CN106441305A - Indoor floor-spanning path planning method and indoor floor-spanning path planning device - Google Patents
Indoor floor-spanning path planning method and indoor floor-spanning path planning device Download PDFInfo
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- CN106441305A CN106441305A CN201610879806.1A CN201610879806A CN106441305A CN 106441305 A CN106441305 A CN 106441305A CN 201610879806 A CN201610879806 A CN 201610879806A CN 106441305 A CN106441305 A CN 106441305A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention provides an indoor floor-spanning path planning method and an indoor floor-spanning path planning device. The method comprises the following steps: acquiring indoor GIS (Geographic Information System) map data, and generating multilayer road network data and vertical communication data among floors; receiving a starting point and an ending point inputted by a user; judging whether the starting point and the ending point are at the same floor or not; if not, selecting a vertical communication facility meeting a preset optimized condition, a path L1 between the starting point and the vertical communication facility and a path L2 between the vertical communication facility and the ending point from the vertical communication data among the floors and the multilayer road network data; connecting the L1, a channel L3 formed by the vertical communication facility and the L2 to obtain a path planning between the starting point and the ending point. According to the indoor floor-spanning path planning method and the indoor floor-spanning path planning device disclosed by the invention, the path planning of all the floors is realized on the basis of a method for analyzing layer by layer, and the path planning among floor-spanning position points is realized by using connection information among the floors.
Description
Technical field
The application is related to GIS applied technical field, especially, is related to a kind of indoor paths planning method and dress across floor
Put.
Background technology
With GIS-Geographic Information System（GIS, Geographic Information System）The development of technology, position takes
The application of business has also been extended to the interior space from traditional exterior space.Indoor path planning is the one of indoor location service
Individual research and application focus, can realize indoor Real-time and Dynamic navigation, support in conjunction with indoor positioning technologies and mobile communication technology
The application such as indoor public safety, emergency management and rescue, business intelligence and public service.For example, large department store, airport etc. are placed oneself in the midst of
User in complicated interior architecture, it is possible to use accurate location technology determines the position of oneself, and is based on indoor map data,
Road network information is generated, and original position is realized to the optimal path planning between destination locations, is found and reach the position that specifies（Defend
Between life, ATM and businessman etc.）.But, existing Path Planning Technique is all based on monolayer road network and designs, and can only realize list
The route planning of one floor, does not support the path planning across floor.
Content of the invention
The application provides a kind of indoor paths planning method and device across floor, for solve prior art do not support across
The problem of floor path planning.
A kind of indoor paths planning method across floor disclosed in the present application, including：Indoor GIS map data are obtained, raw
Become the vertical connection data of Multi-layer road network data and floor gap；The location point of receiving user's input, the location point includes
Beginning and end；Judge the beginning and end whether in same floor；If it is not, selecting from the vertical connection data of floor gap
Meet and preset the connection starting point floor of optimal conditions and the vertical connection facility of terminal floor；Road network number from starting point floor
Select to meet the path L1 between vertical connection facility locations of the pre-conditioned start position with starting point floor according to middle；From terminal
In the road network data of floor select meet pre-conditioned terminal floor vertical connection facility locations and final position it
Between path L2；Access path L1, floor gap vertical connection facility formed passage L3 and path L2, obtain the starting point with
Path planning between terminal.
Preferably, the location point also includes one or more transit point；Also wrap after the location point of receiving user's input
Include：2 location points are obtained successively respectively as new beginning and end by the order of starting point, approach point and terminal, repeat
The process of the follow-up path planning that sets up between the new beginning and end, and all paths are coupled together as final
Route programming result.
Preferably, the vertical connection facility includes stair, elevator and/or staircase.
Preferably, the default optimal conditions include that closest, transit time is most short, freight is minimum, travel most
Safe and/or current capacity maximum.
Preferably, also include：If the beginning and end is in same floor, from the road network of starting point place floor
Select in data to meet the path L0 for presetting optimal conditions, as the path planning between the Origin And Destination.
A kind of indoor path planning apparatus across floor disclosed in the present application, including：Data processing module, for obtaining room
Interior GIS map data, generate the vertical connection data of Multi-layer road network data and floor gap；Location point receiver module, is used for
The location point of receiving user's input, the location point includes beginning and end；Nework analysis module, for judge the starting point and
Whether terminal is in same floor；When the beginning and end is not in same floor, select from the vertical connection data of floor gap
Select satisfaction and preset the connection starting point floor of optimal conditions and the vertical connection facility of terminal floor；Road network from starting point floor
Select in data to meet the path L1 between pre-conditioned start position and the vertical connection facility locations of starting point floor；From end
Select in the road network data of point floor to meet vertical connection facility locations and the final position of pre-conditioned terminal floor
Between path L2；And, passage L3 and path L2 that access path L1, the vertical connection facility of floor gap are formed, obtain institute
State the path planning between Origin And Destination.
Preferably, the location point also includes one or more transit point；Described device also includes：Loop control module, uses
After the location point of user input is received in the location point receiver module, by starting point, approach point and terminal order successively
2 location points are obtained respectively as new beginning and end, round-robin scheduling nework analysis module sets up the new starting point and end
The process of the path planning between point, and all paths are coupled together as final route programming result.
Preferably, the vertical connection facility includes stair, elevator and/or staircase.
Preferably, the default optimal conditions include that closest, transit time is most short, freight is minimum, travel most
Safe and/or current capacity maximum.
Preferably, the nework analysis module is additionally operable to when the beginning and end is in same floor, from the starting point
Select in the road network data of place floor to meet the path L0 for presetting optimal conditions, as between the Origin And Destination
Path planning.
Compared with prior art, the application has advantages below：
The application preferred embodiment based on bed-by-bed analysis method realizing the path planning of each floor, then using elevator,
The link information of the floor gaps such as staircase, stair, realizes the path planning between across floor position point, so as to can effectively solving existing
The Path Planning Technique route planning that can only realize single floor, the problem for not supporting across floor path planning.
In a further preferred embodiment, interior can also be realized across many of floor by way of transit point is set
Point location-based service such that it is able to solve the problems, such as that prior art does not support across floor multiple spot path analysis further, be that user carries
For more preferable indoor location service.
Description of the drawings
Accompanying drawing is only used for illustrating the purpose of preferred implementation, and is not considered as the restriction to the application.And whole
In individual accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 be the application room in across floor paths planning method first embodiment flow process；
Fig. 2 be the application room in across floor paths planning method second embodiment flow process；
Fig. 3 be the application room in across floor one embodiment of path planning apparatus structural representation.
Specific embodiment
Understandable for enabling the above-mentioned purpose of the application, feature and advantage to become apparent from, below in conjunction with the accompanying drawings and concrete real
Apply mode to be described in further detail the application.
In the description of the present application, it is to be understood that term " first ", " second " are only used for describing purpose, and can not
It is interpreted as indicating or implying relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " the
One ", the feature of " second " can be expressed or implicitly include one or more this feature." multiple " are meant that two
Or two or more, unless otherwise expressly limited specifically.Term " including ", "comprising" and similar terms are understood to out
The term of putting property, i.e., " including/including but not limited to ".Term "based" is " being based at least partially on ".Term " embodiment "
Represent " at least one embodiment "；Term " another embodiment " expression " at least one further embodiment ".The phase of other terms
Close during definition will be described below and be given.
With reference to Fig. 1, show in the application room across floor paths planning method first embodiment flow process, including：
Step S101：Indoor GIS map data are obtained, generates the vertical connection data of Multi-layer road network data and floor gap.
In the specific implementation, indoor GIS map data（Or initial data）For the Road data of each floor, need by
Road data is processed, and generates multitiered network data；Then by multitiered network data genaration multitiered network topological model, it is used for
Road network analysis afterwards.
Furthermore it is possible to the vertical connection facility data such as stair from initial data, elevator, staircase, extract all buildings
The communication information of layer, according to vertical connection facility（As stair）Place floor ID, generates the communication information of floor gap；By floor even
Communication breath, vertical connection establishment type information, positional information etc. generate floor connection data base, for the road across floor afterwards
Footpath is analyzed.
Step S103：The location point of receiving user's input, the location point includes beginning and end.
Step S105：Judge the beginning and end whether in same floor；If so, S107 is gone to step；Otherwise, go to step
S109.
Step S107：Select from the road network data of the starting point place floor to meet the path for presetting optimal conditions
L0, used as the path planning between the Origin And Destination.
In the specific implementation, above-mentioned default optimal conditions can be that closest, transit time is most short, freight most
Low, most safe and/or current capacity maximum of traveling etc..
Step S109：From the vertical connection data of floor gap select meet preset optimal conditions connection starting point floor and
The vertical connection facility of terminal floor（Such as stair etc.）；
Step S110：Respectively from the road network data of beginning and end floor select meet pre-conditioned start position with
The vertical connection facility of starting point floor（As stair）The vertical connection facility of path L1, terminal floor between position（As stair）
Path L2 between position and final position；
Step S111：Passage L3 and path L2 that access path L1, the vertical connection facility of floor gap are formed, obtain the starting point
Path planning between terminal.
With reference to Fig. 2, show in the application room across floor paths planning method second embodiment flow process, with above-mentioned the
The differring primarily in that of one embodiment of the method, in order to provide the user more preferable indoor location service further, user input
Location point can also include one or more transit point；For convenience of describing, the vertical connection facility in this preferred embodiment is with building
Illustrate as a example by ladder；This preferred embodiment method is specifically included：
Step S201：Indoor GIS map data are obtained, generates the vertical connection data of Multi-layer road network data and floor gap；
Step S203：The location point such as the starting point, transit point of receiving user's input and terminal；
Step S204：2 location points are obtained successively respectively as current starting point and end by the order of starting point, approach point and terminal
Point；
Step S205：Judge current beginning and end whether in same floor；If so, S207 is gone to step；Otherwise, go to step
S209；
Step S207：Select from the road network data of current starting point floor to meet the path L0 for presetting optimal conditions, as
Path planning between current Origin And Destination；Go to step S210；
Step S209：Select from the vertical connection data of Multi-layer road network data and floor gap to meet to preset optimal conditions
Connect path L1 between stair, current starting point and the stair position of current beginning and end floor, the building of current terminus floor
Path L2 between terraced position and current terminus；Passage L3 and path L2 that access path L1, stair are formed, obtain current starting point
Path planning between terminal；Go to step S210；
Step S210：Judge that whether current terminus are the terminal of user input；If so, S211 is gone to step；Otherwise, go to step
S204；
Step S211：All paths are coupled together as final route programming result.
For aforesaid each method embodiment, simple in order to describe, therefore which is all expressed as a series of combination of actions, but
It is that those skilled in the art should know, the application is not limited by described sequence of movement, because according to the application,
Some steps can be serially or simultaneously executed using other；Secondly, those skilled in the art should also know, said method is implemented
Example belongs to preferred embodiment, necessary to involved action and module not necessarily the application.
Disclosed herein as well is a kind of computer-readable record being recorded on for the program for executing said method
Medium.The computer readable recording medium storing program for performing includes to be configured to computer（By taking computer as an example）Readable form storage or biography
Deliver letters any mechanism of breath.For example, machine readable media includes read only memory（ROM）, random access memory（RAM）, magnetic
Disk storage media, optical storage media, flash medium, electricity, light, the transmitting signal of sound or other forms（For example, carrier wave, red
External signal, digital signal etc.）Deng.
With reference to Fig. 3, show in the application room across floor one embodiment of path planning apparatus structured flowchart, including：
Data processing module 31, for obtaining indoor GIS map data, generates the vertical of Multi-layer road network data and floor gap
Connection data.
When being embodied as, original indoor GIS map data can be carried out layered shaping, generate multitiered network Top Modules
Type, used as the foundation that is analyzed of road network of 33 pairs of each floors of nework analysis module；In addition, stair from initial data,
The extracting data such as elevator, staircase go out the communication information of all stair, according to stair place floor（As floor ID）, generate floor
Between communication information；Floor communication information, stair type information, positional information etc. are generated floor data base is connected, for it
The path analysis across floor afterwards.
Location point receiver module 32, for the location point of receiving user's input, the location point includes beginning and end.
Whether nework analysis module 33, for judging the beginning and end in same floor；When the beginning and end
Not in same floor, select from the vertical connection data of floor gap to meet the connection starting point floor for presetting optimal conditions and end
The vertical connection facility of point floor；From in the road network data of starting point floor select meet pre-conditioned start position with
Path L1 between the vertical connection facility locations of point floor；Select from the road network data of terminal floor to meet to preset bar
Path L2 between the vertical connection facility locations of the terminal floor of part and final position；And, access path L1, floor gap
Passage L3 and path L2 that vertical connection facility is formed, obtain the path planning between the Origin And Destination；When the starting point
With terminal in same floor, select from the floor road network data to meet the path L0 for presetting optimal conditions, as institute
State the path planning between Origin And Destination.
In the specific implementation, above-mentioned vertical connection facility can be stair, elevator and/or staircase；Default optimal conditions
Can be for closest, transit time is most short, freight is minimum, travel most safe and/or current capacity maximum.
In another embodiment, the location point of user input can also include one or more transit point；Accordingly, described
Device also includes：
Loop control module 30, for receive the location point of user input in location point receiver module 32 after, by starting point, approach
The order of point and terminal obtains 2 location points successively respectively as new beginning and end, round-robin scheduling nework analysis module 33
The process of the path planning that sets up between the new beginning and end, and all paths are coupled together as final path
Program results.
It should be noted that said apparatus embodiment belongs to preferred embodiment, involved unit and module might not
It is necessary to the application.
Each embodiment in this specification is all described by the way of going forward one by one, what each embodiment was stressed be with
The difference of other embodiment, between each embodiment identical similar part mutually referring to.
Above to a kind of indoor paths planning method and device across floor provided herein, detailed Jie has been carried out
Continue, specific case used herein is set forth to the principle of the application and embodiment, and the explanation of above example is only
It is to be used to help understand the present processes and its core concept；Simultaneously for one of ordinary skill in the art, according to this Shen
Thought please, all will change in specific embodiments and applications, and in sum, this specification content should not be managed
Solution is the restriction to the application.
Claims (10)
1. a kind of interior is across the paths planning method of floor, it is characterised in that include：
Indoor GIS map data are obtained, generates the vertical connection data of Multi-layer road network data and floor gap；
The location point of receiving user's input, the location point includes beginning and end；
Judge the beginning and end whether in same floor；
If it is not, selecting from the vertical connection data of floor gap to meet the connection starting point floor for presetting optimal conditions and terminal floor
Vertical connection facility；Select from the road network data of starting point floor to meet pre-conditioned start position with starting point floor
Vertical connection facility locations between path L1；Select from the road network data of terminal floor to meet pre-conditioned end
Path L2 between the vertical connection facility locations of point floor and final position；Access path L1, the vertical connection of floor gap set
The passage L3 and path L2 to be formed is applied, obtains the path planning between the Origin And Destination.
2. method according to claim 1, it is characterised in that the location point also includes one or more transit point；Receive
Also include after the location point of user input：
2 location points are obtained successively respectively as new beginning and end by the order of starting point, approach point and terminal, repeat
The process of the follow-up path planning that sets up between the new beginning and end, and all paths are coupled together as final
Route programming result.
3. method according to claim 1, it is characterised in that the vertical connection facility includes stair, elevator and/or helps
Ladder.
4. method according to claim 1, it is characterised in that when the default optimal conditions include closest, current
Between most short, freight is minimum, travel most safe and/or current capacity maximum.
5. method according to claim 1, it is characterised in that also include：
If the beginning and end is in same floor, select from the road network data of starting point place floor to meet to preset
The path L0 of optimal conditions, used as the path planning between the Origin And Destination.
6. a kind of interior is across the path planning apparatus of floor, it is characterised in that include：
Data processing module, for obtaining indoor GIS map data, generates vertically connecting for Multi-layer road network data and floor gap
Logical data；
Location point receiver module, for the location point of receiving user's input, the location point includes beginning and end；
Whether nework analysis module, for judging the beginning and end in same floor；When the beginning and end is not same
During one floor, select from the vertical connection data of floor gap to meet the connection starting point floor for presetting optimal conditions and terminal floor
Vertical connection facility；Select from the road network data of starting point floor to meet pre-conditioned start position with starting point floor
Vertical connection facility locations between path L1；Select from the road network data of terminal floor to meet pre-conditioned end
Path L2 between the vertical connection facility locations of point floor and final position；And, access path L1, vertically the connecting of floor gap
Passage L3 and path L2 that logical facility is formed, obtain the path planning between the Origin And Destination.
7. device according to claim 6, it is characterised in that the location point also includes one or more transit point；Described
Device also includes：
Loop control module, after receiving the location point of user input in the location point receiver module, by starting point, approach
The order of point and terminal obtains 2 location points successively respectively as new beginning and end, and round-robin scheduling nework analysis module is built
The process of the path planning between the new beginning and end is found, and all paths is coupled together as final path rule
Check off fruit.
8. device according to claim 6, it is characterised in that the vertical connection facility includes stair, elevator and/or helps
Ladder.
9. device according to claim 6, it is characterised in that when the default optimal conditions include closest, current
Between most short, freight is minimum, travel most safe and/or current capacity maximum.
10. device according to claim 6, it is characterised in that the nework analysis module be additionally operable to when the starting point and
Terminal selects to meet the path for presetting optimal conditions in same floor, from the road network data of starting point place floor
L0, used as the path planning between the Origin And Destination.
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