CN108665117A - A kind of computational methods, device, terminal device and the storage medium of interior space shortest path - Google Patents
A kind of computational methods, device, terminal device and the storage medium of interior space shortest path Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of interior space shortest path computational methods, the method includes：According to interior space layout and distribution of obstacles, network node is set；Wherein, network node is set to spatial variations point, the interior space is divided into multiple sub-regions, starting point sub-region where obtaining starting point, terminal respectively and terminal sub-region, according to starting point sub-region and the terminal sub-region, determine the network node of starting point sub-region between the network node of terminal sub-region first path, in starting point sub-region starting point between the network node of starting point sub-region the second path and terminal sub-region in terminal to the third path between the network node of terminal sub-region；Wherein, first path, the second path, third path are respectively the shortest path of the point-to-point transmission corresponding to it, according to the shortest path of first path, the second path and third path computing starting point to the terminal.
Description
Technical field
The present invention relates to field of computer technology, more particularly, to a kind of computational methods and dress of interior space shortest path
It sets, terminal device, storage medium.
Background technology
With the quickening of urbanization process, large-scale interior architecture object is more and more, and internal structure becomes increasingly complex, people
The movable time is increasingly longer indoors, and indoor navigation path planning has practical meaning.In path planning algorithm,
Dijkstra (Di Jiesitela) algorithm is asked in digraph from a certain source point to the efficient algorithm of remaining each point shortest path, is calculated
Method adapts to network topology change, and performance is stablized, and is the classic algorithm of path planning.
Dijkstra's algorithm thought is：If G=(V, E) is a Weighted Directed Graph, the set V on each vertex in figure is divided into
Two groups, first group is to have found out the vertex set of shortest path (to be indicated with S, often asked later only there are one source point in S when initial
As soon as obtaining a shortest path, will be added in set S, until whole vertex are all added in S, algorithm just finishes), second group
The vertex set (being indicated with U) for not determining shortest path for remaining, by the increasing order of shortest path length successively second group
Vertex be added S in.During addition, the shortest path length on each vertex is not more than from source in always keeping from source point v to S
The shortest path length on any vertex in point v to U.In addition, each one distance of vertex correspondence, the distance on the vertex in S is exactly
From v to the shortest path length on this vertex, it is centre that the distance on the vertex in U, which is the vertex only included from v to this vertex in S,
The current shortest path length on vertex.
Dijkstra's algorithm step：
A. when initial, S includes only source point, i.e. the distance of S={ v }, v are 0.U includes other vertex in addition to v, i.e.,:U=
{ remaining vertex }, if vertex u has side in v and U,<u,v>Have be not ∞ weights, if u, which is not v, goes out side abutment points,<u,
v>Weights are ∞.
B. the vertex k that distance v minimum is chosen from U, k, in addition S (the selected distance be exactly v to k most
Short path length).
C. it is the intermediate point newly considered with k, changes the distance on each vertex in U；If the distance from source point v to vertex u (is passed through
Vertex k) than original distance (it is short without vertex k), then change the distance value of vertex u, the vertex k of modified distance value away from
From plus the power on side.
D. step b and c is repeated until all vertex are included in S.
Above-mentioned dijkstra's algorithm can obtain the shortest path from starting point to terminal, but on actual indoor road
In diameter planning problem, due to the complexity and diversity of indoor environment, actual interior Path selection also presents personalized and more
Sample so that people select not only using path distance as sole criterion indoor path, and also some influence path choosing
The other factors selected only consider that path distance can not meet the Path selection demand of people indoors, these model structures
Only simply the interior space is modeled, has ignored the position relationship of mobile object and space with obstacle, leads to no barrier
The mobile object of blocking is also required to that distance is calculated by complicated, reduces the performance of algorithm.It is moved under environment indoors
It is possible to the blocking with barrier between distance is relatively small between object and object, to the required precision higher of inquiry,
It is thus impossible to which distance, which is simply abstracted as the Euclidean distance between 2 points, carries out approximate calculation.
In consideration of it, how to overcome the limitation of existing algorithm, from interior, there are the angles of barrier to provide a kind of room
Interior shortest-path method is to realize that the lookup for the shortest path for taking barrier into account becomes the current technical issues that need to address.
Invention content
A kind of computational methods for interior space shortest path that the embodiment of the present invention proposes and device, terminal device, storage
Medium, the embodiment of the present invention for the shortest path planning problem under indoor discrete grid environment, according to interior space layout and
Distribution of obstacles carries out localization region division and geocoding, the network node selection etc. of sub-region.By to these areas
Effective organization and administration of the spatial datas such as domain, node are calculated for Dijkstra shortest paths under indoor discrete grid space environment
Design is optimized in method.It will separately handle with shortest path in region between sub-region, found especially in terminus sub-region
Its intersection point with shortest path replaces the network node in sub-region, finally obtains an optimal shortest path of synthesis.
In a first aspect, the embodiment of the present invention provides a kind of computational methods of interior space shortest path, specifically include：
According to interior space layout and distribution of obstacles, network node is set；Wherein, network node is set to spatial variations
Point；
The interior space is divided into multiple sub-regions；Wherein, include at least one network node in sub-region, and secondary
Any point in region can be transferred through the one of row or column to the network node being connected directly in sub-region twice；
Starting point sub-region where obtaining starting point, terminal respectively and terminal sub-region；
According to starting point sub-region and terminal sub-region, determine the network node of starting point sub-region to the network of terminal sub-region
In first path, starting point sub-region between node starting point between the network node of starting point sub-region the second path and
Terminal is to the third path between the network node of terminal sub-region in terminal sub-region；Wherein, first path, the second path,
Third path is respectively the shortest path of the point-to-point transmission corresponding to it；
According to the shortest path of first path, the second path and third path computing starting point to the terminal.
Further, shortest path calculating is carried out to first path by using dijkstra's algorithm.
Further, the shortest path calculating step in the second path includes：
Obtain plotted point, network node starting point sub-region in, starting point of the first path with the starting point sub-region；
Structure is with the network section in the plotted point of the first path and the starting point sub-region, the starting point sub-region
Point, the triangle that the starting point is vertex determine that the starting point to the path of the joint is second path.
Further, the calculating step in third path includes：
Obtain plotted point, the network node in terminal sub-region, the terminal of first path and the terminal sub-region；
The plotted point, the network node in terminal sub-region, terminal for building the first path and terminal sub-region are top
The triangle of point determines that terminal to the path of joint is third path.
Further, it is made up of the grid with multiple continuous phases etc. to position the position in the interior space so that
All positions of the interior space can be encoded to be labeled by the ranks of the grid.
Further, the spatial variations point of the interior space include at the door position in the interior space, the intersection in corridor
Or bifurcation, the turning with barrier.
Second aspect, the embodiment of the present invention provide a kind of device that interior space shortest path calculates, and described device includes：
Network node setup module, for according to interior space layout and distribution of obstacles, network node to be arranged；Wherein,
The network node is set to spatial variations point；
Division module, for the interior space to be divided into multiple sub-regions；Wherein, comprising at least in the sub-region
One network node, and to can be transferred through the one of row or column described to being connected directly to twice for any point in the sub-region
The network node in sub-region；
Acquisition module, for obtaining starting point, terminal the starting point sub-region at place and terminal sub-region respectively；
For obtaining the plotted point of first path and starting point sub-region, the network node in starting point sub-region, starting point；
For obtaining the plotted point of first path and the terminal sub-region, the network node in terminal sub-region, terminal；
Path module is determined, for according to starting point sub-region and terminal sub-region, determining the network node of starting point sub-region
To between the network node of terminal sub-region first path, in starting point sub-region starting point to starting point sub-region network node it
Between the second path and terminal sub-region in terminal to the third path between the network node of terminal sub-region；Wherein,
One path, the second path, third path are respectively the shortest path of the point-to-point transmission corresponding to it；
Computing module, for according to starting point described in the first path, the second path and third path computing to described
The shortest path of terminal；For carrying out shortest path calculating to the first path by using dijkstra's algorithm；For institute
The shortest path for stating the second path and the third path calculates；Wherein, the computing module further includes structure module and mark
Module,
The structure module is used to build with the plotted point of the first path and the starting point sub-region, the starting point time
Network node, the starting point in region are the triangle on vertex, and the path for determining the starting point to the joint is described
Second path；For building the plotted point of the first path and the terminal sub-region, the network in the terminal sub-region
Node, the triangle that the terminal is vertex determine that the terminal to the path of the joint is the third path；
The labeling module the grid with multiple continuous phases etc. for being made up of to position the position in the interior space
It sets so that all positions of the interior space can be encoded to be labeled by the ranks of the grid.
The third aspect, the embodiment of the present invention provide a kind of terminal device, which is characterized in that including processor, memory with
And be stored in the memory and be configured the computer program executed by the processing, the processor executes the calculating
Such as claim 1 to 6 any one of them interior space shortest path computational methods are realized when machine program.
Fourth aspect, a kind of computer readable storage medium of the embodiment of the present invention, which is characterized in that described computer-readable
Storage medium includes the computer program of storage, wherein described computer-readable deposit is controlled when the computer program is run
Equipment executes the interior space shortest path computational methods as described in any one of claim 1 to 6 where storage media.
Implement the embodiment of the present invention, has the advantages that：
1, discrete grid space encoding and its shortest path planning.
2, the interregional accurate point shortest path obtained with mode that is being combined in region between any two mesh point,
For this purpose, can be used for automatic addressing and the route planning of Indoor Robot.
3, the utilization of line and zone boundary intersection point during shortest path calculates in region, ultimately forms a kind of discrete sky in interior
Between shortest path navigation programming method.
Description of the drawings
In order to illustrate more clearly of technical scheme of the present invention, attached drawing needed in embodiment will be made below
Simply introduce, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, general for this field
For logical technical staff, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of flow diagram of interior space shortest path computational methods provided in an embodiment of the present invention.
Fig. 2 is that a kind of three parts of indoor shortest path provided in an embodiment of the present invention constitute structural schematic diagram.
Fig. 3 is a kind of structural schematic diagram of terminus region shortest path provided in an embodiment of the present invention design.
Fig. 4 is network node distribution map provided in an embodiment of the present invention.
Fig. 5 provides a kind of structural schematic diagram of interior space shortest path computing device for the embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
First embodiment of the invention：
Referring to Fig. 1 to Fig. 3, Fig. 1 is a kind of stream of interior space shortest path computational methods provided in an embodiment of the present invention
Journey schematic diagram, Fig. 2 are that a kind of three parts of indoor shortest path provided in an embodiment of the present invention constitute structural schematic diagram, and Fig. 3 is
A kind of structural schematic diagram of shortest path design in terminus region provided in an embodiment of the present invention.The embodiment of the present invention is for interior
Shortest path planning problem under discrete grid environment carries out localization region according to interior space layout and distribution of obstacles
The division of sub-region and geocoding, network node selection etc..Pass through effective tissue to spatial datas such as these regions, nodes
Design is optimized for Dijkstra shortest path firsts under indoor discrete grid space environment in management.It will be between sub-region
It is separately handled with shortest path in region, its intersection point with shortest path is found especially in terminus sub-region to replace time area
Network node in domain finally obtains an optimal shortest path of synthesis.
The embodiment of the present invention provides a kind of interior space shortest path computational methods, specifically includes following steps：
Network node is arranged according to interior space layout and distribution of obstacles in S10；Wherein, the network node is set to
Spatial variations point.
The spatial variations point of the interior space described herein includes at door position in the interior space, the friendship in corridor
Fork or bifurcation, the turning with barrier, and be made up of the grid with multiple continuous phases etc. to position the interior space
In position so that all positions of the interior space can be encoded by the ranks of the grid and are labeled.
The entire interior space is made of continuous equal-sized grid, and the area of grid is 1 square metre, and grid ranks are compiled
Code starting point be the lower left corner (1,1), line number from the bottom to top, columns it is incremented by successively from left to right, grid is covered with entire navigation area.
Meanwhile the coding mode, as long as the geographical coordinate and map scale in the given lower left corner, can project and be owned in proportion
The geographical coordinate of mesh point is seamlessly connected to be established with outdoor map.
The selection of network node should weigh the density of arrangement, also be evenly distributed as much as possible.Ensureing that density is small, is improving meter
In the case of calculating efficiency, it is ensured that can set up transit route by the series connection of network node between all mesh points.It is indoor
Grid space is often complicated, and there are wall, door, corridor and all kinds of barriers etc..For this purpose, the selection of network node is also necessary
From doors structure, for must be provided with network node at the door position in the small space of similar office, the intersection in corridor or
Bifurcation must be provided with network node, and the corner with barrier must be provided with network node.
Referring to Fig. 4, the mesh point of the grey color in Fig. 4 is the network node of selection, including the A of all door positions,
The Z0101 of B, C, D, F, G, K, L, M, N, Q, R, Z0901, Z1401, the Z4001 in corridor and the separated sub-region of each wall,
Z0201、Z0301、......、Z4001.All these network nodes, whether foundation influences the division of sub-region, and can be classified as
Two classes.Wherein determine that subsequent sub-region divides with the network node of zed beginning, and the subsequent digital representation of Z letter
The number of network node in the number of sub-region and sub-region.The network node of remaining beginning of letter does not influence drawing for sub-region then
Point, but a grid in occupied area.
The interior space is divided into multiple sub-regions by S20；Wherein, include at least one network node in sub-region, and secondary
Any point in region can be transferred through the one of row or column to the network node being connected directly in sub-region twice.
Indoor grid space is attached between the sub-region after function segmentation often through door, corridor etc., for this purpose,
When space divides, it is necessary to consider the influence of wall and all kinds of barriers to current barrier.Importantly, each region need to be taken into account
The position of key node so that any point in control area can be transferred through 1-2 times of row or column is connected directly to control area
Interior unique key node.In order not to omit arbitrary mesh point, entire indoor grid space is divided into including rectangle, linear
Deng sub-region, do not allow to be overlapped between sub-region.Meanwhile cannot all have in any sub-region with blocking passage completely
Wall.
S30, the starting point sub-region where obtaining starting point, terminal respectively and terminal sub-region.
S40 determines that the network node of the starting point sub-region arrives according to the starting point sub-region and the terminal sub-region
The starting point is to the starting point time area in first path, the starting point sub-region between the network node of the terminal sub-region
Network of the terminal to the terminal sub-region in the second path and the terminal sub-region between the network node in domain
Third path between node；Wherein, the first path, the second path, third path are respectively the point-to-point transmission corresponding to it
Shortest path.
S50, according to the most short of starting point described in the first path, the second path and third path computing to the terminal
Path.
Referring to Fig. 2, in the position of given beginning and end, usually after ranks coding, it is first determined where starting point, terminal
Sub-region, then using the network node in two sub-regions as facing area beginning and end network node carry out
The network node of the calculating of Dijkstra shortest paths i.e. the starting point sub-region shown in Fig. 2 is to the terminal sub-region
Network node between first path path1, and obtain corresponding path and path length.There is unique network section in sub-region
Point, beginning and end respectively where sub-region between shortest path calculate namely be converted into two sub-region network nodes it
Between shortest path operation.All network nodes are stored in spatial database, for this purpose, Dijkstra can be used directly
Algorithm obtains the shortest path between them and path length.
Then, it is calculated in beginning and end sub-region and respectively arrives the shortest path of its sub-region Intranet network node namely
The starting point is to the second path between the network node of the starting point sub-region in the starting point sub-region shown in Fig. 2
The terminal is to the third path between the network node of the terminal sub-region in path2 and the terminal sub-region
path3.The most short calculating step in second path and third path includes：Referring to Fig. 3,
Plotted point, network node starting point sub-region in, starting point of the first path with starting point sub-region are obtained, obtains first
Plotted point, the network node in terminal sub-region, the terminal in path and terminal sub-region；
The shortest path of starting point sub-region and terminal sub-region head and the tail two sides respectively can with include starting point sub-region and end
The sub-region intersection of point, it is assumed that intersection point is respectively PZS (the namely plotted point of first path and starting point sub-region), PZT (the
The plotted point in one path and the terminal sub-region), as shown in Figure 3；
The plotted point, the network node in sub-region, terminal for building first path and terminal sub-region are the triangle on vertex
Shape determines that terminal to the path of joint is third path and builds with the plotted point of first path and starting point sub-region, starting point
Network node, starting point in sub-region are the triangle on vertex, determine that starting point to the path of joint is the second path.
Referring to Fig. 3, according to the creat principles of sub-region, in region any two points there are the connection after direct-connected or 1 turnover,
For this purpose, in the triangle constituted with network node Z0101, the starting point S and PZS where starting point sub-region, three arm of angle starting point S-
The length of side of PZS is always less than the sum of two outer two length of sides, so, the side that the shortest path in starting point sub-region is starting point S-PZS.
Therefore, which is calculated as directly corresponding to ranks and subtract each other, and is added after taking absolute value.Assuming that starting point sub-region intersects
Point coordinates is PZS (XPZS, YPZS), and starting point coordinate is S (XS, YS), then shortest path length is formulated as：D=|
XPZS-XS |+| YPZS-YS |, shortest path is：(XS,YS)-->(XPZS,YS)-->(XPZS,YPZS).The processing procedure
Sub-region shortest path situation where being suitble to terminal T.The synthesis in above-mentioned three sections of paths is final shortest path planning result.
The shortest path navigation of indoor discrete grid space is related to the utilization of the spatial datas such as network node, sub-region, is
This, tissue and the storage of data directly influence the efficiency and effect of path planning.Need tissue store data type include：
Regional space geometric data, network node data, direct-link node number of edges according to etc..
Second embodiment of the invention：
On the basis of one embodiment, with reference to Fig. 5, it is most short that Fig. 5 for the embodiment of the present invention provides a kind of interior space
The structural schematic diagram of path calculation device.The embodiment of the present invention provides a kind of interior space shortest path computing device, the dress
Set including：
Network node setup module 100, for according to interior space layout and distribution of obstacles, network node to be arranged；Its
In, the network node is set to spatial variations point；
Division module 200, for the interior space to be divided into multiple sub-regions；Wherein, include in the sub-region
At least one network node, and any point in the sub-region can be transferred through the one of row or column to being connected directly to twice
The network node in the sub-region；
Acquisition module 300, for obtaining starting point, terminal the starting point sub-region at place and terminal sub-region respectively；
For obtaining the plotted point of first path and starting point sub-region, the network node in starting point sub-region, starting point；
For obtaining the plotted point of first path and the terminal sub-region, the network node in terminal sub-region, terminal；
Path module 400 is determined, for according to starting point sub-region and terminal sub-region, determining the network section of starting point sub-region
Point arrives the first path between the network node of terminal sub-region, network node of the starting point to starting point sub-region in starting point sub-region
Between the second path and terminal sub-region in terminal to the third path between the network node of terminal sub-region；Wherein,
First path, the second path, third path are respectively the shortest path of the point-to-point transmission corresponding to it；
Computing module 500, for according to first path, the second path and third path computing starting point to the terminal
Shortest path；For carrying out shortest path calculating to the first path by using dijkstra's algorithm；For described second
The shortest path in path and the third path calculates；Wherein, the computing module further includes structure module 600 and labeling module
700。
The structure module 600 be used to build with the plotted point of the first path and the starting point sub-region, described
Network node, the triangle that the starting point is vertex in point sub-region, the path for determining the starting point to the joint is
Second path；For building the plotted point of the first path and the terminal sub-region, in the terminal sub-region
Network node, the triangle that the terminal is vertex determine that the terminal to the path of the joint is the third path；
The labeling module 700 grid with multiple continuous phases etc. for being made up of to position in the interior space
Position so that all positions of the interior space can be encoded to be labeled by the ranks of the grid.
The third embodiment of the present invention:
Third embodiment of the invention provides a kind of interior space shortest path computing terminal equipment, including processor, storage
Device and be stored in the memory and be configured by it is described processing execute computer program.Described in the processor executes
The step in a kind of interior space shortest path computational methods embodiment described in any one of the above embodiments, example are realized when computer program
Step S10 as shown in Figure 1.Alternatively, the processor is realized when executing the computer program in above-mentioned each device example
Function, such as setting network node module 100 shown in Fig. 3.
Fourth embodiment of the invention：
Fourth embodiment of the invention provides a kind of computer readable storage medium, and the computer readable storage medium includes
The computer program of storage, such as a kind of program of interior space shortest path computational methods.Wherein, in the computer program
Equipment where controlling the computer readable storage medium when operation executes a kind of Interior Space described in above-mentioned first embodiment
Between shortest path computational methods.
Illustratively, the computer program described in third embodiment of the invention and fourth embodiment can be divided into one
A or multiple modules, one or more of modules are stored in the memory, and are executed by the processor, with complete
At the present invention.One or more of modules can complete the series of computation machine program instruction section of specific function, should
Instruction segment is used to describe execution of the computer program in a kind of interior space shortest path computing device of realization
Journey.For example, the device described in the embodiment of the present invention two.
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), application-specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng the processor is the control centre of the interior space shortest path computational methods, utilizes various interfaces and connection
The entire various pieces for realizing interior space shortest path computational methods.
The memory can be used for storing the computer program and/or module, and the processor is by running or executing
Computer program in the memory and/or module are stored, and calls the data being stored in memory, is realized indoor
The various functions of space shortest path computational methods.The memory can include mainly storing program area and storage data field,
In, storing program area can storage program area, application program (such as sound-playing function, word needed at least one function
Conversion function etc.) etc.；Storage data field can store that (for example audio data, word disappear according to the created data that use of mobile phone
Cease data etc.) etc..In addition, memory may include high-speed random access memory, can also include nonvolatile memory, example
Such as hard disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure
Digital, SD) card, flash card (Flash Card), at least one disk memory, flush memory device or other volatibility are solid
State memory device.
Wherein, if a kind of module of interior space shortest path computing device is real in the form of SFU software functional unit
Now and when sold or used as an independent product, it can be stored in a computer read/write memory medium.Based in this way
Understanding, the present invention realize above-described embodiment method in all or part of flow, can also be instructed by computer program
Relevant hardware is completed, and the computer program can be stored in a computer readable storage medium, the computer journey
Sequence is when being executed by processor, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes calculating
Machine program code, the computer program code can be source code form, object identification code form, executable file or it is certain in
Between form etc..The computer-readable medium may include：Any entity or dress of the computer program code can be carried
Set, recording medium, USB flash disk, mobile hard disk, magnetic disc, CD, computer storage, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software
Distribution medium etc..It should be noted that the content that the computer-readable medium includes can be according to making laws in jurisdiction
Requirement with patent practice carries out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent practice, computer
Readable medium does not include electric carrier signal and telecommunication signal.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separating component
The unit of explanation may or may not be physically separated, and the component shown as unit can be or can also
It is not physical unit, you can be located at a place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of module therein is selected to achieve the purpose of the solution of this embodiment.In addition, device provided by the invention
In embodiment attached drawing, the connection relation between module indicates there is communication connection between them, specifically can be implemented as one or
A plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, you can to understand
And implement.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (9)
1. a kind of interior space shortest path computational methods, which is characterized in that the method includes：
According to the layout and distribution of obstacles of the interior space, network node is set；Wherein, the network node is set to the room
The spatial variations point in interior space；
The interior space is divided into multiple sub-regions；Wherein, include at least one network node in the sub-region,
And any point in the sub-region can be transferred through the one of row or column to the net being connected directly in the sub-region twice
Network node；
Starting point sub-region where obtaining starting point, terminal respectively and terminal sub-region；
According to the starting point sub-region and the terminal sub-region, determine the network node of the starting point sub-region to the terminal
Network of the starting point to the starting point sub-region in first path, the starting point sub-region between the network node of sub-region
The terminal is between the network node of the terminal sub-region in the second path and the terminal sub-region between node
Third path；Wherein, the first path, the second path, third path are respectively the shortest path of the point-to-point transmission corresponding to it
Diameter；
According to starting point described in the first path, the second path and third path computing to the shortest path of the terminal.
2. according to the method described in claim 1, it is characterized in that, by using dijkstra's algorithm to the first path into
Row shortest path calculates.
3. a kind of interior space shortest path computational methods according to claim 1, which is characterized in that second path
Shortest path calculate step include：
Obtain the plotted point, the network node in the starting point sub-region, institute of the first path and the starting point sub-region
State starting point；
Structure is with the network node in the plotted point of the first path and the starting point sub-region, the starting point sub-region, institute
The triangle that starting point is vertex is stated, determines that the starting point to the path of the joint is second path.
4. according to the method described in claim 1, it is characterized in that, the calculating step in the third path includes：
Obtain the plotted point of the first path and the terminal sub-region, network node in the terminal sub-region, described
Terminal；
Build the plotted point of the first path and the terminal sub-region, network node in the terminal sub-region, described
Terminal is the triangle on vertex, determines that the terminal to the path of the joint is the third path.
5. the method according to claim 1, which is characterized in that be made up of the grid with multiple continuous phases etc. to position the room
Position in interior space so that all positions of the interior space can be encoded by the ranks of the grid come into rower
Note.
6. method according to claim 1, which is characterized in that the spatial variations point of the interior space includes the Interior Space
Between in door position at, the intersection in corridor or bifurcation, the turning with barrier.
7. the device that a kind of interior space shortest path calculates, which is characterized in that described device includes：
Network node setup module, for according to interior space layout and distribution of obstacles, network node to be arranged；Wherein, described
Network node is set to spatial variations point；
Division module, for the interior space to be divided into multiple sub-regions；Wherein, comprising at least one in the sub-region
The network node, and any point in the sub-region can be transferred through the one of row or column to twice be connected directly to the secondary area
The network node in domain；
Acquisition module, for obtaining starting point, terminal the starting point sub-region at place and terminal sub-region respectively；
For obtaining the plotted point of the first path and the starting point sub-region, the network section in the starting point sub-region
Point, the starting point；
For obtaining the plotted point of the first path and the terminal sub-region, the network node in the terminal sub-region,
The terminal；
Path module is determined, for according to the starting point sub-region and the terminal sub-region, determining the starting point sub-region
Network node between the network node of the terminal sub-region first path, in the starting point sub-region starting point to institute
It is secondary to the terminal to state the terminal in the second path and the terminal sub-region between the network node of starting point sub-region
Third path between the network node in region；Wherein, the first path, the second path, third path are respectively that its institute is right
The shortest path for the point-to-point transmission answered；
Computing module, for according to starting point described in the first path, the second path and third path computing to the terminal
Shortest path；For carrying out shortest path calculating to the first path by using dijkstra's algorithm；For described
The shortest path in two paths and the third path calculates；Wherein, the computing module further includes building module and labeling module,
The structure module is used to build with the plotted point of the first path and the starting point sub-region, the starting point sub-region
Interior network node, the triangle that the starting point is vertex determine that the starting point to the path of the joint is described second
Path；For building the plotted point of the first path and the terminal sub-region, the network node in the terminal sub-region,
The terminal is the triangle on vertex, determines that the terminal to the path of the joint is the third path；
The labeling module makes for being made up of the grid with multiple continuous phases etc. to position the position in the interior space
Obtaining all positions of the interior space can be encoded to be labeled by the ranks of the grid.
8. a kind of terminal device, which is characterized in that including processor, memory and be stored in the memory and be configured
The computer program executed by the processing, the processor realize such as claim 1 to 6 times when executing the computer program
Interior space shortest path computational methods described in one.
9. a kind of computer readable storage medium, which is characterized in that the computer readable storage medium includes the calculating of storage
Machine program, wherein equipment where controlling the computer readable storage medium when the computer program is run is executed as weighed
Profit requires the interior space shortest path computational methods described in any one of 1 to 6.
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