CN106705973A - Indoor navigation turning calculating method and system - Google Patents
Indoor navigation turning calculating method and system Download PDFInfo
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- CN106705973A CN106705973A CN201611198194.6A CN201611198194A CN106705973A CN 106705973 A CN106705973 A CN 106705973A CN 201611198194 A CN201611198194 A CN 201611198194A CN 106705973 A CN106705973 A CN 106705973A
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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 navigation turning calculating method and system. The method comprises the following steps: taking a preset distance as an interval on a navigation path, and sequentially extracting geographical location information of a plurality of path nodes; converting the geographical location information to display points on a physical coordinate system, namely a navigation equipment display screen, and displaying; in three adjacent display points, sequentially calculating a first included angle between a first straight line that a first display point and a second display point are connected and a horizontal axis of the physical coordinate system as well as a second included angle between a second straight line that the second display point and a third display point are connected and the horizontal axis of the physical coordinate system; judging that whether the third display point belongs to a turning display point by virtue of the first included angle and the second included angle, wherein the third display point is a turning point; and calculating the turning direction of the turning point by virtue of the first included angle and the three display points. By adopting the method and system, a user can conveniently and rapidly arrive at the destination by virtue of guidance of a path, and the navigation efficiency is improved.
Description
Technical field
The present invention relates to computer technology, the turn computational methods and system of more particularly to a kind of indoor navigation.
Background technology
With Internet map and mobile location-based service（LBS,Location Based Service）Should etc. geography information
Development, indoor map navigation just with its make up outdoor map limitation, possess potential huge user group, with innovation
Numerous advantages such as technology and application demand driving, and by industrial circle and the common concern of institute of academia.
Indoors in navigation application, because Indoor Location Information change is fast, it is unfavorable for that electronic map manufacturer is counted in real time
According to collection, cannot thus accomplish that the prompting user as outdoor navigation turns to.
The content of the invention
This, it is necessary to regarding to the issue above, there is provided a kind of interior that can calculate guidance path turn point and turn direction
The turn computational methods and system of navigation.
A kind of turn computational methods of indoor navigation, methods described is applied to navigation equipment, including：
It is loaded into indoor map；
The navigation instruction of user input is received, and the guidance path in the indoor map is calculated according to the navigation instruction；
On the guidance path with predeterminable range be interval, the geographical location information of some path nodes is extracted successively；
The geographical location information is changed to the display fastened into physical coordinates with the navigation apparatus displays screen and is put and is carried out
Display；
Calculate successively in adjacent three displays point, the first straight line that the first display point is connected with the second display point is sat with the physics
The first angle between mark system trunnion axis, second straight line and the physical coordinates system that the second display point is connected with the 3rd display point
The second angle between trunnion axis；
Judge whether the 3rd display point belongs to the display point of turn, the 3rd display by first angle and the second angle
Point is turn point；
The turn direction of the point that turns round is calculated by first angle and three displays point.
Wherein in one embodiment, the geographical location information is longitude and latitude point, by geographical location information conversion
The step of being put to the display fastened as physical coordinates with the navigation apparatus displays screen, including：
Display screen with the navigation equipment obtains four apex coordinates for determining on-screen display (osd) area scope as physical coordinates system
Value；
Obtain the height pixel value and width pixel value of the display screen；
According to the height pixel value, width pixel value and four apex coordinate values, calculate each longitude and latitude and characterize to the thing
Pixel on reason coordinate system, the pixel is display point.
It is described to judge whether the 3rd display point belongs to by first angle and the second angle wherein in one embodiment
The step of the display turned round is put, including：
Corresponding first sine value of the first angle and corresponding second sine value of the second angle are calculated successively；
Calculate the second sine value and subtract the difference that the second sine is worth to；
Whether within a preset range to judge the difference, if not, it is determined that the 3rd display point belongs to turn point.
It is described to put and calculate the turn point with three displays by first angle wherein in one embodiment
Turn direction the step of, including：
Extract three display corresponding coordinate points of point；
According to the slope of the first angle calcu-lation first straight line；
First straight line equation is calculated according to slope and the first display point and the second display corresponding coordinate points of point；
Bring the described 3rd display corresponding coordinate points of point into the first straight line equation and obtain operation result；
The 3rd corresponding turn direction of display point is judged according to operation result.
Wherein in one embodiment, the step that the 3rd corresponding turn direction of display point is judged according to operation result
Suddenly, including：
Whether the operation result is judged more than predetermined threshold value, if so, then the turn direction is otherwise, described to turn to turn left
Curved direction is right-hand bend.
A kind of turn computing system of indoor navigation, including such as lower module：
Map insmods, for being loaded into indoor map；
Path calculation module, the navigation instruction for receiving user input, and the indoor ground is calculated according to the navigation instruction
Guidance path on figure；
Information extraction modules, on the guidance path with predeterminable range be interval, some path nodes are extracted successively
Geographical location information；
Info conversion module, for the geographical location information to be changed to the navigation apparatus displays screen as physical coordinates system
On display put and shown；
Angle calcu-lation module, for calculating adjacent three displays point successively in, the first display point and the second display be connected the
The first angle between one straight line and the physical coordinates system trunnion axis, it is straight that second be connected with the 3rd display point is put in the second display
The second angle between line and the physical coordinates system trunnion axis；
First judge module, for judging whether the 3rd display point belongs to the aobvious of turn by first angle and the second angle
Show a little, the 3rd display point is turn point；
Second judge module, the turn side for calculating the point that turns round by first angle and three displays point
To.
Wherein in one embodiment, the geographical location information is longitude and latitude point, and described information modular converter includes：
Coordinate value acquisition module, for the display screen of the navigation equipment as physical coordinates system, obtaining and determining screen display area
Four apex coordinate values of domain scope；
Pixel value acquisition module, height pixel value and width pixel value for obtaining the display screen；
Information representation module, for according to the height pixel value, width pixel value and four apex coordinate values, calculating each warp
Latitude characterizes the pixel fastened to the physical coordinates, and the pixel is display point.
Wherein in one embodiment, first judge module includes：
Sine value computing module, for calculating corresponding first sine value of the first angle and the second angle corresponding second successively
Sine value；
Difference calculating module, the difference that the second sine is worth to is subtracted for calculating the second sine value；
Whether turn round point judge module, within a preset range to judge the difference, if not, it is determined that the 3rd display point belongs to
Turn point.
Wherein in one embodiment, second judge module includes：
Coordinate points extraction module, for extracting three display corresponding coordinate points of point；
Slope computing module, for the slope according to the first angle calcu-lation first straight line；
Equation computing module is straight for calculating first according to slope and the first display point and the second display corresponding coordinate points of point
Line equation；
As a result computing module, computing is obtained for bringing the described 3rd display corresponding coordinate points of point into the first straight line equation
As a result；
Turn walking direction module, for judging the 3rd corresponding turn direction of display point according to operation result.
Wherein in one embodiment, the turn walking direction module is additionally operable to judge whether the operation result is more than
Predetermined threshold value, if so, then the turn direction is left-hand bend, otherwise, the turn direction is right-hand bend.
The turn computational methods and system of above-mentioned indoor navigation, the geographical position provided by the indoor map of navigation equipment
Information, calculates to judge to occur turning point and turn direction on guidance path, facilitates user to be arrived quickly through Way guidance
Up to destination, navigation efficiency is improve.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the turn computational methods of indoor navigation in one embodiment；
The flow of the step of Fig. 2 by the first angle and three display points in one embodiment to calculate the turn direction of turn point
Schematic diagram；
Fig. 3 is sine value computation model figure in one embodiment；
Fig. 4 is sine value computation model figure in another embodiment；
Fig. 5 is turn direction calculating illustraton of model in one embodiment；
Fig. 6 is the structural representation of the turn computing system of indoor navigation in one embodiment；
Fig. 7 is the structural representation of info conversion module in one embodiment；
Fig. 8 is the structural representation of the first judge module in one embodiment；
Fig. 9 is the structural representation of the second judge module in one embodiment.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in figure 1, in one embodiment, there is provided a kind of turn computational methods of indoor navigation, the method application
In in navigation equipment, the method includes：
Step 101, is loaded into indoor map.
Navigation equipment refers to the mobile terminal with navigation feature, specifically, mobile terminal is included but is not limited to, intelligent hand
Machine and panel computer etc..The indoor map for treating navigation area is prestored in navigation equipment, during into navigational state, first
The indoor map of place navigation area is recalled.For example, indoor map is the interior such as market map or library's map ring
The map in border.
Step 102, receives the navigation instruction of user input, and calculate the navigation road in indoor map according to navigation instruction
Footpath.
In the present embodiment, start position information and end point location information are included in navigation instruction.Navigation equipment is according to leading
Boat instruction carries out path planning, calculates guidance path.For example, in market, user finds lavatory if desired, it is only necessary to
In the column of destination one be input into the word of lavatory two, navigation equipment will plan user where original position and neighbouring lavatory between road
Footpath, and shown on map indoors.
Step 103, on guidance path with predeterminable range be interval, extract successively some path nodes geographical position letter
Breath.
Guidance path is unlikely to be straight line in actual life, and often guidance path is the curve that there is bending.Navigation
Each point on path corresponds to a geographical location information, for example, latitude and longitude information.Guidance path is divided into some sections,
It is to find navigation turn point to obtain corresponding geographical location information respectively.
Step 104, geographical location information is changed to the display point fastened into physical coordinates with navigation apparatus displays screen simultaneously
Shown.
Each node on guidance path（For example, latitude and longitude information）Correspond to the pixel on display screen.The present embodiment
In, geographical location information can just be shown by being converted to the pixel of display screen.
Step 105, calculates in adjacent three displays point successively, and the first display point shows the first straight line that point is connected with second
The first angle between physical coordinates system trunnion axis, the second straight line that the second display point is connected with the 3rd display point is sat with physics
The second angle between mark system trunnion axis.
In the present embodiment, using the display screen of navigation equipment an as physical coordinates system, if the level that physical coordinates are fastened
The axle in direction is X-axis, and the axle of vertical direction is Y-axis, first straight line and X-axis and Y that the first display point is connected with the second display point
There is intersection point between axle, as shown in figure 3, obtaining adjacent 2 points of tangent value using formula tanA=a/b, tanA is tangent value, its
Middle a is distance of the first straight line in y-axis, and b is distance of the first straight line between X-axis.Actual operation can be using the side such as Fig. 4
Formula, tan α=(P2.y2-P1.y1)/(P2.x2-P1.x1);The first angle α angle is obtained, similarly, the second angle β can be obtained
Angle, when the first angle is negative value, it is necessary to doing reverse computing with 180 obtains angle, i.e. α=α+180.Step 106, by
One angle and the second angle judge whether the 3rd display point belongs to the display point of turn, and the 3rd display point is turn point.
There is deviation between first angle and the second angle, represent three display points not on the same line.Its reason is
3rd display point has had deviated from original direction, by comparing the deviation between the first angle and the second angle, if both it
Between deviation within the specific limits, then it is assumed that turning point does not occur, otherwise, turning point occur, need to further be calculated turning side
To.The critical value of the deviation between the first angle and the second angle is that, more than more than 14 degree, preferred deviation is that critical value is
15.3 degree
Step 107, by the first angle and the turn direction of three display point calculating turn points.
Learn turn point not enough, further, user needs to know the turn direction of the point that turns round, in one embodiment
In, as shown in Fig. 2 step 107, the step of point calculates the turn direction of the point that turns round is shown by the first angle and three, including：
Step 201, extracts three display corresponding coordinate points of point.
Step 202, according to the slope of the first angle calcu-lation first straight line.
Step 203 calculates first straight line side according to slope and the first display point and the second display corresponding coordinate points of point
Journey.
Step 204, brings the 3rd display corresponding coordinate points of point into first straight line equation and obtains operation result.
Step 205, the 3rd corresponding turn direction of display point is judged according to operation result.
In one embodiment, step 205, judges that the 3rd corresponding turn direction of display point includes according to operation result：
Whether operation result is judged more than predetermined threshold value, if so, then turn direction is left-hand bend, otherwise, turn direction is right-hand bend.
Specifically, the computation model for assuming operation result is：Result= Algorithm2(P1,P2,P3）;It is wherein adjacent
Three points assume P1, P2, P3, and the Result of output is an integer value.
As shown in figure 5, P1P2 bundle of lines coordinate systems are divided into first area and second area；Assuming that P1P2 slopes are k, y-axis
Intercept is b, the point on P1P2 straight lines（X,Y）, the point on P1P2 straight lines（Xn,Yn）;The Xn values of any one point bring P1P2 into
, there is Yn in straight line formula Y=kX+b>KXn+b, this point is in first area;It is public that the Xn values of any one point bring P1P2 straight lines into
, there is Yn in formula Y=kX+b<KXn+b, this point is in second area.
Assuming that P1P2 straight line formulas are as follows:Ax+By+C=0;Then A, the value of B, C can be obtained directly by P1P2 points:A=
P2.y2-P2.y1; B=P1.x1-P2.x2; C=P2.x2*P1.y1-P1.x1*P2.y2;Judge a little（Xn,Yn）In that area
Domain, will（Xn,Yn）Bring the acquisition of P1P2 straight line formulas into：Result =A*Xn+B*Yn+C;
Further, Result=(P2.y2-P2.y1) * Xn+ (P1.x1-P2.x2) * Yn+ (P2.x2*P1.y1-P1.x1*
P2.y2)。
If actually measured error is Deviation;The absolute value of result thinks close in the range of Deviation,
This point is thought near straight line, can be ignored, it is believed that do not turn;The value of result more than Deviation, then
It is to turn left;The value of result less than-Deviation, is being then to turn right.In one embodiment, deviation
Value is being considered to turn left more than 8000, is considered to turn right less than -8000, and -8000----8000 is considered error, without turning.
In another embodiment, turn point and turn direction are shown on map indoors.
In the present embodiment, turn round point and turn direction is marked on map indoors by way of arrow.
As shown in Fig. 2 in one embodiment, step 104 changes to navigation apparatus displays screen geographical location information
For the display point that physical coordinates are fastened comprises the following steps：
Step 201, the display screen with navigation equipment obtains four summits for determining on-screen display (osd) area scope as physical coordinates system
Coordinate value.
Step 202, obtains the height pixel value and width pixel value of display screen.
Step 203, according to height pixel value, width pixel value and four apex coordinate values, calculates each longitude and latitude and characterizes
To the pixel that physical coordinates are fastened, pixel is display point.
In the present embodiment, indoor map navigation path needs to be shown by the display screen in navigation equipment, road of navigating
Point on footpath is longitude and latitude point, and the point on display screen is pixel, so that longitude and latitude point is converted on display screen
Pixel.Specific method is as follows：By the height pixel value of the display screen of navigation equipment be sreenHeight and width pixel value is
sreenWidth;The corresponding four apex coordinate values of on-screen display (osd) area scope for (RightLngn, LeftLngn,
TopLatn, BtmLatn)；Guidance path upper warp and woof degree point is (Lngn, Latn);Longitude and latitude point is transformed into the aobvious of navigation equipment
Point on the corresponding plane coordinates of display screen is Pn (X, Y);With display screen as physical coordinates system, indoor map shows in navigation equipment
Show in X-axis, the longitude and latitude of Y-axis each pixel sign is to be followed successively by X_Lng, Y_Lat;
Then have as follows:
X_Lng = ((RightLngn-LeftLngn))/sreenWidth;
Y_Lat = ((TopLatn-BtmLatn))/sreenHeight;
Screen coordinate result is as follows:
Lngn = Pn.X * X_Lng + LeftLngn;
Latn = TopLatn - Pn.Y* Y_Lat;
Draw:
Pn.X = (Lngn - LeftLngn)/(((RightLngn-LeftLngn))/sreenWidth);
Pn.Y = (TopLatn - Latn)/(((TopLatn-BtmLatn))/sreenHeight);
The positional information of the pixel that the point that above-mentioned Pn.X and Pn.Y are on guidance path shows on a display screen.
In one embodiment, judge whether the 3rd display point belongs to the display of turn by the first angle and the second angle
The step of point, including：Corresponding first sine value of the first angle and corresponding second sine value of the second angle are calculated successively；
Calculate the second sine value and subtract the difference that the second sine is worth to；Whether within a preset range to judge difference, if not, it is determined that
3rd display point belongs to turn point.
As shown in fig. 6, in one embodiment, there is provided a kind of turn computing system of indoor navigation, including following mould
Block：
Map insmods 60, for being loaded into indoor map.
Path calculation module 61, the navigation instruction for receiving user input, and according to the navigation instruction is calculated
Guidance path in indoor map.
Information extraction modules 62, on the guidance path with predeterminable range be interval, some paths are extracted successively
The geographical location information of node.
Info conversion module 63, for the geographical location information to be changed to the navigation apparatus displays screen as physics
Display on coordinate system is put and is shown.
Angle calcu-lation module 64, for calculate successively it is adjacent three display point in, first display point with second display point connect
The first angle between the first straight line for connecing and the physical coordinates system trunnion axis, the second display point is connected with the 3rd display point
The second angle between second straight line and the physical coordinates system trunnion axis.
First judge module 65, turns for judging whether the 3rd display point belongs to by first angle and the second angle
Curved display point, the 3rd display point is turn point.
Second judge module 66, for calculating turning for the point that turns round by first angle and three displays point
Curved direction.
As shown in fig. 7, in one embodiment, the geographical location information is longitude and latitude point, described information modular converter
63 include：
Coordinate value acquisition module 630, for the display screen of the navigation equipment as physical coordinates system, obtaining and determining screen display
Four apex coordinate values of regional extent.
Pixel value acquisition module 631, height pixel value and width pixel value for obtaining the display screen.
Information representation module 632, for according to the height pixel value, width pixel value and four apex coordinate values,
Calculate each longitude and latitude and characterize the pixel fastened to the physical coordinates, the pixel is display point.
As shown in figure 8, in one embodiment, first judge module 65 includes：
Sine value computing module 650, it is corresponding for calculating corresponding first sine value of the first angle and the second angle successively
Second sine value.
Difference calculating module 651, the difference that the second sine is worth to is subtracted for calculating the second sine value.
Whether turn round point judge module 652, within a preset range to judge the difference, if not, it is determined that the 3rd shows
Show and a little belong to turn point.
As shown in figure 9, in one embodiment, second judge module 66 includes：
Coordinate points extraction module 660, for extracting three display corresponding coordinate points of point.
Slope computing module 661, for the slope according to the first angle calcu-lation first straight line.
Equation computing module 662, based on according to slope and the first display point and the second display corresponding coordinate points of point
Calculate first straight line equation.
As a result computing module 663, the first straight line equation is brought into for the described 3rd display to be put into a corresponding coordinate points
Obtain operation result.
Turn walking direction module 664, for judging the 3rd corresponding turn direction of display point according to operation result.
In one embodiment, whether turn walking direction module 664 is additionally operable to judge the operation result more than default
Threshold value, if so, then the turn direction is left-hand bend, otherwise, the turn direction is right-hand bend
Believe in the turn computational methods and system of above-mentioned indoor navigation, the geographical position provided by the indoor map of navigation equipment
Breath, calculates to judge to occur turning point and turn direction on guidance path, facilitates user to be reached quickly through Way guidance
Destination, improves navigation efficiency.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Shield scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. turn computational methods of a kind of indoor navigation, it is characterised in that methods described is applied to navigation equipment, including：
It is loaded into indoor map；
The navigation instruction of user input is received, and the guidance path in the indoor map is calculated according to the navigation instruction；
On the guidance path with predeterminable range be interval, the geographical location information of some path nodes is extracted successively；
The geographical location information is changed to the display fastened into physical coordinates with the navigation apparatus displays screen and is put and is carried out
Display；
Calculate successively in adjacent three displays point, the first straight line that the first display point is connected with the second display point is sat with the physics
The first angle between mark system trunnion axis, second straight line and the physical coordinates system that the second display point is connected with the 3rd display point
The second angle between trunnion axis；
Judge whether the 3rd display point belongs to the display point of turn, the 3rd display by first angle and the second angle
Point is turn point；
The turn direction of the point that turns round is calculated by first angle and three displays point.
2. method according to claim 1, it is characterised in that the geographical location information is longitude and latitude point, will be described
Reason positional information change to the display fastened into physical coordinates with the navigation apparatus displays screen put the step of, including：
Display screen with the navigation equipment obtains four apex coordinates for determining on-screen display (osd) area scope as physical coordinates system
Value；
Obtain the height pixel value and width pixel value of the display screen；
According to the height pixel value, width pixel value and four apex coordinate values, calculate each longitude and latitude and characterize to the thing
Pixel on reason coordinate system, the pixel is display point.
3. method according to claim 1, it is characterised in that described to judge by first angle and the second angle
The step of display whether 3 display points belong to turn is put, including：
Corresponding first sine value of the first angle and corresponding second sine value of the second angle are calculated successively；
Calculate the second sine value and subtract the difference that the second sine is worth to；
Whether within a preset range to judge the difference, if not, it is determined that the 3rd display point belongs to turn point.
4. method according to claim 1, it is characterised in that described by first angle and three displays point
The step of calculating the turn direction of the point that turns round, including：
Extract three display corresponding coordinate points of point；
According to the slope of the first angle calcu-lation first straight line；
First straight line equation is calculated according to slope and the first display point and the second display corresponding coordinate points of point；
Bring the described 3rd display corresponding coordinate points of point into the first straight line equation and obtain operation result；
The 3rd corresponding turn direction of display point is judged according to operation result.
5. method according to claim 4, it is characterised in that described to judge that the 3rd display point is corresponding according to operation result
The step of turn direction, including：
Whether the operation result is judged more than predetermined threshold value, if so, then the turn direction is otherwise, described to turn to turn left
Curved direction is right-hand bend.
6. the turn computing system of a kind of indoor navigation, it is characterised in that including such as lower module：
Map insmods, for being loaded into indoor map；
Path calculation module, the navigation instruction for receiving user input, and the indoor ground is calculated according to the navigation instruction
Guidance path on figure；
Information extraction modules, on the guidance path with predeterminable range be interval, some path nodes are extracted successively
Geographical location information；
Info conversion module, for the geographical location information to be changed to the navigation apparatus displays screen as physical coordinates system
On display put and shown；
Angle calcu-lation module, for calculating adjacent three displays point successively in, the first display point and the second display be connected the
The first angle between one straight line and the physical coordinates system trunnion axis, it is straight that second be connected with the 3rd display point is put in the second display
The second angle between line and the physical coordinates system trunnion axis；
First judge module, for judging whether the 3rd display point belongs to the aobvious of turn by first angle and the second angle
Show a little, the 3rd display point is turn point；
Second judge module, the turn side for calculating the point that turns round by first angle and three displays point
To.
7. system according to claim 5, it is characterised in that the geographical location information is longitude and latitude point, described information
Modular converter includes：
Coordinate value acquisition module, for the display screen of the navigation equipment as physical coordinates system, obtaining and determining screen display area
Four apex coordinate values of domain scope；
Pixel value acquisition module, height pixel value and width pixel value for obtaining the display screen；
Information representation module, for according to the height pixel value, width pixel value and four apex coordinate values, calculating each warp
Latitude characterizes the pixel fastened to the physical coordinates, and the pixel is display point.
8. system according to claim 5, it is characterised in that first judge module includes：
Sine value computing module, for calculating corresponding first sine value of the first angle and the second angle corresponding second successively
Sine value；
Difference calculating module, the difference that the second sine is worth to is subtracted for calculating the second sine value；
Whether turn round point judge module, within a preset range to judge the difference, if not, it is determined that the 3rd display point belongs to
Turn point.
9. system according to claim 5, it is characterised in that second judge module includes：
Coordinate points extraction module, for extracting three display corresponding coordinate points of point；
Slope computing module, for the slope according to the first angle calcu-lation first straight line；
Equation computing module is straight for calculating first according to slope and the first display point and the second display corresponding coordinate points of point
Line equation；
As a result computing module, computing is obtained for bringing the described 3rd display corresponding coordinate points of point into the first straight line equation
As a result；
Turn walking direction module, for judging the 3rd corresponding turn direction of display point according to operation result.
10. system according to claim 9, it is characterised in that the turn walking direction module is additionally operable to judge described
Whether operation result is more than predetermined threshold value, if so, then the turn direction is left-hand bend, otherwise, the turn direction is right-hand rotation
It is curved.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108180901A (en) * | 2017-12-08 | 2018-06-19 | 深圳先进技术研究院 | Indoor navigation method, device, robot and the storage medium of blind-guidance robot |
| CN111780773A (en) * | 2019-04-04 | 2020-10-16 | 北京嘀嘀无限科技发展有限公司 | Method and system for identifying curve |
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