CN109189871A - A kind of method and apparatus of Indoor environment path planning - Google Patents
A kind of method and apparatus of Indoor environment path planning Download PDFInfo
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- CN109189871A CN109189871A CN201810911873.6A CN201810911873A CN109189871A CN 109189871 A CN109189871 A CN 109189871A CN 201810911873 A CN201810911873 A CN 201810911873A CN 109189871 A CN109189871 A CN 109189871A
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Abstract
The invention discloses a kind of method and apparatus of Indoor environment path planning, and wherein method comprises determining that the channel elements in the architectural plane diagram data of building, channel elements include at least one of the following: wall, door, window, elevator & stairs, column；Channel data is generated according to channel elements, channel data includes channel path and channel node, channel path is used to indicate every channel in architectural plane diagram data, and channel node is used to indicate the node in every channel, and node includes: starting point, terminal, the intersection point with channel；At least two destination nodes selected according to channel data and from node, determine the path between at least two destination nodes.In the present embodiment, channel data is generated according to the architectural plane diagram data of building, channel data provides support for indoor path planning, according to channel data, easily quickly can determine the path between node according to selection node.
Description
Technical field
The present invention relates to Cartographic Technique field, in particular to a kind of method and apparatus of Indoor environment path planning.
Background technique
In recent years as the rapid growth of urban population and the construction of more and more heavy constructions, most people are average
The time indoors alreadyd exceed in the outdoor time daily, and indoor environment has become the master of name daily life, work
Want scene.Simultaneously with large-scale interior architecture complication deepen, people in the short time from it is indoor certain point to more in addition
Demand increase rapidly, in addition indoor and outdoor map environment, in terms of have very big difference, for outdoor road
Diameter analysis method cannot be directly used to interior.Therefore, a kind of method of indoor path planning is needed.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of method and apparatus of Indoor environment path planning, to for
User provides the path of indoor at least point-to-point transmission.
A kind of method of Indoor environment path planning provided by the invention, comprising:
Determine that the channel elements in the architectural plane diagram data of the building, the channel elements include following at least one
: wall, door, window, elevator & stairs, column；
Channel data is generated according to the channel elements, the channel data includes channel path and channel node, described
Channel path is used to indicate every channel in architectural plane diagram data, and the channel node is for indicating every channel
Node, the node include: starting point, terminal, the intersection point with channel；
According to the channel data and at least two destination nodes selected from the node, described at least two are determined
Path between a destination node.
In an embodiment of the present invention, it is described according to the channel data and selected from the node at least two
Destination node, before determining the path between at least two destination node, the method also includes:
The channel data is superimposed upon on the architectural plane diagram data and is sent to client as indoor map；
At least two nodes of client transmission selected in the indoor map are received as at least two mesh
Mark node；
After path between determination at least two destination node, the method also includes:
The path is sent to the client, so that the path is superimposed upon the indoor map by the client
Upper display.
In an embodiment of the present invention, the path between the determination at least two destination node, comprising:
Determine the shortest path between at least two destination node.
It is in an embodiment of the present invention, described that channel data is generated according to the architectural plane diagram data, comprising:
Starting point, direction and the terminal in channel are determined according to the channel elements, wherein the starting point includes following at least one
: door, lift port and stairs port；The direction includes: the direction parallel and/or vertical with the baseline of building, and/or with rise
The parallel and/or vertical direction of plane where point；The terminal includes at least one of the following: wall, door, window, lift port, stair
Mouth, channel；
Since determining starting point, with linear advancement and column is avoided along determining direction, until reaching determining end
Point, to generate the channel path indicated with straight line；
The channel node is generated according to the channel path.
It is in an embodiment of the present invention, described that the channel node is generated according to the channel path, comprising:
Automatic chain rupture is carried out to the channel line feature in channel path, generates channel node.
The present invention also provides a kind of devices of Indoor environment path planning, comprising:
First determining module, the channel elements in architectural plane diagram data for determining the building, the channel
Element includes at least one of the following: wall, door, window, elevator & stairs, column；
Generation module, for according to the channel elements generate channel data, the channel data include channel path and
Channel node, the channel path are used to indicate every channel in architectural plane diagram data, and the channel node is for marking
The node in every channel is shown, the node includes: starting point, terminal, the intersection point with channel；
Second determining module, for according to the channel data and at least two target sections selected from the node
Point determines the path between at least two destination node.
In an embodiment of the present invention, described device further include:
First sending module, at least two selected according to the channel data and from the node for determining module
The channel data before determining the path between at least two destination node, is superimposed upon described build by a destination node
It builds and is sent to client as indoor map on planogram data；
Receiving module, for receiving at least two nodes of client transmission selected in the indoor map as institute
State at least two destination nodes；
Second sending module, for the path to be sent to client, so that the client is by the shown path
It is superimposed upon in the indoor map and shows.
In an embodiment of the present invention, the determining module is most short between at least two destination node for determining
Path.
In an embodiment of the present invention, the generation module, comprising:
Submodule is determined, for determining starting point, direction and the terminal in channel according to the channel elements, wherein described
Point includes at least one of the following: door, lift port and stairs port；The direction includes: parallel and/or vertical with the baseline of building
Direction, and/or the direction that plane where with starting point is parallel and/or vertical；The terminal include at least one of the following: wall,
Door, window, lift port, stairs port, channel；
Channel path submodule is generated, for linear advancement and being kept away since determining starting point along determining direction
Column is opened, until reaching determining terminal, to generate the channel path indicated with straight line；
Channel node submodule is generated, for generating the channel node according to the channel path.
In an embodiment of the present invention, generation channel node submodule, is used for: wanting to the channel line in channel path
Element carries out automatic chain rupture, generates channel node.
The technical solution that the embodiment of the present invention provides can include the following benefits:
In the present embodiment, channel data, channel are generated according to the channel elements in the architectural plane diagram data of building
Data include channel path and channel node, and channel path is used to indicate the i.e. indoor every channel of architectural plane diagram data,
Channel node is used to indicate the node in every channel, and node includes: starting point, terminal, the intersection point with channel.Channel data is room
Interior path planning provides support, according to channel data, can easily quickly be determined between node according to selection node
Path.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the method flow diagram of the Indoor environment path planning in one embodiment of the invention；
Fig. 2 is the method flow diagram of the Indoor environment path planning in one embodiment of the invention；
Fig. 3 is the method flow diagram of the Indoor environment path planning in one embodiment of the invention；
Fig. 4 is the method flow diagram of the Indoor environment path planning in one embodiment of the invention；
Fig. 5 is the schematic diagram of the channel path in one embodiment of the invention；
Fig. 6 is the schematic diagram in the treatment channel path in one embodiment of the invention；
Fig. 7 is the schematic diagram of the channel node in one embodiment of the invention；
Fig. 8 is the schematic diagram for the architectural plan issued in one embodiment of the invention；
Fig. 9 is the schematic diagram for the channel path issued in one embodiment of the invention；
Figure 10 is the schematic diagram for the channel node issued in one embodiment of the invention；
Channel data is superimposed upon on architectural plane diagram data for what is issued in one embodiment of the invention as interior by Figure 11
The schematic diagram of map；
Figure 12 is the schematic diagram of the node of user's selection in one embodiment of the invention；
Figure 13 is to show the indoor map in path in one embodiment of the invention；
Figure 14 is the structural schematic diagram of the Indoor environment path planning assembling device in one embodiment of the invention；
Figure 15 is the structural schematic diagram of the Indoor environment path planning assembling device in one embodiment of the invention；
Figure 16 is the structural schematic diagram of the Indoor environment path planning assembling device in one embodiment of the invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
In the related technology, indoor and outdoor map environment, in terms of have very big difference, for outdoor road
Diameter analysis method cannot be directly used to interior, and it is one urgently to be resolved that efficient indoor path planning how could be provided for user
The problem of.
To solve the above problems, the present embodiment generates channel data according to the architectural plane diagram data of building, in turn
Path planning is provided according to the channel data.Referring to Fig. 1, the method for the Indoor environment path planning in the present embodiment includes:
Step 101: determining that the channel elements in the architectural plane diagram data of building, channel elements include following at least one
: wall, door, window, elevator & stairs, column.
Step 102: generating channel data according to channel elements, channel data includes channel path and channel node, channel
Path is used to indicate every channel in architectural plane diagram data, and channel node is used to indicate the node in every channel, section
Point includes: starting point, terminal, the intersection point with channel.
Step 103: at least two destination nodes selected according to channel data and from node determine at least two mesh
Mark the path between node.
In the present embodiment, channel data, channel are generated according to the channel elements in the architectural plane diagram data of building
Data include channel path and channel node, and channel path is for indicating indoor every channel, and channel node is for indicating
The node in every channel out, node include: starting point, terminal, the intersection point with channel.Channel data provides for indoor path planning
It supports, according to channel data, the path between node quickly easily can be determined according to selection node.
Optionally, as shown in Fig. 2, before step 103, the method also includes following steps:
Step 104: channel data being superimposed upon on architectural plane diagram data and is sent to client as indoor map.
Step 105: receiving at least two nodes selected on the map indoors that client is sent as at least two mesh
Mark node.
And after the path that step 103 determines between at least two destination nodes, the method also includes:
Step 106: path being sent to client, is shown so that path is superimposed upon in indoor map by client.
In the present embodiment, client is sent to as indoor map by the way that channel data to be superimposed upon on architectural plane diagram data
End, family, which can be used, can be clearly seen that all channels and node on architectural plan, convenient for for therefrom selecting at least
Beginning and end of two nodes as path.At least two nodes that user selects in the indoor map of generation are received, it is raw
After the path between at least two node, path is sent to client, so that user indoors can be clear on map
Know to Chu the path between selected two nodes.
Optionally, the path between at least two destination node of determination, comprising: determine at least two destination nodes it
Between shortest path.
In the present embodiment, the shortest path between at least two destination nodes selected can be determined.It therefore, is user
Provide the shortest path from an indoor node to another indoor node.
As shown in figure 3, step 102 may further include:
Step 301: starting point, direction and the terminal in channel are determined according to channel elements, wherein the starting point include with down toward
One item missing: door, lift port and stairs port；The direction includes: the direction parallel and/or vertical with the baseline of building, and/or
The direction parallel and/or vertical with plane where starting point；The terminal include at least one of the following: wall, door, window, lift port,
Stairs port, channel.
Step 302: since determining starting point, with linear advancement and column is avoided along determining direction, until reaching
Determining terminal, to generate the channel path indicated with straight line.
Step 303: channel node is generated according to channel path.
In the present embodiment, using the wall for including in architectural plan, door, window, elevator & stairs, column etc. is to people's row
Influential channel elements are walked, by determining starting point, the direction, terminal in channel, determine that building is flat to avoid the straight line of column
Channel in the figure of face gives the concrete scheme that channel data is generated according to architectural plan.
Optionally, step 303 includes: to carry out automatic chain rupture to the channel line feature in channel path, generates channel node.
In the present embodiment, by carrying out automatic chain rupture to the channel line feature in channel path, realize according to passway
Diameter generates channel node, is simple and efficient.
Realization process is discussed in detail below by embodiment.
Referring to fig. 4, the method in the present embodiment can be applied to server.Indoor environment path rule in the present embodiment
Draw method include:
Step 401: determining that the channel elements in the architectural plane diagram data of building, channel elements include following at least one
: wall, door, window, elevator & stairs, column.
The architectural plan of building typically refers to be by the wall of building, door, window, stair, ground and built-in function cloth
The building situation such as office, to scheme composed by floor projection method and corresponding legend.The building that electronic edition can be directly acquired is flat
Face diagram data, or architectural plane diagram data is drawn according to the papery figure of offer.
Channel elements are generated necessary to channel data in architectural plane diagram data.Channel elements include following at least one
: wall, door, window, elevator (including lift port), stair (including stairs port), column etc..
Can use ArcMap10.2, (ArcMap: a kind of user's desktop component has powerful cartography, space point
Analysis, spatial data build the functions such as library) be loaded into building architectural plane diagram data (such as CAD diagram of dwg or dxf format) for
It is subsequently generated channel data.Corresponding close can be carried out to the figure layer in architectural plane diagram data to be arranged, and guarantee channel elements
Display, other pairs of channels, which acquire inessential contents, may be at closed state.
It is then possible to create shapefile data layer in the Catalog (catalogue) of ArcMap, the figure layer is entitled
Passageway (channel), characteristic type are Polyline (line) to store the channel data next generated.
Step 402: starting point, direction and the terminal in channel are determined according to the channel elements in architectural plane diagram data.
The starting point in channel includes at least one of the following: that door, lift port and stairs port, door include the entrance and room of building
Door.
In view of the trend in general channel and the baseline of building are parallel or vertical, or the circumference wall with building
Body is parallel or vertical.Therefore indoors channel acquire when, it may be considered that with the baseline level of building and/or vertical direction,
And it is also conceivable to the direction parallel and/or vertical with plane where starting point.
The terminal in channel includes at least one of the following: wall, door, window, lift port, stairs port, channel, which is really
Fixed channel.That is, encountering these above-mentioned channel elements in channel acquisition progradation then terminates to be collected a channel.
Step 403: since determining starting point, with linear advancement and column is avoided along determining direction, until reaching
Determining terminal, to generate the channel path indicated with straight line.
After being determined the direction in channel, starting point, terminal, so that it may generate channel path.One channel path is from one
The starting point of a determination starts, and with linear advancement and avoids column along a determining direction, until reaching a determining end
Point.All starting points, direction and terminal are traversed, so as to generate indoor all channels.
For example, following several situations can be divided by generating channel path:
If A, starting point is the entrance door of building, can unidirectionally advance along the direction vertical with plane where door, it is past
The inside linear advancement of building generates channel path, and the straight line for expressing channel must avoid internal column.
It, can be along the direction Bidirectional pulling vertical with plane where door if B, starting point is the door in interior of building room
Into that is, on the one hand linear advancement generates channel path inside past room, on the other hand promotes toward room outer linear and generates channel
Path.
It, can be along the side vertical with plane where elevator door if C, starting point is elevator (lift port space is relatively narrow)
Advance to unidirectional, the inside linear advancement toward building generates channel path, and the straight line for expressing channel must avoid the vertical of inside
Column.
If D, starting point is open elevator (oblique elevator inside such as market, lift port space is broad spacious), then need
The hinge in a channel is formed before elevator, i.e., on the one hand unidirectionally advance along the direction vertical with facade where lift port,
Inside linear advancement toward building generates channel path, and the straight line for expressing channel must avoid internal column, on the other hand
Channel path is generated along the two-way advance of the parallel direction of facade where lift port, the straight line for expressing channel must avoid inside
Column.
If E, starting point is stairs port, it can unidirectionally advance along the direction vertical with plane where door, toward building
Internal linear advancement generates channel path, and the straight line for expressing channel must avoid internal column.
The channel path of generation includes indoor all beeline channels that can be walked, such as makes each door, elevator & stairs
Mouth has channel arrival, at least one, each corridor to may be embodied in a channel along the channel of longitudinal direction, column
In " well " word constituted.
Can be seen that purport by the method for generating channel path above is 5 points: 1. determining channel direction；2. finding door
For starting point；3. avoiding column；4. determining terminal；5. the acquisition of flood channel is completed.With door (door, elevator & stairs) for starting point, avoid
Indoor column is pushed ahead, and until another door or is met wall and is terminated the acquisition of channel.So the channel path generates
Method can be referred to as " look for door to keep away column and hit wall (door) " method.
If the building has multilayer, above-mentioned channel path generation method can be carried out to each layer of the building.
It is illustrated in figure 5 the schematic diagram of the channel data saved in the passageway figure layer established before.
Step 404: automatic chain rupture being carried out to the channel line feature in channel path, generates channel node.
For example, using drawing frame select tools to choose all line features in channel layer passageway, as shown in Figure 6.If
Setting passageway figure layer is editing mode.Oneself of channel line feature is realized using the planarize lines tool of ArcMap
Dynamic circuit breaker chain, cluster threshold value are set as 0.001, and the result of the channel node generated after automatic chain rupture and after treatment is as shown in Figure 7.
Step 405: will include the channel data progress coordinate system and projection transform of channel path and channel node.
The step be used for by the architectural plane diagram data of channel data and building according to the same coordinate system convert with
And projection transform is shown so that the two matches convenient for subsequent accurately channel data can be superimposed upon on architectural plane diagram data
Show.
Can use Data Management Tools in the ArcToolbox tool in ArcMap →
Projections and Transformations → Feature → Project and with specified coordinate system and projection to logical
Track data is converted.
Step 406: architectural plane diagram data and channel data are imported into database.
Architectural plane diagram data is usually all to be produced with DWG format, therefore need to be converted into before carrying out Web Publishing
Shp data format.ArcMap load cad file can be used in a kind of method, selects the area pattern needed, using exporting as
The method of shp file is converted.The Conversion in the ArcToolbox in ArcMap can be used in another method
Tools → To Shapefile → Feature Class To, the element inputted required for selecting and outgoing route.
Architectural plane diagram data after format is converted again carries out coordinate system and projection transform.Here it is referred to channel
The method that data carry out coordinate system and projection transform should turn architectural plane diagram data with same coordinate system and projection
It changes.
Then the architectural plane diagram data after conversion is imported into database.Such as a kind of operation Postgis (open source data
Library) client-side program, in connection after database, so that it may which shp map datum is imported database.After importing successfully, in number
According to generating corresponding architectural plan tables of data in library.
Database is imported for channel data, channel data passageway.shp can be used into Postgis client
It imported into database.After importing successfully, corresponding channel data table " passageway3857 " is generated in the database.
When channel data is imported database, the requirement that shortest path calculating can also be carried out according to Postgis is carried out
The extension of field executes following sql sentence and increases field.
Add source (source) field:
ALTER TABLE passageway3857ADD COLUMN source integer；
Add target (target) field:
ALTER TABLE passageway3857ADD COLUMN target integer；
Add length (length) field:
ALTER TABLE passageway3857ADD COLUMN length double precision；
Calculate the length of each line segment:
UPDATE passageway3857SET length=ST_Length (geom)；
Node matching, node, the building of segmental arc incidence relation:
Select pgr_createTopology (' passageway3857', 0.001, source:='source',
Id:='gid', target:='target', the_geom:='geom')
New data table passageway3857' can be generated later by executing these sentences, which will store This floor port number
All node datas in, useful information are the geometric coordinate of node i d and node.The incidence relation of segmental arc and node note
Record is in passageway3857 tables of data, the wherein source and target field record first and last knot of segmental arc (line feature)
Point.
Architectural plane diagram data and channel data are imported into database, so that it may carry out Web Publishing.It can will build
It builds planogram data and channel data is issued (such as can be shown by browser) respectively, i.e., indoor map is such as
Architectural plan shown in Fig. 8,9,10, channel path and channel node.
Step 407: channel data being superimposed upon on architectural plane diagram data and is sent to client as indoor map.
As shown in figure 11, channel data is superimposed upon on architectural plane diagram data and is sent to client as indoor map and shows
It shows and, client is, for example, browser etc..It would indicate that the channel path and channel section in channel data in the indoor map
Point.
Step 408: receiving at least two nodes selected on the map indoors that client is sent.
Section is arranged in client for indoor map of the display channel data investigation on architectural plane diagram data in the client
Point chooses toolbar button.User can be by repeatedly being selected, to select at least two sections on the button indoors map
Point.As shown in figure 12, multiple node A, B, C, D, E, F, G have been selected, wherein can specify beginning and end in node is A point
With B point.
Step 409: according to channel data, generating the shortest path between at least two node.
Path is generated using the shortest path first that pgrouting (expansion module of data bank network analysis) plug-in unit provides
Data specifically include:
A: Dijkstra (Di Jiesitela) algorithm provided using pgrouting plug-in unit carries out shortest path calculating.
SELECT*FROM pgr_dijkstra('SELECT gid as id,source::integer,target::
integer,length::double precision as cost FROM passageway3857',531,23,false,
false)；Part returns the result as shown in the table:
Field seq is the fragment sequence number for forming the shortest path, and field id1 is the start node of the segment, field id2
It is the segment in passageway3857' data for gid of the segment in passageway3857 ' tables of data, field cost
Length in table.
It can be seen that the coordinate of the algorithm not line of return data, but the gid of line segment is had recorded, therefore to obtain road
The coordinate of diameter simultaneously visualizes on map, then needs the record set of dijkstra's algorithm range and original line table
Passageway3857 does a Connection inquiring using sql to obtain the coordinate information of geom field.
B: the coordinate of shortest path is obtained
SELECT st_astext(geom)FROM pgr_dijkstra('SELECT gid AS id,source::
integer,target::integer,length::double precision AS cost FROM
Passageway3857', 531,23, false, false) as di join passageway3857pt on di.id2=
pt.gid；Part returns the result as follows:
In this way, just obtaining the coordinate data of all segments of shortest path.
C: new table storage shortest path data are generated
SELECT seq,id1AS node,id2AS edge,cost,geom into dijkstra_res FROM
pgr_dijkstra('SELECT gid AS id,source::integer,target::integer,length::double
precision AS cost FROM passageway3857',531,23,false,false)as di join
Passageway3857pton di.id2=pt.gid；Part returns the result as follows:
The table for storing shortest path data is exported into shp data using postgis client.
Step 410: shortest path being sent to client, is shown so that path is superimposed upon in indoor map by client.
Indoor map to have indicated the path (indicating using thick line) determined according to selected node as shown in figure 13.
By the indoor map, user can clearly know from A point by multiple intermediate nodes how to reach B point.
The present embodiment may be implemented in complicated interior architecture map, realize the analysis to shortest path between two o'clock,
And by can reach preferable bandwagon effect for shortest path data and indoor map data investigation.
By the way that above description describes the realization process of Indoor environment path planning, which can be realized by device, under
Internal structure and function in face of the device are introduced.
Referring to Figure 14, the Indoor environment path planning apparatus in the present embodiment includes: the first determining module 1401, generates
Module 1402 and the second determining module 1403.
First determining module 1401, the channel elements in architectural plane diagram data for determining the building are described
Channel elements include at least one of the following: wall, door, window, elevator & stairs, column；
Generation module 1402, for generating channel data according to the architectural plane diagram data, the channel data includes
Channel path and channel node, the channel path is for indicating indoor every channel, and the channel node is for indicating
The node in every channel out, the node include: starting point, terminal, the intersection point with channel；
Second determining module 1403, for according to the channel data and at least two mesh selected from the node
Node is marked, determines the path between at least two destination node.
In an embodiment of the present invention, as shown in figure 15, described device further include:
First sending module 1404 is selected according to the channel data and from the node for determining module 1403
At least two destination nodes the channel data is superimposed before determining the path between at least two destination node
Client is sent to as indoor map on the architectural plane diagram data；
Receiving module 1405, at least two nodes selected in the indoor map for receiving client transmission are made
For at least two destination node；
Second sending module 1406, for the path to be sent to client, so that the client will be shown described
Path is superimposed upon in the indoor map and shows.
In an embodiment of the present invention, the determining module 1403 is for determining between at least two destination node
Shortest path.
In an embodiment of the present invention, as shown in figure 16, the generation module 1402, comprising:
Submodule 1601 is determined, for determining starting point, direction and the terminal in channel according to the channel elements, wherein institute
It states starting point and includes at least one of the following: door, lift port and stairs port；The direction include: it is parallel with the baseline of building and/or
Vertical direction, and/or the direction parallel and/or vertical with plane where starting point；The terminal includes at least one of the following: wall
Body, door, window, lift port, stairs port, channel；
Channel path submodule 1602 is generated, for since determining starting point, along determining direction with linear advancement
And column is avoided, until reaching determining terminal, to generate channel path；
Channel node submodule 1603 is generated, for generating the channel node according to the channel path.
In an embodiment of the present invention, generation channel node submodule 1603, is used for:
Automatic chain rupture is carried out to the channel line feature in channel path, generates channel node.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The shape for the computer program product implemented in usable storage medium (including but not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of method of Indoor environment path planning characterized by comprising
Determine that the channel elements in the architectural plane diagram data of the building, the channel elements include at least one of the following:
Wall, door, window, elevator & stairs, column；
Channel data is generated according to the channel elements, the channel data includes channel path and channel node, the channel
Path is used to indicate every channel in architectural plane diagram data, and the channel node is used to indicate the section in every channel
Point, the node include: starting point, terminal, the intersection point with channel；
According to the channel data and at least two destination nodes selected from the node, at least two mesh is determined
Mark the path between node.
2. the method according to claim 1, wherein described according to the channel data and from the node
At least two destination nodes of selection, before determining the path between at least two destination node, the method also includes:
The channel data is superimposed upon on the architectural plane diagram data and is sent to client as indoor map；
At least two nodes of client transmission selected in the indoor map are received as at least two targets section
Point；
After path between determination at least two destination node, the method also includes:
The path is sent to the client, is shown so that the path is superimposed upon in the indoor map by the client
Show.
3. according to the method described in claim 2, it is characterized in that, road between the determination at least two destination node
Diameter, comprising:
Determine the shortest path between at least two destination node.
4. the method according to claim 1, wherein described generate channel data, packet according to the channel elements
It includes:
Starting point, direction and the terminal in channel are determined according to the channel elements, wherein the starting point includes at least one of the following:
Door, lift port and stairs port；The direction includes: the direction parallel and/or vertical with the baseline of building, and/or and starting point
The parallel and/or vertical direction of place plane；The terminal includes at least one of the following: wall, door, window, lift port, stair
Mouth, channel；
Since determining starting point, with linear advancement and column is avoided along determining direction, until reaching determining terminal, from
And generate the channel path indicated with straight line；
The channel node is generated according to the channel path.
5. according to the method described in claim 4, it is characterized in that, described generate the channel section according to the channel path
Point, comprising:
Automatic chain rupture is carried out to the channel line feature in channel path, generates channel node.
6. a kind of device of Indoor environment path planning characterized by comprising
First determining module, the channel elements in architectural plane diagram data for determining the building, the channel elements
Include at least one of the following: wall, door, window, elevator & stairs, column；
Generation module, for generating channel data according to the channel elements, the channel data includes channel path and channel
Node, the channel path are used to indicate every channel in architectural plane diagram data, and the channel node is for indicating
The node in every channel, the node include: starting point, terminal, the intersection point with channel；
Second determining module, for according to the channel data and at least two destination nodes selected from the node,
Determine the path between at least two destination node.
7. device according to claim 6, which is characterized in that described device further include:
First sending module, at least two selected according to the channel data and from the node for the determining module
The channel data before determining the path between at least two destination node, is superimposed upon described build by a destination node
It builds and is sent to client as indoor map on planogram data；
Receiving module, for receive client transmission at least two nodes selected in the indoor map as described in extremely
Few two destination nodes；
Second sending module, for the path to be sent to client, so that the shown path is superimposed by the client
It is shown in the indoor map.
8. device according to claim 7, which is characterized in that second determining module is for determining described at least two
Shortest path between destination node.
9. device according to claim 6, which is characterized in that the generation module, comprising:
Submodule is determined, for determining starting point, direction and the terminal in channel according to the channel elements, wherein the starting point packet
It includes at least one of following: door, lift port and stairs port；The direction includes: the side parallel and/or vertical with the baseline of building
To, and/or the direction parallel and/or vertical with plane where starting point；The terminal include at least one of the following: wall, door,
Window, lift port, stairs port, channel；
Channel path submodule is generated, for linear advancement and avoiding standing along determining direction since determining starting point
Column, until reaching determining terminal, to generate channel path；
Channel node submodule is generated, for generating the channel node according to the channel path.
10. device according to claim 9, which is characterized in that generation channel node submodule is used for: to channel
Channel line feature in path carries out automatic chain rupture, generates channel node.
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