, to output result provide following pattern: simple mode: provide
The central point in point, terminal and cross point bunch；Key point pattern: starting point, terminal, the central point in cross point bunch and every line are provided
On key point；Pattern completely: provide the institute on starting point, terminal, the central point in cross point bunch and every line a little.
Described indoor paths planning method also includes, it is provided that following output mode: debugging mode: directly utilize Java's
Awt interface display program results；Interface modes: be directly used in client call；File mode: the path planning write that will generate
In file.
The invention has the beneficial effects as follows: scenic spot schematic diagram, building can be described the general of the indoor scenes such as figure by the present invention
State figure, directly parse the basic map data such as passing road, barrier, intersection, walking path, merger, collect after advise
Mark concrete pass.Provide the plurality of display modes in path simultaneously, the most different equipment according to self needs,
Select different path representation modes.
Accompanying drawing explanation
Fig. 1 is the flow chart of one embodiment of the invention.
Detailed description of the invention
Technical scheme is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
The following stated.
As it is shown in figure 1, the indoor paths planning method resolved based on picture, including:
Definition: wide: the width (unit: pixel) of picture, namely the maximum of coordinate system X-axis, represents with width；
High: the height (unit: pixel) of picture, namely the maximum of coordinate system Y-axis, represent with height；
Road: the coordinate of P Passable, such as certain point, (x, y) P Passable are then designated as PointType [x] [y]=road；
Barrier: the coordinate of impassabitity, such as certain point, (x, y) impassabitity are then designated as PointType [x] [y]=barrier；
Surrounding: certain point (x, 8 points of surrounding y) (include tiltedly), coordinate be designated as the most respectively (x+1, y), (x+1, y-1), (x, y-
1),(x-1,y-1),(x-1,y),(x-1,y+1),(x,y+1),(x+1,y+1)；
Liang Dian UNICOM: coordinate more i.e. is in another surrounding put；
Cross point: in the road, as certain some surrounding point in have at 3 or be above road, then be designated as PointType [x] [y]=
Cross point；
Road terminal: in the road, is road as only having at 1 in the point of certain some surrounding, is then designated as PointType [x] [y]=road
Road terminal；
Key point: cross point and road terminal, determines the key of path planning；
Cross point bunch: the sum being made up of cross point adjacent one another are；
Cross point bunch central point: closest to the cross point of all cross points average coordinates in each cross point bunch；
Cross point bunch central point line: be used for representing Actual path.
Schematic diagram in step one, make-up room, schematic diagram comprises road and barrier.
Make schematic diagram by artwork (such as scenic region guide map etc.), schematic diagram is removed the uncorrelated unit such as building, legend
Element, only retains road and barrier.
Step 2, by pixel coordinatographs all in schematic diagram, it is judged that each coordinate points is barrier or road.
Judge that each coordinate points is barrier or road: resolve the rgb value of each coordinate points；Calculate the RGB of described coordinate points
Value and the difference of default road color value；If described difference is in preset range, then it is assumed that described coordinate points is road, otherwise
Think that described coordinate points is barrier.
According to " BMP file format ", all pixels in picture are mapped in two-dimensional array array [i] [j], wherein
I represents the pixel value (the picture lower left corner is zero, is the width width of picture to the maximum) of horizontal direction, and j represents Vertical Square
To pixel value (the picture lower left corner is zero, is the height height of picture to the maximum).
Resolve the rgb value of each coordinate points respectively, be stored in two-dimensional array pointR [i] [j], pointG [i] [j],
In pointB [i] [j]；Set up two-dimensional array pointType [i] [j], traversal institute pointed set, if the color rgb value of this point with
The predetermined color value difference representing road is then considered road within prescribed limit, is otherwise barrier.
Step 3, horizontal meaders are the coordinate points of road continuously, and vertical consolidation is the coordinate points of road continuously.
Horizontal meaders is that the method for the coordinate points of road is continuously: travels through the coordinate points of every a line, finds out every row-coordinate point
In all be continuously the coordinate points of road；Obtain the midpoint of the described coordinate points being road continuously；Judge that often row is continuously as road
Coordinate points a good appetite suddenly appearing in a serious disease point beyond all coordinate points, if this coordinate points being labeled as barrier can cause the most horizontal up and down
Break-make is opened, the most not this coordinate points of labelling, otherwise this coordinate points is labeled as barrier.
Horizontal meaders: travel through each " horizontal line " (y is constant, and x is from 0-> width), find out all continuous print roads
(iBegin-iEnd, meets iBegin and is border or iBegin-1 is barrier, and iEnd is border or iEnd+1 is barrier, and
And to any iBegin≤iK≤iEnd, iK is road), attempt by these point be merged into " midpoint " ((iBegin+iEnd)/2,
Round), merge rule as follows: travel through all non-midpoints: if this point is labeled as barrier, can cause the most horizontal upper and lower
UNICOM disconnects, the most not this point of labelling；Otherwise this point is set to barrier.
Vertical consolidation is that the method for the coordinate points of road is continuously: travels through the coordinate points of every a line, finds out every row-coordinate point
In all be continuously the coordinate points of road；Obtain the midpoint of the described coordinate points being road continuously；Judge that often row is continuously as road
Coordinate points a good appetite suddenly appearing in a serious disease point beyond all coordinate points, if this coordinate points being labeled as barrier can cause the most horizontal up and down
Break-make is opened, the most not this coordinate points of labelling, otherwise this coordinate points is labeled as barrier.
Step 4, mark cross point and road terminal.
Travel through all roads, mark out cross point and road terminal according to following rule: cross point: surrounding have 3 or with
Upper point is the point of road；Road terminal: surrounding only has the point that point is road.
Step 5, form at least one cross point bunch according to all cross points.At least one is formed according to all cross points
The method in cross point bunch is: all cross points add intersection point set；A cross point is taken out, by this friendship from cross point is gathered
Crunode adds a new cross point bunch, and deletes this cross point from cross point is gathered；Next is taken out from cross point is gathered
Individual cross point, it is judged that the surrounding in the whether arbitrary cross point in existing cross point bunch, this cross point, the most then by this intersection
Point adds this cross point bunch, and deletes this cross point from cross point is gathered；Otherwise this cross point is added a new intersection
Point bunch, and delete this cross point from cross point is gathered；Repeat this step, until described cross point collection is combined into sky, formed at least
One cross point bunch.
Step 6, obtain the central point in each cross point bunch, and set up between the central point representing two cross points bunch
The adjacency matrix of distance.
The acquisition methods of the central point in each cross point bunch is: for a cross point bunch, chooses wherein from this cross point
In bunch, the immediate point of the arithmetic average of all point coordinates is as the central point in this cross point bunch.
The acquisition methods of the value of described adjacency matrix is: judges that two cross points bunch are the most adjacent, if adjacent, then will abut against
The value of matrix is set to the distance between the central point in the two cross point bunch；The initial value of described adjacency matrix is the most infinite
Greatly.
Set up adjacency matrix wayMatrix [x] [y], represent between i-th and the central point in kth cross point bunch away from
From, it is initially positive infinity；From the central point in each cross point bunch, according to carrying out depth-first time by passing road
Going through, if having traversed the point in other cross points bunch, then it is assumed that adjacent between two cross points bunch, and will abut against matrix
The value of wayMatrix [i] [j] is set to the distance between two central points.
Step 7, acquisition beginning and end, calculate shortest path according to the value of adjacency matrix.
Each entrance and exit to input, finds nearest road and the central point of affiliated central point bunch, and problem i.e. turns
Turn to calculate the path between two central points；According to dijkstra's algorithm and the value of adjacency matrix, calculate a shortest path.
Described indoor paths planning method also includes: to every line in shortest path, calculates generation direction and changes
Point, will occur direction change point add set of keypoints, to output result provide following pattern:
Simple mode: starting point, terminal and the central point in cross point bunch are provided；
Key point pattern: the key point on starting point, terminal, the central point in cross point bunch and every line is provided；
Pattern completely: provide the institute on starting point, terminal, the central point in cross point bunch and every line a little.
Described indoor paths planning method also includes, it is provided that following output mode:
Debugging mode: directly utilize the Awt interface display program results of Java；
Interface modes: be directly used in client call；
File mode: in the path planning write file that will generate.
The above is only the preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form, is not to be taken as the eliminating to other embodiments, and can be used for other combinations various, amendment and environment, and can be at this
In the described contemplated scope of literary composition, it is modified by above-mentioned teaching or the technology of association area or knowledge.And those skilled in the art are entered
The change of row and change, the most all should be at the protection domains of claims of the present invention without departing from the spirit and scope of the present invention
In.
Claims (10)
1. the indoor paths planning method resolved based on picture, it is characterised in that: including:
Schematic diagram in make-up room, schematic diagram comprises road and barrier；
By pixel coordinatographs all in schematic diagram, it is judged that each coordinate points is barrier or road；
Horizontal meaders is the coordinate points of road continuously, and vertical consolidation is the coordinate points of road continuously；
Mark cross point and road terminal；
At least one cross point bunch is formed according to all cross points；
Obtain the central point in each cross point bunch, and set up the adjacent square of distance between the central point representing two cross points bunch
Battle array；
Obtain beginning and end, calculate shortest path according to the value of adjacency matrix.
The indoor paths planning method resolved based on picture the most according to claim 1, it is characterised in that: judge each coordinate
Point is barrier or road:
Resolve the rgb value of each coordinate points；
Calculate the rgb value of described coordinate points and the difference of the road color value preset；
If described difference is in preset range, then it is assumed that described coordinate points is road, otherwise it is assumed that described coordinate points is barrier.
The indoor paths planning method resolved based on picture the most according to claim 1, it is characterised in that: horizontal meaders is even
The method continuing the coordinate points for road is:
Travel through the coordinate points of every a line, find out in every row-coordinate point all continuously for the coordinate points of road；
Obtain the midpoint of the described coordinate points being road continuously；
Judge that often row is continuously as all coordinate points beyond the coordinate points a good appetite suddenly appearing in a serious disease point of road, if this coordinate points is labeled as barrier
The most horizontal up and down break-make can be caused to hold, the most not this coordinate points of labelling, otherwise this coordinate points is labeled as barrier；
Vertical consolidation is that the method for the coordinate points of road is continuously:
Travel through the coordinate points of every a line, find out in every row-coordinate point all continuously for the coordinate points of road；
Obtain the midpoint of the described coordinate points being road continuously；
Judge that often row is continuously as all coordinate points beyond the coordinate points a good appetite suddenly appearing in a serious disease point of road, if this coordinate points is labeled as barrier
The most horizontal up and down break-make can be caused to hold, the most not this coordinate points of labelling, otherwise this coordinate points is labeled as barrier.
The indoor paths planning method resolved based on picture the most according to claim 1, it is characterised in that: according to all friendships
Crunode forms the method at least one cross point bunch:
All cross points are added intersection point set；
From cross point is gathered, take out a cross point, this cross point is added a new cross point bunch, and from intersecting point set
Conjunction is deleted this cross point；
Next cross point is taken out, it is judged that the whether arbitrary friendship in existing cross point bunch of this cross point from cross point is gathered
The surrounding of crunode, the most then add this cross point this cross point bunch, and delete this cross point from cross point is gathered；Otherwise
This cross point is added a new cross point bunch, and deletes this cross point from cross point is gathered；Repeat this step, until institute
State cross point collection and be combined into sky, form at least one cross point bunch.
The indoor paths planning method resolved based on picture the most according to claim 1, it is characterised in that: each cross point
Bunch the acquisition methods of central point be: for a cross point bunch, choose the wherein calculation of all point coordinates in this cross point bunch
The number immediate point of meansigma methods is as the central point in this cross point bunch.
The indoor paths planning method resolved based on picture the most according to claim 1, it is characterised in that: described adjacent square
The acquisition methods of value of battle array is: judge that two cross points bunch are the most adjacent, if adjacent, then will abut against the value of matrix be set to this two
Distance between the central point in individual cross point bunch.
The indoor paths planning method resolved based on picture the most according to claim 1, it is characterised in that: described adjacent square
The initial value of battle array is positive infinity.
The indoor paths planning method resolved based on picture the most according to claim 1, it is characterised in that: calculate shortest path
Dijkstra's algorithm is used during footpath.
The indoor paths planning method resolved based on picture the most according to claim 1, it is characterised in that: described indoor road
Footpath planing method also includes: to every line in shortest path, calculate the point occurring direction to change, and direction will be occurred to change
Point add set of keypoints, to output result provide following pattern:
Simple mode: starting point, terminal and the central point in cross point bunch are provided；
Key point pattern: the key point on starting point, terminal, the central point in cross point bunch and every line is provided；
Pattern completely: provide the institute on starting point, terminal, the central point in cross point bunch and every line a little.
The indoor paths planning method resolved based on picture the most according to claim 1, it is characterised in that: described indoor
Paths planning method also includes, it is provided that following output mode:
Debugging mode: directly utilize the Awt interface display program results of Java；
Interface modes: be directly used in client call；
File mode: in the path planning write file that will generate.
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| CN112857359A (en) * | 2021-01-19 | 2021-05-28 | 中冶赛迪工程技术股份有限公司 | Path planning method, system, medium and electronic terminal |
| CN112857359B (en) * | 2021-01-19 | 2024-03-01 | 中冶赛迪工程技术股份有限公司 | Path planning method, system, medium and electronic terminal |
| CN113050659A (en) * | 2021-04-20 | 2021-06-29 | 福建首松智能科技有限公司 | Method for avoiding and scheduling multiple dish conveying robots |
| CN113050659B (en) * | 2021-04-20 | 2022-05-31 | 福建首松智能科技有限公司 | Method for avoiding and scheduling multiple dish conveying robots |
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