CN107194501A - Method based on mess generation path - Google Patents
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- CN107194501A CN107194501A CN201710308365.4A CN201710308365A CN107194501A CN 107194501 A CN107194501 A CN 107194501A CN 201710308365 A CN201710308365 A CN 201710308365A CN 107194501 A CN107194501 A CN 107194501A
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Abstract
The present invention relates to a kind of method based on mess generation path applied to purchase guiding system, it comprises the following steps：First, grid data is generated, current plane domain and non-current plane domain are divided into by describing place face profile, and according to face profile, triangle gridding is built automatically to current plane domain；2nd, triangle gridding path is formed, the triangle gridding according to where starting point and target point, with reference to A* pathfinding algorithms, obtains starting point to the triangle gridding path of target point；3rd, initial path is formed according to corner point algorithm；4th, path point unnecessary in above-mentioned initial path is removed according to straight line line-of-sight detection method.Pass through the above method, complicated cumbersome path point is marked into input manually replaced with by system software and triangle gridding is automatically generated in traffic areas according to the place profile manually drawn, and triangle gridding is automatically generated into path according to default computational methods by system, workload is greatly reduced, reduce professional requirement, highly versatile, is easy to operate with.
Description
Technical field
It is a kind of method based on mess generation path applied to purchase guiding system the present invention relates to guide passage field.
Background technology
As economic continues to develop, the living standard and life style of people constantly improve, and the level of consumption rises steadily,
Main consumption place " shopping plaza ", also just develops towards integrated, maximization direction.However, market floor space
Constantly extension, also cause inconvenience to consumer, wherein the most directly is exactly pathfinding difficulty increasing, make consumer compared with
Hardly possible finds desired brand or commodity in a short time.To solve the problem, megastore would generally install interactive purchase guiding system,
To facilitate consumer to be best understood from the distribution of image, floor level, trade company, Merchant Category retrieval, trade company's introduction, the activity in market
The information such as information, member's article, integration inquiry.And with the popularization of touch one-piece machine, domestic interactive purchase guiding system starts
Progressively rise and grow up.The main problem that market interaction purchase guiding system is solved is to inquire about from current location to target shop
Path planning, the path planning of existing interactive purchase guiding system generally employ the exhaustive mode of path point, by taking market as an example, need
Diverging positions that will be on the topographic map Zhong Getiao roads in market, each shop doorway, and store location mark path point, then will
These path points are inputted into purchase guiding system one by one, so as to generate a path net.As can be seen here, one is generated through whole
The path point of topographic map, is a considerably complicated and cumbersome job, and the operation needs to spend the substantial amounts of artificial and time to come real
It is existing, and be difficult to be grasped by the administrative staff in market, professional extremely strong, this also determines that the interactive purchase guiding system in current market is determined
Inhibition and generation degree is high, poor universality, the shortcoming that easy care does not update.Therefore, needing the path planning to existing market shopping guide system
Method is improved.
The content of the invention
To overcome above-mentioned deficiency, a kind of method based on mess generation path of present invention design makes it solve existing route
Planning is by the way of path point is exhaustive, relatively complicated, poor universality, the strongly professional technical problem for being difficult maintenance management.Its
Adopt the following technical scheme that realization.
A kind of method based on mess generation path, it comprises the following steps：
First, grid data is generated, current plane domain is divided into and non-by describing place face profile, and according to face profile
Current plane domain, triangle gridding is built to current plane domain automatically according to " Delaunay Triangulation " algorithm；
2nd, triangle gridding path is formed, the triangle gridding according to where starting point and target point, with reference to A* pathfinding algorithms, is risen
Initial point to target point triangle gridding path；
3rd, according to corner point algorithm formed initial path, first, using starting point to target point institute process triangle gridding as sequentially according to
The secondary order for determining " facing side ", it is the common edge between adjacent triangle gridding to face side；Secondly, face while two end points to face while it is inverse
End points when hour hands rotate close to the starting point is left end point, and the end points away from starting point is right endpoint, the starting point institute
Triangle gridding face facing for starting while, triangle gridding faces when facing for end where the target point；Next by facing
Side order, will originate two when respectively the facing end points faced after successively and is compared determination flex point with starting point progress position,
Process is：Starting face the left end point on side, right endpoint with starting point line, and form first plane included angle, wherein left end point
It is referred to as left angle line with the line of starting point, the line of right endpoint and starting point is referred to as right angle line；Judge that Article 2 faces side
Left end point, right endpoint relative to plane included angle location status, if Article 2 face side left end point be located at plane included angle scope
Interior, then the left end point that Article 2 faces side deletes left end point and starting that side is faced in starting as the new left end point of connection starting point
The left angle line of point, is updated to Article 2 and faces the left end point on side and the new left angle line of starting point；If Article 2 faces side
Left end point is located at outside the scope of plane included angle, and positioned at the outside of left angle line, then retains left end point and starting point that side is faced in starting
Left angle line；If the right endpoint that Article 2 faces side is located in the range of plane included angle, Article 2 faces the right endpoint conduct on side
The new right endpoint of starting point is connected, starting is deleted and faces the right endpoint on side and the right angle line of starting point, be updated to Article 2 and face
The right endpoint on side and the new right angle line of starting point；If the right endpoint that Article 2 faces side is located at outside the scope of plane included angle, and
Positioned at the outside of right angle line, then retain starting and face the right endpoint on side and the right angle line of starting point；Continue to compare Article 3 and face
Two end points on side, and be after facing two, side end points relatively with Article 2 when comparing Article 3 and facing the two endpoint location states in side
The new plane included angle formed is comparison other, more subsequently faces two end points on side successively in this way；
In above-mentioned comparison procedure, if there is：When the latter left end point for facing side, right endpoint are respectively positioned on the plane included angle model of institute's reference
Enclose outer, and during positioned at the outside of left angle line, then the left end point of the plane included angle institute reference is used as a flex point；Face side when latter
Left end point, right endpoint be respectively positioned on outside the plane included angle scope of institute's reference, and during positioned at the outside of right angle line, then the plane holder
The right endpoint of angle institute reference is used as a flex point；When it is latter face facing for end while when, faced according to target point relative to the end
The plane included angle scope of side institute reference forms following three kinds of states：When target point is located in the reference plane angular range, then mesh
Punctuate is directly connected with previous flex point；Target point is located at outside the reference plane angular range, and when on the outside of left angle line,
Left end point corresponding to the reference plane angle is as a flex point, and it is connected with target point straight line；When target point is located at reference
Outside the scope of plane included angle, and when on the outside of the right angle line, the right endpoint corresponding to the reference plane angle as a flex point,
It is connected with target point straight line；
After a flex point is obtained, then continue to find out next flex point in the above described manner again as new starting point using the flex point,
Until when no longer there is flex point between next flex point and target point, starting point, each flex point, target point successively straight line are connected, i.e.,
Form initial path；
The above method also includes step 4, including step 4, and it is unnecessary in above-mentioned initial path to be removed according to straight line line-of-sight detection method
Path point, above-mentioned starting point, flex point, target point are ranked up to form a point sequence respectively in order, in point sequence,
When the line segment that starting point and the 3rd point are linked to be is not fallen completely within the triangle gridding path that above-mentioned steps two are formed, after
Whether the continuous line segment for judging that second point and the 4th point are linked to be is fallen into the triangle gridding path that above-mentioned steps two are formed,
If do not fallen completely within, continue to judge whether the line segment that the 3rd point and the 5th point are linked to be falls into two shapes of above-mentioned steps
Into triangle gridding path in, analogized with secondary；When the line segment that the starting point and the 3rd point are linked to be falls completely within above-mentioned step
When in the rapid two triangle gridding paths formed, then second point in point sequence is removed, continue to judge starting point and the 4th
Whether the be linked to be line segment of point is fallen into the triangle gridding path that above-mentioned steps two are formed, if fallen completely within, is removed a little
The 3rd point in sequence, if do not fallen completely within, using the 3rd point as new starting point, continuation judges in the above described manner
Follow-up point, until removing unnecessary path point in initial path, is removed after unnecessary path point, residual paths point straight line successively
Connection, that is, generate final path.
In the above-mentioned method based on mess generation path, the step one is by manually drawing place profile and inputting programming system
In system, built after software systems automatic identification profile and form triangle gridding, step 2 to step 4 is by software systems by default
Program performs completion.
By the above method, complicated cumbersome path point is marked into input manually and replaced with by software systems according to manually painting
The place profile of system automatically generates triangle gridding in traffic areas, and is automatically generated triangle gridding according to pre-set programs by system
Path, is greatly reduced workload, reduces the professional requirement of operating personnel, and software is customized departing from height, general
Property it is strong, be easy to secondary development to use, with preferable application prospect.
Brief description of the drawings
Fig. 1 is the schematic diagram that the present invention automatically generates triangle gridding according to place profile to traffic areas.
Fig. 2 is that dotted line represents path in the status architecture schematic diagram of step 3 of the present invention, figure, and heavy line represents to face side.
Sequence number and entitled in figure：1st, triangle gridding, 2, starting point, 3, face side, 301, starting face side, 302, end faces
Side, 4, left end point, 5, right endpoint, 6, left angle line, 7, right angle line, 8, flex point, 9, target point.
Embodiment
In conjunction with accompanying drawing, the present invention is described as follows.
The method based on mess generation path, is broadly divided into following steps：
Step one, as shown in figure 1, first by manually drawing mall shopping face wheel by scaling according to market actual size
Exterior feature figure, the mall shopping face profile figure is identified automatically by software systems, and the mall shopping face profile figure is divided
For current plane domain and non-current plane domain, to current plane domain according to the automatic structure of " Delaunay Triangulation " algorithm
Build triangle gridding 1." Delaunay Triangulation " algorithm is existing algorithm known, briefly refers to the N in given plane
It is individual, them are connected with disjoint straightway, so that each region in scope is a triangle, and it is elongated, sharp
Triangle it is fewer, equilateral triangle and approximate equilateral triangle are more, and overall triangular mesh is to be uniformly preferred.
Step 2, forms triangle gridding path.According to starting point 2 and the place triangle gridding 1 of target point 9, with reference to A* pathfindings
Algorithm, obtains starting point 2 to the triangle gridding path of target point 9.A* pathfinding algorithms belong to a kind of conventional in existing pathfinding
Algorithm, therefore do not make statement in detail, only simply state its principle：The appraisal mode that A* algorithms are used is f (n)=g (n)+h (n).Its
Middle g (n) represents to spend from starting point to arbitrary node n path, and h (n) represents the estimation spent from node n to destination node path
It is worth inspiration value.A* algorithms balance both g (n) and h (n) value while object is moved, and f in adjacent node is chosen every time
(n) the minimum node of value is used as next node.
Step 3, initial path is formed according to corner point algorithm.First, the triangulation network is passed through with starting point 2 to target point 9
Lattice 1 determine " to face the order on side 3 ", it is the common edge between adjacent triangle gridding to face side, secondly, face side two successively for order
End points is to face close to the end points of starting point as left end point 4 during the rotate counterclockwise of side, and the end points away from starting point is right endpoint 5, is risen
Triangle gridding where initial point faces when facing for starting 301, and target point place triangle gridding faces when facing for end；Next
By the order of side 3 is faced, starting is faced successively and is compared determination in two when respectively the facing end points after 301 and starting point progress position and turned
8 are put, detailed process is：Starting face the left end point 4 on side 301, right endpoint 5 with the line of starting point 2, and form first plane holder
The line of angle, wherein left end point 4 and starting point 2 is referred to as left angle line 6, and right endpoint 5 and the line of starting point 2 are referred to as right angle line
7；Judge that Article 2 faces the location status of the left end point on side, right endpoint relative to plane included angle, if Article 2 faces the left end on side
Point is located in the range of plane included angle, then the left end point that Article 2 faces side deletes starting as the new left end point of connection starting point
Face the left end point on side and the left angle line of starting point, be updated to Article 2 and face the left end point on side and the new left angle of starting point
Line；If the left end point that Article 2 faces side is located at outside the scope of plane included angle, and positioned at the outside of left angle line, then retains starting and face
The left end point on side and the left angle line of starting point；If the right endpoint that Article 2 faces side is located in the range of plane included angle, second
Bar faces the right endpoint on side as the new right endpoint of connection starting point, deletes starting and faces the right endpoint on side and the right angle of starting point
Line, is updated to Article 2 and faces the right endpoint on side and the new right angle line of starting point；If the right endpoint that Article 2 faces side is located at
Outside the scope of plane included angle, and positioned at the outside of right angle line, then retain starting and face the right endpoint on side and the right angle line of starting point；
When continuing to compare Article 3 and face two end points on side, and comparing Article 3 and face the two endpoint location states in side, faced with Article 2
The end points relatively rear new plane included angle formed in two, side is comparison other, more subsequently faces side successively in this way
Two end points；
In above-mentioned comparison procedure, if there is：When the latter left end point for facing side, right endpoint are respectively positioned on the plane included angle model of institute's reference
Enclose outer, and during positioned at the outside of left angle line, then the left end point of the plane included angle institute reference is used as a flex point 8；Face when latter
Left end point, the right endpoint on side are respectively positioned on outside the plane included angle scope of institute's reference, and during positioned at the outside of right angle line, then the plane
The right endpoint of angle institute reference is used as a flex point；When it is latter face facing for end while 302 when, according to target point relative to the end
The plane included angle scope that the reference of side institute is faced at end forms following three kinds of states：When target point is located in the reference plane angular range,
Then target point is directly connected with previous flex point；Target point is located at outside the reference plane angular range, and outside left angle line
During side, the left end point corresponding to the reference plane angle is as a flex point, and it is connected with target point straight line；When target point is located at
Outside reference plane angular range, and when on the outside of right angle line, the right endpoint corresponding to the reference plane angle is used as one
Flex point, it is connected with target point straight line；
After flex point 8 are obtained, then continue to find out next turn in the above described manner again as new starting point using the flex point
Point, until when no longer there is flex point between next flex point and target point, starting point, each flex point, target point successively straight line are connected,
Form initial path.
With reference to Fig. 2, concrete example explanation is carried out to step 3：As shown in Fig. 2 the left end point 4 and right-hand member on side 301 are faced in starting
Point 5 forms left angle line 6 and right angle line 7 respectively with the line of starting point 2, and first is formed between left angle line and right angle line
Individual plane included angle a；Article 2 is faced the left end point on side, right endpoint and is respectively positioned in the plane included angle, then is updated to Article 2 and faces side
Left end point, right endpoint and starting point line form new left angle line, right angle line（Wherein right angle line is with originating right angle line
For same）；Article 3 face while left end point be located at it is previous face in the range of the plane included angle of while institute's reference, right endpoint is flat positioned at this
Outside the angular range of face, and on the outside of right angle line, therefore Article 3 faces the left end point on side and starting point line is updated to a new left side
Angle line, right angle line does not update；Article 4 face while left end point be located at it is previous face in the range of the plane included angle of while institute's reference, it is right
End points is located at outside the plane included angle scope, and on the outside of right angle line, therefore Article 4 faces the left end point and starting point line on side
New left angle line is updated to, right angle line does not update；Article 5 face while left end point, right endpoint is respectively positioned on and previous joined when facing
According to plane included angle in the range of, therefore Article 5 faces the left end point on side, right endpoint and is updated to new left folder with starting point line respectively
Linea angulata, right angle line；Article 6 face while left end point be located at it is previous face outside the plane included angle scope of while institute's reference, right endpoint is located at
It is previous to face in the range of the plane included angle of side institute reference, therefore Article 6 faces the right endpoint on side and starting point line is updated to new right folder
Linea angulata（The new right angle line is same with previous right angle line）；Article 7 is faced before the left end point on side, right endpoint be respectively positioned on
One faces outside the plane included angle scope of side institute reference, and on the outside of the left angle line of the plane included angle, therefore previous face the reference of side institute
Plane included angle left end point（Article 5 faces the left end point on side）It is used as a flex point 8；Using the flex point as starting point, with the 6th
Bar faces the left end point on side, right endpoint and is connected to form new plane included angle b with the flex point, and Article 7 faces the left end point on side, right endpoint
Be respectively positioned in the range of the b of the plane included angle, thus Article 7 face the left end point on side, right endpoint be connected with the new starting point be updated to it is new
Left angle line, right angle line, form new plane included angle；Article 8 is faced when facing for end, and target point faces positioned at the end
Outside the scope of side institute reference plane angle, and on the outside of the left angle line of the plane included angle, therefore the left end point of the plane included angle
（Article 7 faces the left end point on side）As a flex point, the flex point is connected with target point straight line, is finally given in figure shown in dotted line
Initial path.
Step 4, path point unnecessary in above-mentioned initial path is removed according to straight line line-of-sight detection method, i.e.,：To above-mentioned starting
Point, flex point, target point are ranked up to form a point sequence respectively in order, in point sequence, when starting point and the 3rd point
When the line segment being linked to be is not fallen completely within the triangle gridding path that above-mentioned steps two are formed, continue to judge second point and the
Whether the line segment that four points are linked to be is fallen into the triangle gridding path that above-mentioned steps two are formed, if do not fallen completely within,
Continue to judge whether the line segment that the 3rd point and the 5th point are linked to be falls into the triangle gridding path that above-mentioned steps two are formed
It is interior, analogized with secondary；When the line segment that the starting point and the 3rd point are linked to be falls completely within the triangle that above-mentioned steps two are formed
When in grid access, then second point in point sequence is removed, continue to judge that the line segment that starting point is linked to be with the 4th point is
It is no to fall into the triangle gridding path that above-mentioned steps two are formed, if fallen completely within, the 3rd point in point sequence is removed,
If do not fallen completely within, using the 3rd point as new starting point, continuation judges follow-up point in the above described manner, until removing
Unnecessary path point in initial path.For example：Assuming that starting point, flex point, target point sequentially form point sequence for a, b, c, d, e,
If the line segment of ac lines is fallen into triangle gridding path, the b points in path can delete optimization, then the line segment of ad lines is entered
Row judges whether to fall into triangle gridding path, if ad line segments are fallen into triangle gridding path, the c points in path can be deleted
Except optimization；If ad line segments are not fallen completely within triangle gridding path, c points are taken as new starting point, according to judging before
The mode of ac line segments continues to judge whether the line segment of ce lines is fallen into triangle gridding path, falls completely within, then the d points in path
Optimization can be deleted.The like, remove after unnecessary path point, straight line is connected residual paths point successively, that is, is generated finally
Path.
Claims (2)
1. a kind of method based on mess generation path, it is characterised in that this method comprises the following steps：
First, grid data is generated, current plane domain is divided into and non-by describing place face profile, and according to face profile
Current plane domain, triangle gridding is built to current plane domain automatically according to " Delaunay Triangulation " algorithm（1）；
2nd, triangle gridding path is formed, according to starting point（2）And target point（9）Place triangle gridding（1）, calculated with reference to A* pathfindings
Method, obtains starting point（2）To target point（9）Triangle gridding path；
3rd, initial path is formed according to corner point algorithm, first, with starting point（2）To target point（9）Passed through triangle gridding
（1）Determine " to face side successively for order（3）" order, face side for adjacent triangle gridding（1）Between common edge；Secondly, side is faced
Two end points to face during the rotate counterclockwise of side close to the end points of starting point as left end point（4）, the end points away from starting point is the right side
End points（5）, triangle gridding faces when facing for starting where the starting point（301）, the target point（9）Place triangle gridding
Face when facing for end（302）；Next by side order is faced, will originate successively two when respectively the facing end points that faces after with
The starting point carries out position and compares determination flex point（8）, process is：Starting is faced the left end point on side, right endpoint and connected with starting point
Line, and form first plane included angle, the line of wherein left end point and starting point is referred to as left angle line, right endpoint and starting point
Connecting line is referred to as right angle line；Judge that Article 2 faces the state of the left end point on side, right endpoint relative to plane included angle, if second
Bar face side left end point be located at plane included angle in the range of, then Article 2 face side left end point be used as connection starting point new left end
Point, deletes starting and faces the left end point on side and the left angle line of starting point, is updated to left end point and starting point that Article 2 faces side
New left angle line；If the left end point that Article 2 faces side is located at outside the scope of plane included angle, and is located at the outside of left angle line, then
Retain starting and face the left end point on side and the left angle line of starting point；If the right endpoint that Article 2 faces side is located at plane included angle scope
Interior, then the right endpoint that Article 2 faces side deletes right endpoint and starting that side is faced in starting as the new right endpoint of connection starting point
The right angle line of point, is updated to Article 2 and faces the right endpoint on side and the new right angle line of starting point；If Article 2 faces side
Right endpoint is located at outside the scope of plane included angle, and positioned at the outside of right angle line, then retains right endpoint and starting point that side is faced in starting
Right angle line；It is with when continuing to compare Article 3 and face two end points on side, and comparing Article 3 and face two endpoint status in side
Two the new plane included angle formed after facing two, side end points relatively is comparison other, relatively follow-up successively in this way
Face two end points on side；
In above-mentioned comparison procedure, if there is：When the latter left end point for facing side, right endpoint are respectively positioned on the plane included angle model of institute's reference
Enclose outer, and during positioned at the outside of left angle line, then the left end point of the plane included angle institute reference is used as a flex point（8）；When latter
Face the left end point on side, right endpoint to be respectively positioned on outside the plane included angle scope of institute's reference, and during positioned at the outside of right angle line, then this is put down
The right endpoint of face angle institute reference is used as a flex point；When it is latter face facing for end while（302）When, according to target point（9）Phase
Following three kinds of states are formed for the plane included angle scope that the reference of side institute is faced in the end：Target point is located at the reference plane angle model
When enclosing interior, then target point is directly connected with previous flex point；Target point is located at outside the reference plane angular range, and positioned at left folder
When on the outside of linea angulata, the left end point corresponding to the reference plane angle is as a flex point, and it is connected with target point straight line；Work as target
Point is located at outside reference plane angular range, and when on the outside of right angle line, the right endpoint corresponding to the reference plane angle is made
For a flex point, it is connected with target point straight line；
When obtaining a flex point（8）Afterwards, then using the flex point again as new starting point, continue to find out next turn in the above described manner
Point, until when no longer there is flex point between next flex point and target point, starting point, each flex point, target point successively straight line are connected,
Form initial path.
2. the method according to claim 1 based on mess generation path, it is characterised in that including step 4, according to straight line
Line-of-sight detection method removes path point unnecessary in above-mentioned initial path, to above-mentioned starting point（2）, flex point（8）, target point（9）Point
It is not ranked up to form a point sequence in order, in point sequence, when starting point and line segment that the 3rd point is linked to be not complete
When entirely falling into the triangle gridding path that above-mentioned steps two are formed, continue to judge the line that second point and the 4th point are linked to be
Whether section is fallen into the triangle gridding path that above-mentioned steps two are formed, if do not fallen completely within, continues to judge the 3rd point
Whether the line segment being linked to be with the 5th point is fallen into the triangle gridding path that above-mentioned steps two are formed, and is analogized with secondary；Work as institute
When stating the line segment that starting point and the 3rd point be linked to be and falling completely within the triangle gridding path that above-mentioned steps two are formed, then go
Except second point in point sequence, continue to judge whether starting point falls into the institute of above-mentioned steps two with the line segment that the 4th point is linked to be
In the triangle gridding path of formation, if fallen completely within, the 3rd point in point sequence is removed, if do not fallen completely within,
Using the 3rd point as new starting point, continuation judges follow-up point in the above described manner, until unnecessary in removal initial path
Path point, is removed after unnecessary path point, and straight line is connected residual paths point successively, that is, generates final path.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108434741A (en) * | 2018-03-15 | 2018-08-24 | 网易（杭州）网络有限公司 | Control method for movement in virtual reality and device |
| CN110497419A (en) * | 2019-07-15 | 2019-11-26 | 广州大学 | Building castoff sorting machine people |
| CN111521189A (en) * | 2020-04-10 | 2020-08-11 | 北京智行者科技有限公司 | Cleaning path planning method and device |
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