CN110542424B - Automatic navigation method and system for household space area - Google Patents
Automatic navigation method and system for household space area Download PDFInfo
- Publication number
- CN110542424B CN110542424B CN201910825865.4A CN201910825865A CN110542424B CN 110542424 B CN110542424 B CN 110542424B CN 201910825865 A CN201910825865 A CN 201910825865A CN 110542424 B CN110542424 B CN 110542424B
- Authority
- CN
- China
- Prior art keywords
- area
- room
- level
- door
- rooms
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
Abstract
The invention discloses a method and a system for automatic navigation of a household space area, and belongs to the technical field of intelligent home furnishing. The automatic navigation monitoring method of the unmanned aerial vehicle can effectively utilize the unmanned aerial vehicle to automatically and autonomously determine a planned route according to the structures of different house-type rooms, and can carry out real-time tour on each room in the unmanned aerial vehicle in an all-round and dead-angle-free manner.
Description
Technical Field
The invention discloses a method and a system for automatic navigation of a household space area, and belongs to the technical field of intelligent home furnishing.
Background
With the development of living standards, people urgently need a method for patrolling each room in the house and acquiring images in real time under the condition that no people are at home.
In the prior art, monitoring is usually performed by adopting a monitoring camera, but the method has the problem that dead angles exist in the process of acquiring images and acquiring images, which cannot be performed on all rooms.
Therefore, there is an urgent need for a technology for patrolling each living room in the home based on the existing simple unmanned aerial vehicle device.
Disclosure of Invention
The purpose of the invention is: the problem of among the prior art at home the unmanned person, adopt the camera control to exist can not have the dead angle to whole room control, image acquisition. The automatic navigation monitoring method of the unmanned aerial vehicle can effectively utilize the unmanned aerial vehicle to automatically and autonomously determine a planned route according to the structures of different house-type rooms, and can carry out real-time tour on each room in the unmanned aerial vehicle in an all-round and dead-angle-free manner.
The technical scheme is as follows:
a method for automatically navigating a residential space area comprises the following steps:
step 1, obtaining data of a house type graph, wherein the data comprises: wall information, information of each room, functional labels of the rooms, position information of the door opening and attribution relationship information of the door opening and the rooms;
step 2, identifying the home area of the entrance door as the entrance area; judging whether other room areas are adjacent to the home area or not; if other room areas are adjacent to the home-entering area, the other room areas and the home-entering area are classified as a first-level area; if no other room area is adjacent to the home area, directly attributing the home area to the first-level area;
step 3, sequentially traversing first-level door openings except the entrance door in the first-level area, and identifying the home area of the first-level door opening, which belongs to the second-level area;
step 4, traversing second-level door openings except the first-level door opening in the second-level area in sequence, identifying the attribution areas of other door openings and attributing to a third-level area; until all the door openings are traversed, obtaining the grading labels of all the rooms;
step 5, setting the flying height of the unmanned aerial vehicle; determining a center point of each room;
step 6, judging whether the living room and the dining room are in an adjacent position relationship; if the two are adjacent, the step 6.1 is carried out, and if the two are not adjacent, the step 6.2 is carried out;
step 6.1, taking the midpoint of a connecting line of the midpoints of the restaurant and the living room as a transit point, and enabling the unmanned aerial vehicle to move to the transit point; sequentially traversing the rooms with the tree structures formed by the regions at all levels by taking the transit point as a starting point until all the rooms at all levels are traversed;
and 6.2, sequentially traversing the rooms with the tree structures formed by the regions at all levels from the starting point in the first-level region until all the rooms at all levels are traversed.
In one embodiment, in step 3 and step 4, the method for determining the home zone of the door opening is: and taking the middle point of the central line of the door opening, and respectively making two vertical extension lines of the central line of the door opening, wherein if the other end point of the vertical line is positioned in one room area, the door opening belongs to the room area.
In one embodiment, the flight height of the drone is half the height of a room.
In one embodiment, in steps 6.1 and 6.2, the drone enters the room at each level and then enters the middle point of the room.
In one embodiment, in step 6.2, the step of determining the starting point located in the first level region is: drawing a vertical line from the plane direction of the entrance door to the room of the house type figure and extending the vertical line, and if the distance between the intersection point of the extension line and the entrance door is smaller than a set threshold value, taking the midpoint of the extension line as a starting point; and if the distance between the intersection point of the extension lines and the entrance door is greater than or equal to a set threshold value, taking the midpoint of the entrance door as a starting point.
A system for automated home-based spatial zone navigation, comprising:
the house type graph data acquisition module is used for acquiring the house type graph data, and the data comprises: wall information, information of each room, functional labels of the rooms, position information of the door opening and attribution relationship information of the door opening and the rooms;
the home module of the home zone of the entrance door is used for identifying the home zone of the entrance door as the entrance zone; judging whether other room areas are adjacent to the home area or not; if other room areas are adjacent to the home-entering area, the other room areas and the home-entering area are classified as a first-level area; if no other room area is adjacent to the home area, directly attributing the home area to the first-level area;
the area identification module is used for sequentially traversing the first-level door openings except the entrance door in the first-level area, identifying the attribution area of the first-level door opening and attributing to the second-level area; sequentially traversing second-level door openings except the first-level door opening in the second-level area, identifying the attribution areas of other door openings, and attributing to a third-level area; until all the door openings are traversed, and obtaining the grading labels of all the rooms;
the central point setting module of the room is used for determining the central point of each room;
the system comprises a position relation identification module of a living room and a dining room, a position relation identification module of the living room and the dining room, and a position relation identification module of the living room and the dining room, wherein the position relation identification module is used for judging whether the living room and the dining room are adjacent; if the adjacent unmanned aerial vehicle paths are not adjacent, the unmanned aerial vehicle enters a second unmanned aerial vehicle path setting module for processing;
the first unmanned aerial vehicle path setting module is used for taking the midpoint of a connecting line of the midpoints of the dining room and the living room as a transit point and enabling the unmanned aerial vehicle to move to the transit point; sequentially traversing the rooms with the tree structures formed by the regions at all levels by taking the transit point as a starting point until all the rooms at all levels are traversed;
and the second unmanned aerial vehicle path setting module is used for sequentially traversing the rooms with the tree structures formed by the regions at all levels from the starting point positioned in the first-level region until all the rooms at all levels are traversed.
In one embodiment, the unmanned aerial vehicle further comprises a flight height setting module.
A computer-readable medium carrying a program for executing the above-mentioned method for automatic navigation of a residential space area.
Advantageous effects
The invention firstly provides a method for automatically calculating the 'primary-secondary relationship' of a household type space region, which can expand the functional action of the household type (for example, the calculated 'primary-secondary relationship' can be utilized to carry out the dismounting and modification of a pair of 'primary-secondary relationship' space regions, namely, the pair of 'primary-secondary relationship' spaces can be directly marked on a software interface, so that a designer is prevented from manually observing the regions one by one with naked eyes, and the designer or other users can be automatically helped to clear the structural hierarchical relationship between the household type regions.
On the basis, the invention can automatically construct the automatic navigation path of the household space, plan the automatic navigation and patrol route of the unmanned aerial vehicle and finish the automatic acquisition of the real-time condition of each household space in the unmanned state of the household.
Drawings
FIG. 1 is a plan view of a house;
FIG. 2 is a flow chart of identifying rooms at various levels in a house layout;
FIG. 3 is an identification of a door in a house layout;
FIG. 4 is a determination of location affiliation of a door opening extension point;
FIG. 5 is a flow chart of determining a primary region;
FIG. 6 is a flow chart of determining a secondary region;
FIG. 7 is a flow chart of a method of automatic navigation of a residential spatial area;
FIG. 8 is a flow chart diagram of a method of constructing an automatic navigation path;
FIG. 9 is a schematic view of an entry door and area for Case 1;
FIG. 10 is a schematic view of an entry door and area of Case 2;
FIG. 11 is a navigation schematic;
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only examples or embodiments of the application, from which the application can also be applied to other similar scenarios without inventive effort for a person skilled in the art. It should be understood that these exemplary embodiments are given only for the purpose of enabling those skilled in the relevant art to better understand and to implement the present invention, and are not intended to limit the scope of the present invention in any way.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
Although various references are made herein to certain systems, modules, or elements of a system according to embodiments of the present application, any number of different modules may be used and run on a client and/or server. The modules are merely illustrative and different aspects of the systems and methods may use different modules.
Also, the present application uses specific words to describe embodiments of the application. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the present application is included in at least one embodiment of the present application. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the present application may be combined as appropriate.
Firstly, the method of the invention provides a 'primary-secondary relation' of a room, and on the basis of the concept, an automatic navigation and inspection method of the unmanned aerial vehicle is designed.
The "child-mother relationship" of a room will be described with reference to fig. 1.
As shown in the plan view of the house in fig. 1: when a person enters a house from an entrance door of the house, firstly, the person walks into a guest restaurant area, the area entering from the entrance door is called a level 1 area (when a living room and a restaurant are adjacent, as shown in fig. 1, the living room and the restaurant are both level 1 areas), if doors or door openings exist on a wall body attached to the level 1 area, when the person walks in the level 1 area, the person walks into the area when passing through the doors or door openings on the attached wall body of the level 1 area, the area walking into is called a level 2 area, and the person sequentially passes through the doors or door openings on the attached wall body of the level 2 area (the doors or door openings on the attached wall body of the level 1 area are not accommodated in the attached doors or door openings on the wall body of the level 2 area, such as a main bed shown in fig. 1, and a main bed has a door leading to a main guard, and the main guard is called a level 3 area); finally, acquiring a 'child-mother relation' among the multilevel areas, wherein the level 1 area is a 'mother' of the level 2 area, and the level 2 area is a 'mother' of the level 3 area; as shown in fig. 1:
level 1 region: living rooms and restaurants;
stage 2 area: living balcony, kitchen, leisure balcony, main bed, secondary bed, guest toilet and children room;
stage 3 area: the master and the satellite (the master and the satellite are 3-level areas for the master to lie on, namely the master and the satellite are children for the master to lie on.
In general, home decoration design software does not have a function of automatically classifying the 'child-mother relationship' of a spatial region, and only displays the spatial geometry and graphic elements visually. An automatic user computing method is provided, which can expand the functional role of the user (for example, the calculated primary-secondary relationship can be used to perform the dismantling and modification of a pair of 'primary-secondary relationship' space regions: as shown in fig. 1, a primary toilet and a primary sleeper can directly frame and select the pair of 'primary-secondary relationship' spaces in a software interface, thereby avoiding that a designer manually observes one by one region with naked eyes).
On the basis, the invention firstly needs to automatically identify the house type graph and determine all levels of room areas. The method comprises the following steps:
1. loading a scheme of a house type diagram, and acquiring house type data, wherein the data at least comprises the position and the length of the wall body in the formula a); b) functional information of individual room areas (e.g. bedroom, living room); 3) the position and size of the door opening, and information about which wall the door opening belongs to (the wall between the living room and the bedroom);
2. information identification of the door opening: as shown in fig. 3 and 4, in a typical case, the door opening in a house type diagram is represented by a rectangle MNOP, the midpoint between the two shorter opposite sides in the MNOP is taken to form a center line AB, a unit vector normalcvec formed by AB and a midpoint C of a line segment AB are calculated (if the door opening is not represented by a rectangle but represented by a line segment AB, the step of finding the midpoint between the two opposite sides is skipped), the vector normalcvec is rotated 90 degrees counterclockwise to obtain a unit vector vertical vec perpendicular to AB, then the vector C is used as a starting point to extend a certain distance to D (for example, 20-40cm, which can be specifically set according to the actual situation of the house type diagram, as long as the extended distance is ensured to approximately reach rooms on both sides of the door opening), and at the same time, the extended distance to E in the opposite direction is extended to E, it can be determined whether D or E is located in a certain room area, as in fig. 4, the extended point D is located in the room Region 1.
3. When determining the room classification, firstly, identification is needed to be carried out from an entrance door, and for the entrance door, according to step 2, whether end points of two extension lines of the entrance door exist in a certain area or not is determined, obviously, a point is necessarily located in a section of area (such as a corridor in fig. 1) after the entrance, then, whether an adjacent area without door opening separation (such as a living room in fig. 1) exists or not is determined in the vicinity of the area, and the adjacent area without door opening separation exists or not is defined as a first-level area; if there is no adjacent area without door opening separation, defining the section of area directly after the entrance as a first-level area;
4. judging whether the number of the first-level areas is the same as the total number of rooms in the house type graph or not, if so, finishing the calculation, and stopping the calculation; if not, representing that other areas exist, and continuing to calculate;
5. after the first-level area is obtained, counting the information of all door openings (except the door opening of the house) in the first-level area, traversing the door openings in sequence, wherein the judging method is the same as the step 2, and if the end point of the midpoint extension line of the door opening exists in a certain area (not the first-level area), the area belongs to the second-level area; sequentially traversing all the door openings of the first-stage area to obtain all the second-stage areas; if the sum of the number of the rooms of the first-level area and the second-level area is equal to the number of the rooms of the house type graph, the calculation is finished, and the calculation is stopped; if not, representing that the next level of area exists, and continuing to calculate;
6. sequentially traversing all the door openings in the second-level region, and finding out the region of the third level as in the steps 2 and 5 until all the regions in the house type graph are traversed; it is achieved that the rooms of the floor plan are divided into areas of first level, second level, third level, … … in sequence.
For example, the house type shown in fig. 1:
level 1 region: living rooms and restaurants;
stage 2 area: living balcony, kitchen, leisure balcony, main bed, secondary bed, guest toilet and children room;
stage 3 area: main guard (main guard is the main lying 3-level area, namely the main guard is the main lying 'son')
After the hierarchical relationship of the house type graph is obtained, the flight path planning of the unmanned aerial vehicle is performed, as shown in fig. 7:
1. first, the relationship of the restaurant and the living room needs to be determined. In different housing types, the main difference is whether the living room and the dining room are in adjacent position relationship. Basically, the living room and the restaurant are in the area of the first level in direct communication with the entrance door.
Whether a living room or a restaurant is adjacent is judged by the following method:
a) calculating the distance from each point in the living room to each point in the dining room, and recording as PointDis, if the value is less than or equal to 0.5 cm (or other smaller distance threshold values are selected), judging that the living room and the dining room are in an adjacent position relationship (namely, a certain boundary of two areas of the living room and the dining room does not have a wall);
b) if the distance between the living room and the restaurant point set calculated by the process is not smaller than the distance threshold, further calculating: traversing each edge of the living room, finding out an edge parallel to the edge of the living room from all edges of the dining room, further calculating the closest point between the middle point of the edge of the living room and the straight line where the parallel edges corresponding to the dining room are located, judging whether the distance between the two points is smaller than a distance threshold value, and if the distance is smaller than the distance threshold value, determining that the living room is adjacent to the dining room; if not, the next edge is further calculated.
If the living room is adjacent to the restaurant area, calculating the midpoint of the central points of the living room and the restaurant area as a transit point of the living room and the restaurant area (the unmanned aerial vehicle can respectively travel towards the living room and the restaurant at the transit point); if the living room is not adjacent to the dining room, the area of the living room and the dining room does not need to be provided with a transit point (the unmanned aerial vehicle directly flies into the living room and the dining room respectively);
2. the specific method for constructing the automatic navigation path comprises the following steps:
a) set the Height of the navigation path (default Height is half the wall Height, typically set the Height range between half the wall Height to full wall Height);
b) calculating the center of the area of the 2D projection of each door or door opening in the house type;
c) calculate the reasonable match point for the entry door (as shown in particular in figures 9 and 10),
setting a ray (the starting point of the ray is the center point of the 2D projection area of the entrance door, and the direction of the ray is the direction which is vertical to the entrance door and points to the inside of the area);
calculating the intersection point of the ray and the area;
calculating the distance between the intersection and the central point of the 2D projection area of the entrance door, and if the distance is more than or equal to 5 m, setting an entrance door matching point (as shown in the situation of figure 9) is not needed, and the unmanned aerial vehicle can fly along the ray direction directly; if the distance is less than 5 meters, the intersection point and the midpoint of the 2D projection midpoint of the entrance door are determined (as shown in FIG. 10, the midpoint of the Doorcenter and the MatchPoint is the matching point of the entrance door, and the aircraft flies from the position to the area of the first level);
d) determining whether or not there is a transit point in the level 1 area (if the restaurant and the living room are in an adjacent positional relationship, there is normally no wall therebetween, and therefore, the midpoint of a connecting line of the restaurant and the living room approximately at the midpoint is taken as the transit point, and in this case, both the restaurant and the customer belong to the first level area);
in the present invention, the method for calculating the approximate middle point of each room can refer to patent document CN109960850A "a method and system for calculating indoor panorama acquisition points and roof lamp layout
If the above steps have a transfer point:
constructing a navigation path from the entrance matching point to a transit point in the level 1 region;
then, continuously constructing a navigation path from the transit point of the level 1 region to each region in the level 1 region;
e) constructing a navigation path from the level 1 region to the level 2 region closest to the level 1 region;
f) judging whether the level 2 area has an attached level 3 area;
g) performing the steps of:
if there is an additional level 3 zone in the level 2 zone in step 8:
constructing navigation paths from the 2-level area to the corresponding 3-level area;
if there is no level 3 area attached to the level 2 area in step 8:
returning to the level 1 zone transit point;
constructing a navigation path from a transition point in the level 1 area to the level 2 area which is not reached in the step;
constructing a navigation path from the 2-level area to the attached 3-level area in the step;
h) the navigation path construction is finished.
As shown in fig. 11:
(1) a is the center of the projection of the bottom surface of the entrance door of the scheme;
(2) setting the height of a navigation path, and assuming that the height is half of the wall height;
(3) according to the principle of calculating the 'primary-secondary' relationship of the house type space, the available dining hall and the living room are 1-level areas; the living balcony, the leisure balcony, the kitchen, the guest and the toilet, the main bed and the secondary bed, and the children room is a 2-level area; the master is the level 3 area of the master sleeping;
(4) calculating an approximate center point of each region, as shown in fig. 11, where the label position is the approximate center point of the region;
(5) FIG. 11 shows the guest restaurants being contiguous, and the midpoint of the center points of the living room and the restaurants being calculated as the level 1 zone transit point B;
(6) constructing a navigation path: a- > B- > living room label position- > C;
(7) the path returns to the transit point of the level 1 region: c- > living room label position- > B;
(8) constructing a navigation path: b- > restaurant label position- > D;
(9) and (5) returning the path in the step (8) to the restaurant label position to construct a path: restaurant label location- > E;
(10) the path of the step (9) returns to the transit point of the level 1 region;
(11) counting 2-level areas where the path does not go, and constructing a navigation path: b- > S- > L- > Q;
(12) the path return process of the step (11): q- > L- > S;
(13) constructing a path: s- > M- > K- > sub-horizontal position label;
(14) the return route of the path is as follows: sub-horizontal position tag- > K- > M;
(15) constructing a path: m- > H- > F- > child house label;
(16) the path return in the step (15): child house tag- > F- > H;
(17) constructing a path: h- > I- > G- > N- > P- > main lying label position;
(18) build a path to its level 3 region: the main horizontal label position- > P- > N- > J;
through the method, the flying patrol can be effectively performed on each room according to the level sequence, and the visual angle can be displayed to the maximum extent.
The remarks show that the entrance door in the scheme can be opened or closed, other doors are all opened, the paths can be returned as before, and a complete back-and-forth path is constructed; for each room type zone, the navigation path will go to the zone tag location of the room; in each main guard, passenger guard or kitchen, balcony type area, the navigation path only goes to the central point of the doorway of the area, and if a plurality of doors exist, all the doors are all in the central positions.
Based on the above method, the present invention also provides:
a system for automated home-based spatial zone navigation, comprising:
the house type graph data acquisition module is used for acquiring the house type graph data, and the data comprises: wall information, information of each room, functional labels of the rooms, position information of the door opening and attribution relationship information of the door opening and the rooms;
the home module of the home area of the entrance door is used for identifying the home area of the entrance door as the entrance area; judging whether other room areas are adjacent to the home area or not; if other room areas are adjacent to the home-entering area, the other room areas and the home-entering area are classified as a first-level area; if no other room area is adjacent to the home area, directly attributing the home area to the first-level area;
the area identification module is used for sequentially traversing the first-level door openings except the entrance door in the first-level area, identifying the attribution area of the first-level door opening and attributing to the second-level area; sequentially traversing second-level door openings except the first-level door opening in the second-level area, identifying the attribution areas of other door openings, and attributing to a third-level area; until all the door openings are traversed, obtaining the grading labels of all the rooms;
the central point setting module of the room is used for determining the central point of each room;
the system comprises a position relation identification module of a living room and a dining room, a position relation identification module of the living room and the dining room, and a position relation identification module of the living room and the dining room, wherein the position relation identification module is used for judging whether the living room and the dining room are adjacent; if the adjacent unmanned aerial vehicle paths are not adjacent, the unmanned aerial vehicle enters a second unmanned aerial vehicle path setting module for processing;
the first unmanned aerial vehicle path setting module is used for taking a midpoint of a connecting line of the midpoints of the dining room and the living room as a transfer point and enabling the unmanned aerial vehicle to move to the transfer point; sequentially traversing the rooms with the tree structures formed by the regions at all levels by taking the transit point as a starting point until all the rooms at all levels are traversed;
and the second unmanned aerial vehicle path setting module is used for sequentially traversing the rooms with the tree structures formed by the regions at all levels from the starting point positioned in the first-level region until all the rooms at all levels are traversed.
In one embodiment, the unmanned aerial vehicle further comprises a flight height setting module.
A computer-readable medium carrying a program for executing the above-mentioned method for automatic navigation of a residential space area.
Moreover, those skilled in the art will appreciate that aspects of the present application may be illustrated and described in terms of several patentable species or situations, including any new and useful combination of processes, machines, manufacture, or materials, or any new and useful improvement thereof. Accordingly, various aspects of the present application may be embodied entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or in a combination of hardware and software. The above hardware or software may be referred to as "data block," module, "" engine, "" unit, "" component, "or" system. Furthermore, aspects of the present application may be represented as a computer product, including computer readable program code, embodied in one or more computer readable media.
A computer readable signal medium may comprise a propagated data signal with computer program code embodied therein, for example, on a baseband or as part of a carrier wave. The propagated signal may take any of a variety of forms, including electromagnetic, optical, and the like, or any suitable combination. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code on a computer readable signal medium may be propagated over any suitable medium, including radio, electrical cable, fiber optic cable, radio frequency signals, or the like, or any combination of the preceding.
Computer program code required for the operation of various portions of the present application may be written in any one or more programming languages, including an object oriented programming language such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C + +, C #, VB.NET, Python, and the like, a conventional programming language such as C, Visual Basic, Fortran 2003, Perl, COBOL 2002, PHP, ABAP, a dynamic programming language such as Python, Ruby, and Groovy, or other programming languages, and the like. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any network format, such as a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet), or in a cloud computing environment, or as a service, such as a software as a service (SaaS).
Additionally, unless explicitly recited in the claims, the order of processing elements and sequences, use of numbers and letters, or use of other designations in this application is not intended to limit the order of the processes and methods in this application. While various presently contemplated embodiments of the invention have been discussed in the foregoing disclosure by way of example, it is to be understood that such detail is solely for that purpose and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements that are within the spirit and scope of the embodiments herein. For example, although the system components described above may be implemented by hardware devices, they may also be implemented by software-only solutions, such as installing the described system on an existing server or mobile device.
Claims (8)
1. A method for automatic navigation of a household space area is characterized by comprising the following steps:
step 1, obtaining data of a house type graph, wherein the data comprises: wall information, information of each room, functional labels of the rooms, position information of the door opening and attribution relationship information of the door opening and the rooms;
step 2, identifying the home area of the entrance door as the entrance area; judging whether other room areas are adjacent to the house-entering area and are not separated by doors or door openings; if other room areas are adjacent to the home-entering area and no door or door opening is used for separating, the other room areas and the home-entering area are classified into a first-level area; if no other room area is adjacent to the home area and no door or door opening is used for separating, directly attributing the home area to the first-level area;
step 3, sequentially traversing first-level door openings except the entrance door in the first-level area, and identifying the home area of the first-level door opening, which belongs to the second-level area;
step 4, traversing second-level door openings except the first-level door opening in the second-level area in sequence, identifying the attribution areas of other door openings and attributing to a third-level area; until all the door openings are traversed, obtaining the grading labels of all the rooms;
step 5, setting the flying height of the unmanned aerial vehicle; determining a center point of each room;
step 6, judging whether the living room and the dining room are in an adjacent position relationship; if the two are adjacent, the step 6.1 is carried out, and if the two are not adjacent, the step 6.2 is carried out;
step 6.1, taking the midpoint of a connecting line of the midpoints of the restaurant and the living room as a transit point, and enabling the unmanned aerial vehicle to move to the transit point; sequentially traversing the rooms with the tree structures formed by the regions at all levels by taking the transit point as a starting point until all the rooms at all levels are traversed;
and 6.2, sequentially traversing the rooms with the tree structures formed by the regions at all levels from the starting point in the first-level region until all the rooms at all levels are traversed.
2. The method for automatic navigation in a residential space area as claimed in claim 1, wherein in the 3 rd step and the 4 th step, the method for determining the home area of the door opening is: and taking the middle point of the central line of the door opening, and respectively making two vertical extension lines of the central line of the door opening, wherein if the other end point of the vertical line is positioned in one room area, the door opening belongs to the room area.
3. The method for automatic navigation of a residential space area as claimed in claim 1, wherein the flying height of the drone is half the height of the room.
4. The method for automatically navigating the residential space area according to claim 1, wherein in the 6.1 th and 6.2 th steps, the unmanned aerial vehicle enters the middle point of each level of the room after entering the room.
5. The method for automatically navigating the residential space area according to claim 1, wherein in the 6.2 th step, the step of determining the starting point located in the first-level area is: drawing a vertical line from the plane direction of the entrance door to the room of the house type figure and extending the vertical line, and if the distance between the intersection point of the extension line and the entrance door is smaller than a set threshold value, taking the midpoint of the extension line as a starting point; and if the distance between the intersection point of the extension lines and the entrance door is greater than or equal to a set threshold value, taking the midpoint of the entrance door as a starting point.
6. A system for automated home-based spatial zone navigation, comprising:
the house type graph data acquisition module is used for acquiring the house type graph data, and the data comprises: wall information, information of each room, functional labels of the rooms, position information of the door opening and attribution relationship information of the door opening and the rooms;
the home module of the home zone of the entrance door is used for identifying the home zone of the entrance door as the entrance zone; judging whether other room areas are adjacent to the house-entering area and are not separated by doors or door openings; if other room areas are adjacent to the home-entering area and no door or door opening is used for separating, the other room areas and the home-entering area are classified into a first-level area; if no other room area is adjacent to the home area and no door or door opening is used for separating, directly attributing the home area to the first-level area;
the area identification module is used for sequentially traversing the first-level door openings except the entrance door in the first-level area, identifying the attribution area of the first-level door opening and attributing to the second-level area; sequentially traversing second-level door openings except the first-level door opening in the second-level area, identifying the attribution areas of other door openings, and attributing to a third-level area; until all the door openings are traversed, obtaining the grading labels of all the rooms;
the central point setting module of the room is used for determining the central point of each room;
the system comprises a position relation identification module of a living room and a dining room, a position relation identification module of the living room and the dining room, and a position relation identification module of the living room and the dining room, wherein the position relation identification module is used for judging whether the living room and the dining room are adjacent; if the adjacent unmanned aerial vehicle paths are not adjacent, the unmanned aerial vehicle enters a second unmanned aerial vehicle path setting module for processing;
the first unmanned aerial vehicle path setting module is used for taking the midpoint of a connecting line of the midpoints of the dining room and the living room as a transit point and enabling the unmanned aerial vehicle to move to the transit point; sequentially traversing the rooms with the tree structures formed by the regions at all levels by taking the transit point as a starting point until all the rooms at all levels are traversed;
and the second unmanned aerial vehicle path setting module is used for sequentially traversing the rooms with the tree structures formed by the regions at all levels from the starting point positioned in the first-level region until all the rooms at all levels are traversed.
7. The system for automatic navigation of a residential space area as claimed in claim 6, further comprising a flying height setting module of the unmanned aerial vehicle.
8. A computer-readable medium carrying a program for executing the method for automatic navigation of a residential space area according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910825865.4A CN110542424B (en) | 2019-09-03 | 2019-09-03 | Automatic navigation method and system for household space area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910825865.4A CN110542424B (en) | 2019-09-03 | 2019-09-03 | Automatic navigation method and system for household space area |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110542424A CN110542424A (en) | 2019-12-06 |
| CN110542424B true CN110542424B (en) | 2022-07-08 |
Family
ID=68711052
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910825865.4A Active CN110542424B (en) | 2019-09-03 | 2019-09-03 | Automatic navigation method and system for household space area |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110542424B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102018763B1 (en) * | 2011-01-28 | 2019-09-05 | 인터치 테크놀로지스 인코퍼레이티드 | Interfacing with a mobile telepresence robot |
| DE102012024873A1 (en) * | 2012-12-19 | 2014-06-26 | Audi Ag | Method and control device for providing a road ahead |
| DE102013100660A1 (en) * | 2013-01-23 | 2014-07-24 | Tsubaki Kabelschlepp GmbH | Wiring system for a vehicle |
| CN108961150B (en) * | 2018-04-11 | 2019-05-03 | 西安科技大学 | Photo control point method of deploying to ensure effective monitoring and control of illegal activities automatically based on unmanned plane image |
| CN109670899B (en) * | 2018-11-05 | 2022-04-19 | 陈树铭 | BIM-based (building information modeling-based) integrated big data analysis system and method for house property sale, loading and management |
| CN109341695B (en) * | 2018-11-15 | 2022-04-26 | 江苏艾佳家居用品有限公司 | Indoor unmanned aerial vehicle navigation method based on indoor graph calibration |
| CN109871604B (en) * | 2019-01-31 | 2023-05-16 | 浙江工商大学 | Indoor function division method based on depth countermeasure network model |
| CN109960850B (en) * | 2019-02-20 | 2022-07-08 | 江苏艾佳家居用品有限公司 | Method and system for calculating indoor panoramic image acquisition points and roof lamp layout |
| CN110111426A (en) * | 2019-04-18 | 2019-08-09 | 贝壳技术有限公司 | A kind of determination method and apparatus in sound separate pattern house |
-
2019
- 2019-09-03 CN CN201910825865.4A patent/CN110542424B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110542424A (en) | 2019-12-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Nikoohemat et al. | Indoor 3D reconstruction from point clouds for optimal routing in complex buildings to support disaster management | |
| CN107832680B (en) | Computerized method, system and storage medium for video analytics | |
| US11100457B2 (en) | Venue map based security infrastructure management | |
| Hamieh et al. | A BIM-based method to plan indoor paths | |
| Luber et al. | Place-dependent people tracking | |
| US11443483B2 (en) | Validating and updating building models with path data | |
| Fichtner et al. | Semantic enrichment of octree structured point clouds for multi‐story 3D pathfinding | |
| US20220377287A1 (en) | Asset management monitoring | |
| Díaz-Vilariño et al. | Indoor modelling from SLAM-based laser scanner: Door detection to envelope reconstruction | |
| CN111242994B (en) | Semantic map construction method, semantic map construction device, robot and storage medium | |
| US8504317B2 (en) | Position calibration information collecting apparatus, position calibration information collecting method, and position calibration information collecting program | |
| CN111784819B (en) | Multi-floor map splicing method, system and self-moving robot | |
| JP2008083112A (en) | Network data generating device, network data generating program, mobile terminal, and data structure | |
| Nikoohemat et al. | Indoor 3D modeling and flexible space subdivision from point clouds | |
| Tavasoli et al. | Real-time autonomous indoor navigation and vision-based damage assessment of reinforced concrete structures using low-cost nano aerial vehicles | |
| Luperto et al. | Predicting the layout of partially observed rooms from grid maps | |
| Staats et al. | Detection of doors in a voxel model, derived from a point cloud and its scanner trajectory, to improve the segmentation of the walkable space | |
| Flikweert et al. | Automatic extraction of a navigation graph intended for IndoorGML from an indoor point cloud | |
| CN110542424B (en) | Automatic navigation method and system for household space area | |
| US11493939B1 (en) | Premise mapping with security camera drone | |
| US20220005236A1 (en) | Multi-level premise mapping with security camera drone | |
| Yan et al. | Low-cost vision-based positioning system | |
| US11200421B1 (en) | Guided inspection system and method | |
| Flikweert | Automatic Extraction of an IndoorGML Navigation Graph from an Indoor Point Cloud | |
| Dehbi et al. | Stochastic and geometric reasoning for indoor building models with electric installations–bridging the gap between GIS and BIM |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 211100 floor 5, block a, China Merchants high speed rail Plaza project, No. 9, Jiangnan Road, Jiangning District, Nanjing, Jiangsu (South Station area) Applicant after: JIANGSU AIJIA HOUSEHOLD PRODUCTS Co.,Ltd. Address before: 211100 No. 18 Zhilan Road, Science Park, Jiangning District, Nanjing City, Jiangsu Province Applicant before: JIANGSU AIJIA HOUSEHOLD PRODUCTS Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |