CN107103061B - Construction method and device of dynamic adjacent matrix of indoor space unit - Google Patents
Construction method and device of dynamic adjacent matrix of indoor space unit Download PDFInfo
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Abstract
The invention discloses a method and a device for constructing a dynamic adjacent matrix of an indoor space unit. The method comprises the following steps: determining the position of each indoor space unit in the building and the topological relation of each indoor space unit, and constructing a dynamic indoor map according to the position of each indoor space unit and the topological relation of each indoor space unit; and determining the distance between any two indoor space units according to the topological relation of each indoor space unit in the dynamic indoor map, and constructing a dynamic adjacency matrix according to the distance. The technical scheme provided by the invention can construct the dynamic adjacency matrix, provide indoor base map support for indoor index, position updating strategy, indoor position service (LBS) and the like in the mobile object position database, realize automatic updating and reconstruction of floors and rooms, provide basic indoor base map support for large-scale indoor space pedestrian flow position retrieval and updating, and further improve the efficiency of the current mainstream indoor index and position updating strategy.
Description
Technical Field
The invention relates to the field of indoor location services, in particular to a method and a device for constructing a dynamic adjacent matrix of an indoor space unit.
Background
With the rapid development of location services and the increasing of large buildings, people have more frequent indoor activities, and the demand of indoor location services is more and more urgent. At present, the indoor location service is widely applied to the fields of indoor navigation, indoor emergency evacuation, indoor article location monitoring and the like, and in addition, the indoor location service is urgently needed for the monitoring problem of hundreds of millions of empty-nest old people and school-aged children in China. The indoor space position does not need to use an accurate coordinate position (x, y, z) as the outdoor position, the indoor space has a unit concept, different floors can be divided, and the floor value (or height) is used for replacing the (z); the floors can be divided into two types of unit structures, namely 'room units' (or functional partitions and the like) and 'corridor units' (anterooms, halls and the like), and the unit numbers are used for replacing (x, y).
An indoor unit space is identified by Ci (i ═ 1,2.. n), as shown in fig. 1. Fi indicates the floor, and B indicates the building name. The whole unit space is divided into two types of room unit and corridor unit, and the units are not overlapped.
Because the indoor structure is more complex, the divided units are more, the adjacent matrix can be very large, and the efficiency can be greatly reduced when any two units are searched;
the accessible space in the room is easy to change, for example, a door is closed artificially or is sealed by dense smoke when a fire occurs, and the static adjacent matrix obviously does not meet the actual retrieval requirement.
Disclosure of Invention
The present invention is directed to solving the problems described above. The invention aims to provide a method and a device for constructing a dynamic adjacent matrix of an indoor space unit, which solve the problems.
The invention provides a method for constructing a dynamic adjacent matrix of an indoor space unit, which comprises the following steps: determining the position of each indoor space unit in the building and the topological relation of each indoor space unit, and constructing a dynamic indoor map according to the position of each indoor space unit and the topological relation of each indoor space unit;
and determining the distance between any two indoor space units according to the topological relation of each indoor space unit in the dynamic indoor map, and constructing a dynamic adjacency matrix according to the distance.
The method for constructing the dynamic adjacent matrix of the indoor space unit further has the following characteristics:
the determining the positions of the indoor space units in the building and the topological relations of the indoor space units, and the constructing the dynamic indoor map according to the positions of the indoor space units and the topological relations of the indoor space units comprises:
after the geometric structure change affecting the indoor space unit division result and/or the attribute information change not affecting the indoor space unit division result and simultaneously affecting the topological relation of the indoor space units occurs in the building, the positions of the changed indoor space units and the topological relation of the indoor space units are determined according to the geometric structure change and the attribute information change, and the dynamic indoor map is constructed according to the positions of the changed indoor space units and the topological relation of the indoor space units.
The method for constructing the dynamic adjacent matrix of the indoor space unit further has the following characteristics: the geometric variation includes at least one of: adding indoor space units, dividing an indoor space unit into more than one indoor space unit, merging the indoor space units and deleting the indoor space units;
the attribute information change includes at least one of: newly opening a passage and blocking the passage.
The method for constructing the dynamic adjacent matrix of the indoor space unit further has the following characteristics: when the geometric structure influencing the division result of the indoor space unit changes into increasing the indoor space unit or dividing an indoor space unit into more than one indoor space unit, determining the topological relation and the distance between the new indoor space unit and other indoor space units, increasing the identification of the new indoor space unit in the abscissa and the ordinate of the dynamic adjacent matrix, and increasing the distance between the new indoor space unit and other indoor space units;
and when the geometrical structure influencing the division result of the indoor space units changes into a combined indoor space unit or a deleted indoor space unit, determining the indoor space unit to be deleted, and deleting the identifier of the indoor space unit and the distance between the indoor space unit and other indoor space units in the abscissa and the ordinate of the dynamic adjacent matrix.
The method for constructing the dynamic adjacent matrix of the indoor space unit further has the following characteristics: the indoor space unit is a room unit, or a corridor unit, or a part of a corridor unit, within each floor of the building.
The method for constructing the dynamic adjacent matrix of the indoor space unit further has the following characteristics: the relationship between two adjacent indoor space units in the topological relationship is one of the following relationships: the communication relations refer to the relations between the room units, between the room units and the corridor units, and between the room units and part of the corridor units, which can be reached without passing through other indoor space units, the adjacent relations refer to the relations between two adjacent indoor space units, which can be reached only by passing through other indoor space units, and the division relations refer to the relations between adjacent part of the corridor units.
The method for constructing the dynamic adjacent matrix of the indoor space unit further has the following characteristics: the distance between two indoor space elements in the dynamic adjacency matrix is the number of indoor space elements between which the shortest reachable path passes.
The invention also provides a device for constructing the dynamic adjacent matrix of the indoor space unit, which comprises: the topological relation determining module is used for determining the position of each indoor space unit in the building and the topological relation of each indoor space unit;
the dynamic indoor map building module is used for building a dynamic indoor map according to the positions of the indoor space units and the topological relation of each indoor space unit;
and the dynamic adjacent matrix building module is used for determining the distance between any two indoor space units according to the topological relation of each indoor space unit in the dynamic indoor map and building a dynamic adjacent matrix according to the distance.
The device for constructing the dynamic adjacent matrix of the indoor space unit further has the following characteristics: the topological relation determining module is used for determining the positions of all indoor space units after change and the topological relation of all indoor space units according to the change of the geometrical structure and the change of the attribute information after the change of the geometrical structure affecting the division result of the indoor space units and/or the change of the attribute information not affecting the division result of the indoor space units and simultaneously affecting the topological relation of the indoor space units occur in the building;
the dynamic indoor map building module is configured to build the dynamic indoor map according to the changed positions of the indoor space units and the topological relations of the indoor space units, and a distance between two indoor space units in the dynamic adjacent matrix is the number of the indoor space units through which the shortest reachable path between the two indoor space units passes.
The device for constructing the dynamic adjacent matrix of the indoor space unit further has the following characteristics: the geometric variation includes at least one of: adding indoor space units, dividing an indoor space unit into more than one indoor space unit, merging the indoor space units and deleting the indoor space units;
when the geometric structure influencing the division result of the indoor space unit changes into increasing the indoor space unit or dividing an indoor space unit into more than one indoor space unit, determining the topological relation and the distance between the new indoor space unit and other indoor space units, increasing the identification of the new indoor space unit in the abscissa and the ordinate of the dynamic adjacent matrix, and increasing the distance between the new indoor space unit and other indoor space units;
when the geometric structure influencing the division result of the indoor space units changes into merging the indoor space units or deleting the indoor space units, determining the indoor space units to be deleted, and deleting the identification of the indoor space unit and the distance between the indoor space unit and other indoor space units in the abscissa and the ordinate of the dynamic adjacent matrix;
the attribute information change includes at least one of: newly opening a passage and blocking the passage.
The method and the device for constructing the dynamic adjacent matrix of the indoor space unit can construct the dynamic adjacent matrix and provide indoor base map support for indoor indexes, position updating strategies, indoor Location Based Services (LBS) and the like in a mobile object position database. And automatic updating and reconstruction of floors and rooms can be realized, basic indoor base map support is provided for large-scale people stream position retrieval and updating of indoor space, and the efficiency of the current mainstream indoor index and position updating strategy is further improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of a division manner of an indoor space unit;
FIG. 2 is a flow chart of a method of constructing a dynamic adjacency matrix for indoor space units provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic diagram of a distribution structure of indoor space units and a topological relationship between the indoor space units according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a dynamic adjacency matrix provided according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a dynamic adjacency matrix updating process according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an apparatus for constructing a dynamic adjacency matrix of indoor space units according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
A method and apparatus for constructing a dynamic adjacency matrix of an indoor space unit according to an exemplary embodiment of the present invention will be described in detail with reference to the accompanying drawings.
Example one
Fig. 2 is a flowchart illustrating a method for constructing a dynamic adjacency matrix of an indoor space unit according to a first embodiment of the present invention. Referring to fig. 2, the method includes:
and 102, determining the distance between any two indoor space units according to the topological relation of each indoor space unit in the dynamic indoor map, and constructing a dynamic adjacency matrix according to the distance.
In the step 101, the indoor space units are room units, corridor units, or partial corridor units in each floor of the building, as shown in fig. 3(a), C1 to C7 are divided into 7 indoor space units, where the corridor is divided into three indoor space units, C1, C4, and C5, the other 4 indoor space units are rooms, and M1 to M6 are doors.
The relationship of adjacent two of the indoor space units in the topological relationship is one of the following relationships: the system comprises a communication relation, an adjacent relation and a division relation, wherein the communication relation refers to the relation between room units, between room units and corridor units and between room units and corridor units, and between room units and part of corridor units, the communication relation can be reached without passing through other indoor space units, the adjacent relation refers to the relation between two adjacent indoor space units, which can be reached only by passing through other indoor space units, and the division relation refers to the relation between adjacent part of corridor units. Fig. 3(b) shows a topological relationship of the indoor space unit as in fig. 3 (a).
After the geometric structure change affecting the indoor space unit division result and/or the attribute information change affecting the topological relation of the indoor space units without affecting the indoor space unit division result occurs in the building, the changed positions of the indoor space units and the topological relation of the indoor space units are determined according to the geometric structure change and the attribute information change, and the dynamic indoor map is constructed according to the changed positions of the indoor space units and the topological relation of the indoor space units.
Wherein the geometry change comprises at least one of: adding indoor space units, dividing an indoor space unit into more than one indoor space unit, merging the indoor space units and deleting the indoor space units; the attribute information change includes at least one of: newly opening a passage and blocking the passage.
In the step 102, when an indoor space unit is added or an indoor space unit is divided into more than one indoor space unit, determining the topological relationship and the distance between the new indoor space unit and other indoor space units, adding the identifier of the new indoor space unit in the abscissa and the ordinate of the dynamic adjacency matrix, and adding the distance between the new indoor space unit and other indoor space units;
when the indoor space units are merged or deleted, the indoor space unit to be deleted is determined, and the identifier of the indoor space unit and the distance between the indoor space unit and other indoor space units are deleted from the abscissa and the ordinate of the dynamic adjacency matrix.
The distance between the two indoor space units in the dynamic adjacency matrix is the number of the indoor space units through which the shortest reachable path between the two indoor space units passes, and compared with the Euclidean distance, the distance between the two indoor space units adopted by the invention can approximately express the actual distance between the moving objects in the dynamic map. For example, as shown in fig. 3(a), the dynamic map has three moving objects O1, O2, and O3, and at time T1, the objects O1 and O2 are located in C2 cells, O3 is located in C6 cells, and the euclidean distance between O2 and O3 is shorter than the euclidean distance between O2 and O1, that is, E2 is located in O1Dist(O2,O3)<EDist(O2, O1), but the actual distance of O2 from O3 is longer than the actual distance of O2 from O1, i.e., RDist(O2,O3)>RDist(O2, O1), therefore, the euclidean distance is no longer applicable in the indoor space, and the distance between two indoor space units where the moving object is located is used instead of the euclidean distance between the moving objects.
Fig. 4 illustrates a dynamic adjacency matrix constructed according to the topological relation of the indoor space units illustrated in fig. 3, wherein the rows and columns of the adjacency matrix respectively represent 7 indoor units, and the elements within the matrix represent the distances corresponding to two indoor space units.
For example, when an indoor moving object moves from the indoor space unit C2 to the indoor space unit C6, the sequence of passing indoor space units is C2-C1-C4-C6, and the movement from C2 to C6 requires 3 times of conversion of the indoor space units, the distance between C2 and C6 is 3, and the element corresponding to the dynamic adjacency matrix with the abscissa of C2 and the ordinate of C6 is filled in as 3.
When the indoor space unit C5 is closed or a heavy congestion occurs, the row and column corresponding to C5 are deleted in the dynamic adjacency matrix, as shown in fig. 5.
Example two
Fig. 6 is a block diagram illustrating a construction apparatus of a dynamic adjacency matrix for indoor space units according to a second embodiment of the present invention. Referring to fig. 6, the apparatus includes:
the topological relation determining module is used for determining the position of each indoor space unit in the building and the topological relation of each indoor space unit;
the dynamic indoor map building module is used for building a dynamic indoor map according to the positions of the indoor space units and the topological relation of each indoor space unit;
and the dynamic adjacent matrix building module is used for determining the distance between any two indoor space units according to the topological relation of each indoor space unit in the dynamic indoor map and building a dynamic adjacent matrix according to the distance.
The topological relation determining module is used for determining the positions of the indoor space units and the topological relation of the indoor space units after the change according to the change of the geometrical structure and the change of the attribute information after the change of the geometrical structure affecting the division result of the indoor space units and/or the change of the attribute information not affecting the division result of the indoor space units and simultaneously affecting the topological relation of the indoor space units occurs in the building;
and the dynamic indoor map building module is used for building a dynamic indoor map according to the changed positions of the indoor space units and the topological relation of the indoor space units, and the distance between the two indoor space units in the dynamic adjacent matrix is the number of the indoor space units through which the shortest reachable path between the two indoor space units passes.
The geometry change comprises at least one of: adding indoor space units, dividing an indoor space unit into more than one indoor space unit, merging the indoor space units and deleting the indoor space units;
when the geometrical structure influencing the division result of the indoor space unit changes into increasing the indoor space unit or dividing one indoor space unit into more than one indoor space unit, determining the topological relation and the distance between the new indoor space unit and other indoor space units, increasing the identifier of the new indoor space unit in the abscissa and the ordinate of the dynamic adjacency matrix, and increasing the distance between the new indoor space unit and other indoor space units;
when the geometrical structure influencing the division result of the indoor space units changes into merging the indoor space units or deleting the indoor space units, determining the indoor space units to be deleted, and deleting the identification of the indoor space unit and the distance between the indoor space unit and other indoor space units in the abscissa and the ordinate of the dynamic adjacency matrix.
The attribute information change includes at least one of: newly opening a passage and blocking the passage.
In summary, the method and apparatus for constructing a dynamic adjacency matrix for an indoor space unit according to the present invention can construct a dynamic adjacency matrix, and provide indoor map support for an indoor index, a location update policy, an indoor Location Based Service (LBS) and the like in a mobile object location database. And automatic updating and reconstruction of floors and rooms can be realized, basic indoor base map support is provided for large-scale people stream position retrieval and updating of indoor space, and the efficiency of the current mainstream indoor index and position updating strategy is further improved.
The above-described aspects may be implemented individually or in various combinations, and such variations are within the scope of the present invention.
It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by instructing the relevant hardware through a program, and the program may be stored in a computer readable storage medium, such as a read-only memory, a magnetic or optical disk, and the like. Alternatively, all or part of the steps of the foregoing embodiments may also be implemented by using one or more integrated circuits, and accordingly, each device/unit in the foregoing embodiments may be implemented in a form of hardware, and may also be implemented in a form of software functional device. The present invention is not limited to any specific form of combination of hardware and software.
It is to be noted that, in this document, the terms "comprises", "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion, so that an article or apparatus including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of additional like elements in the article or device comprising the element.
The above embodiments are merely to illustrate the technical solutions of the present invention and not to limit the present invention, and the present invention has been described in detail with reference to the preferred embodiments. It will be understood by those skilled in the art that various modifications and equivalent arrangements may be made without departing from the spirit and scope of the present invention and it should be understood that the present invention is to be covered by the appended claims.
Claims (8)
1. A method of constructing a dynamic adjacency matrix of indoor space cells, the method comprising:
determining the position of each indoor space unit in the building and the topological relation of each indoor space unit, and constructing a dynamic indoor map according to the position of each indoor space unit and the topological relation of each indoor space unit;
wherein, the determining the position of each indoor space unit in the building and the topological relation of each indoor space unit, and the constructing the dynamic indoor map according to the position of each indoor space unit and the topological relation of each indoor space unit comprises:
after the change of a geometrical structure affecting the division result of the indoor space units occurs in the building and/or the change of attribute information affecting the topological relation of the indoor space units without affecting the division result of the indoor space units occurs, determining the positions of the changed indoor space units and the topological relation of the indoor space units according to the change of the geometrical structure and the change of the attribute information, and constructing the dynamic indoor map according to the positions of the changed indoor space units and the topological relation of the indoor space units;
and determining the distance between any two indoor space units according to the topological relation of each indoor space unit in the dynamic indoor map, and constructing a dynamic adjacency matrix according to the distance.
2. The method of construction according to claim 1,
the geometric variation includes at least one of: adding indoor space units, dividing an indoor space unit into more than one indoor space unit, merging the indoor space units and deleting the indoor space units;
the attribute information change includes at least one of: newly opening a passage and blocking the passage.
3. The construction method according to claim 2,
when the geometric structure influencing the division result of the indoor space unit changes into increasing the indoor space unit or dividing an indoor space unit into more than one indoor space unit, determining the topological relation and the distance between the new indoor space unit and other indoor space units, increasing the identification of the new indoor space unit in the abscissa and the ordinate of the dynamic adjacent matrix, and increasing the distance between the new indoor space unit and other indoor space units;
and when the geometrical structure influencing the division result of the indoor space units changes into a combined indoor space unit or a deleted indoor space unit, determining the indoor space unit to be deleted, and deleting the identifier of the indoor space unit and the distance between the indoor space unit and other indoor space units in the abscissa and the ordinate of the dynamic adjacent matrix.
4. The method of claim 1,2 or 3,
the indoor space unit is a room unit, or a corridor unit, or a part of a corridor unit, within each floor of the building.
5. The construction method according to claim 4,
the relationship between two adjacent indoor space units in the topological relationship is one of the following relationships: the communication relations refer to the relations between the room units, between the room units and the corridor units, and between the room units and part of the corridor units, which can be reached without passing through other indoor space units, the adjacent relations refer to the relations between two adjacent indoor space units, which can be reached only by passing through other indoor space units, and the division relations refer to the relations between adjacent part of the corridor units.
6. The method of construction according to claim 1,
the distance between two indoor space elements in the dynamic adjacency matrix is the number of indoor space elements between which the shortest reachable path passes.
7. An apparatus for constructing a dynamic contiguous matrix of indoor space units, the apparatus comprising:
the system comprises a topological relation determining module, a position judging module and a judging module, wherein the topological relation determining module is used for determining the position of each indoor space unit in the building and the topological relation of each indoor space unit, and particularly used for determining the position of each changed indoor space unit and the topological relation of each indoor space unit according to the change of the geometric structure and the change of the attribute information after the change of the geometric structure influencing the division result of the indoor space units and/or the change of the attribute information not influencing the division result of the indoor space units and simultaneously influencing the topological relation of the indoor space units occurs in the building;
the dynamic indoor map building module is used for building a dynamic indoor map according to the positions of the indoor space units and the topological relations of the indoor space units, and specifically, the dynamic indoor map is built according to the changed positions of the indoor space units and the topological relations of the indoor space units, and the distance between the two indoor space units in the dynamic adjacent matrix is the number of the indoor space units through which the shortest reachable path between the two indoor space units passes;
and the dynamic adjacent matrix building module is used for determining the distance between any two indoor space units according to the topological relation of each indoor space unit in the dynamic indoor map and building a dynamic adjacent matrix according to the distance.
8. The apparatus of claim 7,
the geometric variation includes at least one of: adding indoor space units, dividing an indoor space unit into more than one indoor space unit, merging the indoor space units and deleting the indoor space units;
when the geometric structure influencing the division result of the indoor space unit changes into increasing the indoor space unit or dividing an indoor space unit into more than one indoor space unit, determining the topological relation and the distance between the new indoor space unit and other indoor space units, increasing the identification of the new indoor space unit in the abscissa and the ordinate of the dynamic adjacent matrix, and increasing the distance between the new indoor space unit and other indoor space units;
when the geometric structure influencing the division result of the indoor space units changes into merging the indoor space units or deleting the indoor space units, determining the indoor space units to be deleted, and deleting the identification of the indoor space unit and the distance between the indoor space unit and other indoor space units in the abscissa and the ordinate of the dynamic adjacent matrix;
the attribute information change includes at least one of: newly opening a passage and blocking the passage.
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