CN111429548B - Digital map generation method and system - Google Patents
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- CN111429548B CN111429548B CN202010115391.7A CN202010115391A CN111429548B CN 111429548 B CN111429548 B CN 111429548B CN 202010115391 A CN202010115391 A CN 202010115391A CN 111429548 B CN111429548 B CN 111429548B
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Abstract
The invention discloses a digital map generation method and a system, wherein the method comprises the following steps: acquiring a grid picture corresponding to a physical world environment and storing the grid picture into a digital image storage module; determining the mapping relation between the grid picture and the physical world to obtain a digital image; extracting vector data in the digital image to generate a first digital map, storing the first digital map into a digital map storage module, and simultaneously associating a mapping relation obtained in the generation process of the first digital map with a unique identifier of the raster picture; and correcting the inner and outer outlines of the buildings and/or the regional boundaries in the physical world in the first digital map based on the extracted vector data to obtain a second digital map. The invention forms the digital map by using the grid pictures of the common building, the grid pictures are easy to acquire and manufacture, the cost is low, and the digital map which can be used in a positioning system can be quickly, conveniently and accurately generated by the method.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to a digital map generation method and system.
Background
Indoor digital map is used as the basis of indoor positioning and indoor navigation, but at present, no existing digital map is available for indoor environment, and if the indoor environment is accurately positioned and navigated, a more accurate digital map is needed. Taking the application of the robot as an example, a digital map used by the robot is scanned in real time through a sensor carried by the robot to generate the digital map; or mapping is performed by utilizing a professional team according to the accurate geographic information to form a digital map. According to the scheme, the map is formed by utilizing technologies such as laser radar, so that the cost is high; map mapping is performed by a professional team, and the cost is also relatively high.
Therefore, there is a method of generating a digital map using a vector image such as a CAD drawing. The vector pictures are usually composed of various characters, points, lines or planes by using CAD drawings designed during actual building design and construction or vector pictures derived based on the CAD drawings, and the map metadata is name, identification or remark information corresponding to map layers. Based on the CAD vector image mode, the indoor building structure diagram and the layer information required in the diagram can be obtained, so that an editable map data file can be formed. However, CAD drawings of building designs are often troublesome to manufacture, costly, involve much internal information, are often confidential documents, and are not easily available to outside personnel for safety. In addition, the map data file obtained based on CAD contains rich information, so that the occupied storage space is large, the consumed computing resources during processing are also large, and the overall processing cost is high.
For raster images, the acquisition is simpler (the screenshot of the image for display is only needed), and less information is contained. In addition, since the application starting point is different from that of the professional CAD image, the CAD image has strong specialization and is more focused on practicability, and the grid image is not considered too much in the aspect of beauty, but can be used for displaying, propaganda and the like, and is attractive. In addition, with the improvement of digital image technology, the resolution of the obtained raster image is higher and higher, and the definition of the image is higher and higher.
Disclosure of Invention
In order to solve the problems in the related art, the invention provides a digital map generation method and a system, the invention is based on raster images, and can automatically generate boundary and contour information contained in vector images such as CAD and the like by combining with a processing method of the digital images, and the expansion application of a positioning system can be realized by utilizing the information, and the specific scheme is as follows:
a digital map generation method, comprising the steps of:
and acquiring and storing a grid picture: acquiring a grid picture corresponding to a physical world environment, distributing unique identification information for the grid picture, and storing the grid picture into a digital image storage module;
generating a digital image according to the grid picture: determining the mapping relation between the grid picture and the physical world to obtain a digital image;
generating a first digital map from the digital image: extracting vector data in the digital image to generate a first digital map, storing the first digital map into a digital map storage module, and associating a mapping relation obtained in the first digital map generation process with a unique identifier of the grid picture; the vector data comprises inner and outer contour information and regional boundary information of a building in the physical world;
correcting the first digital map to obtain a second digital map: and correcting the inner and outer outlines of the buildings and/or the regional boundaries in the physical world in the first digital map based on the extracted vector data to obtain a second digital map.
Further, the step of correcting the first digital map to obtain the second digital map further includes the steps of:
invoking and adjusting the second digital map: and storing the second digital map in a server, selecting a required area in the second digital map when the application is performed, and readjusting the inner and outer contour information and/or the area boundary information of the building to form a new application layer.
Further, application attributes are added to the inner and outer contour information and/or the regional boundary information boundary of the building in the application layer at the same time of forming a new application layer.
Further, in the step of correcting the first digital map to obtain the second digital map, the method for correcting the inner and outer outlines and the regional boundaries of the building in the first digital map includes: removing facilities or decorations outside the inner and outer contours of the building, correcting non-boundary information in the building and forming a standard closed graph; wherein the non-boundary information includes door frames and studs of the building, and the standard closed figures include rectangles, circles, ovals and triangles.
Further, the step of acquiring and storing the grid picture includes:
the digital map system acquires grid pictures corresponding to the physical world environment and stores the grid pictures into a universal image format;
and distributing unique identification information for the raster picture, and storing the raster picture into a digital image storage module.
Further, the step of generating a digital image from the raster image includes:
establishing a mapping relation between pixel points in the grid picture and the actual physical size;
setting a coordinate origin in the grid picture;
and matching the direction in the grid picture with the direction of the physical world.
Further, the method for establishing the mapping relation between the pixel points in the grid picture and the actual physical size comprises the following steps: and (3) mapping the specific width pixels and height pixels of the grid picture with the length distance and width distance of the corresponding physical world, or drawing a straight line segment or curve segment in the grid picture, and obtaining the pixel points of the straight line segment or curve segment, and linking the actual distance of the straight line segment or curve segment in the physical world to form a mapping relation.
Further, the method for matching the direction in the grid picture with the direction of the physical world comprises the following steps: and rotating the grid picture to form angle mapping with the physical world, so that the direction of the grid picture corresponds to the physical world.
Further, in the step of generating the first digital map from the digital image, the method for extracting vector data in the digital image includes: converting the digital image into a gray image, judging whether the gray value of each pixel point in the gray image is over or under a threshold value, and if so, obtaining the required boundary information; and the obtained boundary information is uniquely mapped with the unique identifier of the grid picture through the mapping relation of the first digital map.
A digital map generation system, comprising:
the digital image storage module is used for storing the obtained grid pictures corresponding to the physical world environment;
the digital image editing module is used for acquiring a digital image according to the mapping relation between the grid picture and the physical world, extracting vector data in the digital image to generate a first digital map, and correcting the inner and outer contours and/or region boundaries of a building in the first digital map to obtain a second digital map;
the image display module is used for displaying the grid pictures, the first digital map or the second digital map, and can be used for displaying the grid pictures or the digital maps of a plurality of layers respectively or superposing the grid pictures or the digital maps of the plurality of layers together for displaying.
The invention has the beneficial effects that:
(1) The method can quickly, conveniently and accurately generate the digital map which can be used in a positioning system, and establish one-to-one mapping with the physical world.
(2) According to the invention, on the basis of the first digital map and the mapping relation thereof, boundary information, contour information and the like contained in the first digital map are automatically generated through an image processing method and stored in the digital map storage module, vector information such as the shape, the size, the position and the like of the boundary is contained in the storage, and meanwhile, the unique identifier of the first digital map and the mapping relation corresponding to the unique identifier are associated, so that the method is simpler and has high precision.
(3) All boundaries in the map are automatically generated by combining the generated first digital map with an image processing method, and meanwhile, digital region information which can be used in digital map application is more quickly and accurately generated by utilizing an editing technology. Since the digital area corresponds to the digital map, the digital map can be directly used in a digital map system, and the digital map system can be applied to a positioning system and a navigation system. However, due to the method of full automatic generation, errors in the images caused by noise, insignificant difference in image resolution and the like cannot be well solved, and after automatic generation, the generated boundary result can be further corrected by a manual editing method. Meanwhile, as the building base map is mostly a designed drawing, certain adjustment can be carried out in later actual use, the boundary automatically generated by the building base map can also change, and the base map is generally inconvenient to adjust and can only be adjusted by assisting a related editing method after being automatically generated.
(4) And storing the formed second digital map in a server, selecting a required area in the second digital map during application, and adjusting the boundary to form a new application layer and adding application attributes to the boundary in the layer.
Drawings
FIG. 1 is a flow chart of a method of digital map generation in one embodiment of the invention;
fig. 2 is a flow chart of a digital map generation method according to another embodiment of the present invention.
Detailed Description
Specific embodiments of the present invention will now be described in order to provide a clearer understanding of the technical features, objects and effects of the present invention. It should be understood that the particular embodiments described herein are illustrative only and are not intended to limit the invention, i.e., the embodiments described are merely some, but not all, of the embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
The embodiment of the invention provides a digital map generation method, as shown in fig. 1, which comprises the following steps:
step S1: acquiring a grid picture corresponding to a physical world environment, distributing unique identification information for the grid picture, and storing the grid picture into a digital image storage module;
step S2: determining the mapping relation between the grid picture and the physical world to obtain a digital image;
step S3: extracting vector data in the digital image to generate a first digital map, storing the first digital map into a digital map storage module, and simultaneously associating a mapping relation obtained in the generation process of the first digital map with a unique identifier of the raster picture; the vector data comprises inner and outer contour information and regional boundary information of a building in the physical world;
step S4: and correcting the outline of the building and/or the boundary of the area in the physical world in the first digital map based on the extracted vector data to obtain a second digital map.
The above steps will be described in detail below:
specifically, in step S1, the method includes:
step S11: the positioning system acquires a grid picture corresponding to the physical world environment and stores the grid picture into a universal image format; the general image format can be jpg, png, bmp and other common image formats; the grid picture does not contain vector data, has low cost, is easy to obtain, is convenient to store, does not occupy too much storage space, and is simpler to process.
Step S12: unique identification information is allocated to the raster pictures, and the raster pictures are stored in the digital image storage module. Further, specific information of the digital picture can be checked through the image display module, and meanwhile, the picture can be rotated. The picture display module also comprises a function of displaying a plurality of layers, and the layers can be overlapped and displayed together. The pictures are assigned with unique identifiers and can be bound with abstract conceptual information such as buildings, scenes, floors and the like in the actual positioning and navigation application scenes.
Specifically, in step S2, the method includes:
step S21: establishing a mapping relation between pixel points in the grid picture and the actual physical size;
in one embodiment, the method for establishing the mapping relationship may be: and (3) specific width pixels and height pixels of the grid picture are mapped to the length distance and the width distance of the physical world.
In another embodiment, the method for establishing the mapping relationship may be: drawing a straight line segment or a curve segment in the grid picture, obtaining pixel points of the straight line segment or the curve segment, and connecting the actual distance of the straight line segment or the curve segment in the physical world to form a mapping relation; in actual operation, a line segment or curve is drawn in the grid picture, and then the pixel points of the corresponding line segment can be known; and then the actual distance (meter) of the line segment or curve in the real physical world is input, so that the mapping relation between the raster image and the actual physical distance is formed.
In order to obtain a relatively high mapping accuracy, ensure high-accuracy positioning display, accurately determine the mapping accuracy of the pixel points and the actual distance, and in the process of establishing the mapping relationship, the proportion of the grid picture subjected to corresponding operations such as zooming in and zooming out is also subjected to conversion and corresponding processing.
By the method for establishing the mapping relation, the size mapping condition of the digital picture and the real physical world can be established, and the distance of each pixel point corresponding to the distance of the digital picture can be obtained. According to the requirements of different positioning precision conditions, the digital image quality can be limited when the digital image is input, and the corresponding physical size of each pixel point is limited.
In the embodiment of the invention, the positioning system adopts UWB (Ultra Wide Band) technology for positioning, and the positioning precision of each pixel point in the grid picture is usually better than 3cm because the UWB positioning precision is about 3cm, so that the positioning and navigation results can be effectively displayed.
Step S22: setting a coordinate origin in the grid picture;
specifically, in the case of a digital image, it is not known where the physical world is a reference point, and therefore, it is necessary to select a point in the map as the origin of coordinates (0, 0), and when the digital image is used later, the origin is calculated.
Step S23: matching the direction in the grid picture with the direction of the physical world;
specifically, the x-axis and the y-axis of the physical world are added to the grid picture, and in one embodiment, the grid picture may be rotated to form an angle map with the physical world, so that the direction of the grid picture corresponds to the physical world.
Specifically, in step S3:
for a complex scene, there are many different buildings, different scenes and different floors, and then there are different mapping relations between the digital map and the map, and each digital map will have a unique mapping relation and be stored in the map storage module.
Based on the generated first digital map and the corresponding mapping relation, the first digital map only has the capability of mapping with the physical world, but is still only a simple picture, so that the application of the subsequent digital map system is too single. Therefore, from the application point of view, it is necessary to add different digital map layers in the map display module, and combine with the first digital map to form an effect map for external display.
For a positioning system, the coordinate information of a physical world is obtained by using a related positioning method, the display of a corresponding target is generated in an application layer by using a first digital map and a mapping relation thereof, and the whole is displayed outside in a digital map display module. In the application layer, different icons may be displayed for different targets.
Further, based on the first digital map, from the application point of view, it is necessary to add an abstract digital map area of electronic fence, signal fence, physical boundary, obstacle, etc. to the digital map. In the conventional application, the first digital map is manually added, and the added shape is circular, elliptical, polygonal and the like. For a complex application scene, if all the application scene is drawn manually, the application scene is very complex and time-consuming, and the precision is not too high.
Therefore, in the invention, on the basis of the first digital map and the mapping relation thereof, boundary information, contour information and the like contained in the first digital map are automatically generated by a digital image processing method and stored in the digital map storage module, vector information containing the shape, the size, the position and the like of the boundary is contained in the storage, and meanwhile, the unique identifier of the first digital map and the mapping relation corresponding to the unique identifier are associated.
In one embodiment, the step of processing the image comprises: the boundary information and the related contour information in the digital image are extracted by an image processing method (the raster image does not contain geometrical information of a dotted line and a plane, so the processing is performed by a certain method). That is, vector data in the digital image is extracted to generate a first digital map, wherein the vector data includes contour information of the inside and outside of a building in the physical world and region boundary information.
Further, in one embodiment, the step of extracting vector data in the digital image comprises: converting the digital image into a gray image, judging whether the gray value of each pixel point in the gray image is over or lower than a threshold value, and judging if the gray value is over or lower than the threshold value to obtain boundary information. And the obtained boundary information is subjected to unique mapping through the mapping relation of the first digital map and the unique identifier of the raster picture. It should be noted that the threshold value may be an upper limit, and the threshold value is displayed when the threshold value is exceeded. For example, setting the threshold value to 150, and displaying when the gray value exceeds 150; the portion below the threshold value shows another distinguishable color, such as a border, black and the rest white. Of course, the lower limit may be set, and the pixel point is displayed as a boundary when the value of the pixel point is lower than the threshold value, and is not displayed as a boundary when the value of the pixel point is higher than the threshold value.
Specifically, in step S4:
in one embodiment, after the first digital map is automatically generated based on the step S3, the inner and outer contour information and/or the area boundary information of the building may be further corrected; specifically, the method for correcting the inner and outer outlines of the buildings and the regional boundaries in the first digital map comprises the following steps: removing facilities or decorations outside the inner and outer contours of the building, correcting non-boundary information in the building and forming a standard closed graph; where the non-boundary information includes the door frame and column head of the building, standard closed figures include, but are not limited to, rectangles, circles, ovals, and triangles. The noise part in the image is processed by the method, so that the accuracy of the generated boundary is improved; and removing the automatically processed outlines of facilities, decorations and the like which belong to the outline of the conventional building, so as to obtain the outline of the integral building.
In one embodiment, a first digital map is obtained through step S3, the map is a vector map, the extracted inner and outer contours of the building and the region boundaries are vector data, and on the basis of step S3, an adding and deleting operation can be performed based on the vector data to obtain a second digital map.
In another embodiment, a manual correction function can be added, and the manual and automatic correction mode is used for correcting the inner and outer contours and the regional boundaries of the building; the specific method can be as follows: the color of each boundary with respect to the formed map may be set manually while the data regarding that boundary will be stored in the digital map storage module.
In yet another embodiment, the building interior and exterior contours and zone boundaries may also be modified by purely manual means. It should be noted that, in the embodiment of the present application, a manual correction function is added, and the main meaning is that the provided building base map will change to a certain extent after later execution and later decoration, if the building base map is simply used as a reference, a place which may not be in line with the actual existence may be corrected by a manual mode, and after completion, the generated boundary information may be stored in the data storage module to become a new one-layer digital map.
After the correction step, a second digital map is obtained, wherein the second digital map mainly comprises all effective boundary information in the first digital map, and the first digital map boundary is stored in a digital map storage module and comprises a corresponding first digital map and a mapping relation thereof.
By the mode, labor cost can be saved to a certain extent, the generation efficiency of indoor boundaries and contours is improved, the post-processing of the generated results is performed by providing the editing tool, and the defects that in the automatic processing process, the picture beautifying degree is high, the picture boundary and contour information is seriously lost and the automatic processing quality is poor are overcome.
Specifically, as shown in fig. 2, step S5 may further include, after step S4: and storing the second digital map in a server, selecting a required area in the second digital map when the application is performed, and readjusting the inner and outer contour information and/or the area boundary information of the building to form a new application layer. Adding application attributes to building interior and exterior contour information and/or zone boundary information boundaries in an application layer while forming a new application layer
Specifically, in the application, a required area in the second digital map is selected, a certain adjustment can be performed on the boundary to form a new application layer, and application attributes are added for the inner and outer contour information and/or the boundary information boundary of the area in the application layer while the new application layer is formed; in particular, application attributes include, but are not limited to, name, number, color of the region, physical height range, whether to use, rules to be adapted.
As in the case of electronic fencing applications, it may be desirable to add certain rules to the electronic fence, which in one embodiment may be used to define certain rights, such as: a combination of one or more rights such as "permit only entry", "reject only entry", "permit only exit", "reject only exit", "zone timeout", "zone motionless", "zone vanish", "alert of the crowd", "limit of the number of people", etc.
In another embodiment, the rules may be used to, but are not limited to, set the range of corresponding region usage: personnel, materials, vehicles.
In yet another embodiment, if associated with time information, the rules may be used, but are not limited to, setting a time period for the corresponding abstract rule to take effect.
Correspondingly, the embodiment of the invention also provides a digital map generation system, which comprises:
the digital image storage module is used for storing the acquired grid pictures corresponding to the physical world environment;
the digital image editing module is used for acquiring a digital image according to the mapping relation between the grid picture and the physical world, extracting vector data in the digital image to generate a first digital map, and correcting the inner and outer contours and/or region boundaries of a building in the first digital map to obtain a second digital map;
the image display module is used for displaying the grid pictures, the first digital map or the second digital map, and can respectively display the grid pictures or the digital maps of the multiple layers or display the grid pictures or the digital maps of the multiple layers together in a superimposed mode.
The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein and is not to be considered as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either by the foregoing teachings or by the teaching of the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
In the description of the present invention, it should be noted that the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Claims (10)
1. A digital map generation method, characterized by comprising the steps of:
and acquiring and storing a grid picture: acquiring a grid picture corresponding to a physical world environment, distributing unique identification information for the grid picture, and storing the grid picture into a digital image storage module;
generating a digital image according to the grid picture: determining the mapping relation between the grid picture and the physical world to obtain a digital image;
generating a first digital map from the digital image: extracting vector data in the digital image to generate a first digital map, storing the first digital map into a digital map storage module, and associating a mapping relation obtained in the first digital map generation process with a unique identifier of the grid picture; the vector data comprises inner and outer contour information and regional boundary information of a building in the physical world;
correcting the first digital map to obtain a second digital map: and correcting the inner and outer outlines of the buildings and/or the regional boundaries in the physical world in the first digital map based on the extracted vector data to obtain a second digital map.
2. The method of claim 1, wherein the step of correcting the first digital map to obtain the second digital map further comprises:
invoking and adjusting the second digital map: and storing the second digital map in a server, selecting a required area in the second digital map when the application is performed, and readjusting the inner and outer contour information and/or the area boundary information of the building to form a new application layer.
3. A digital map generating method according to claim 2, wherein application attributes are added to said building interior-exterior contour information and/or said region boundary information boundaries in said application layer simultaneously with said forming of a new application layer.
4. The method according to claim 1, wherein in the step of correcting the first digital map to obtain the second digital map, the method for correcting the inner and outer outlines of the building and the region boundaries in the first digital map includes: removing facilities or decorations outside the inner and outer contours of the building, correcting non-boundary information in the building and forming a standard closed graph; wherein the non-boundary information includes door frames and studs of the building, and the standard closed figures include rectangles, circles, ovals and triangles.
5. The digital map generation method according to claim 1, wherein the step of acquiring and storing the raster picture includes:
the digital map system acquires grid pictures corresponding to the physical world environment and stores the grid pictures into a universal image format;
and distributing unique identification information for the raster picture, and storing the raster picture into a digital image storage module.
6. The method of generating a digital map according to claim 1, wherein the step of generating a digital image from a raster picture comprises:
establishing a mapping relation between pixel points in the grid picture and the actual physical size;
setting a coordinate origin in the grid picture;
and matching the direction in the grid picture with the direction of the physical world.
7. The method of claim 6, wherein the method for establishing a mapping relationship between pixel points in the grid picture and actual physical dimensions comprises: and (3) mapping the specific width pixels and height pixels of the grid picture with the length distance and width distance of the corresponding physical world, or drawing a straight line segment or curve segment in the grid picture, and obtaining the pixel points of the straight line segment or curve segment, and linking the actual distance of the straight line segment or curve segment in the physical world to form a mapping relation.
8. The method of claim 6, wherein the matching the direction in the raster picture to the direction of the physical world comprises: and rotating the grid picture to form angle mapping with the physical world, so that the direction of the grid picture corresponds to the physical world.
9. The method of generating a digital map according to claim 1, wherein in the step of generating a first digital map from a digital image, the method of extracting vector data in the digital image includes: converting the digital image into a gray image, judging whether the gray value of each pixel point in the gray image is over or under a threshold value, and if so, obtaining the required boundary information; and the obtained boundary information is uniquely mapped with the unique identifier of the grid picture through the mapping relation of the first digital map.
10. A digital map generation system employing the digital map generation method according to any one of claims 1 to 9, comprising:
the digital image storage module is used for storing the obtained grid pictures corresponding to the physical world environment;
the digital image editing module is used for acquiring a digital image according to the mapping relation between the grid picture and the physical world, extracting vector data in the digital image to generate a first digital map, and correcting the inner and outer contours and/or region boundaries of a building in the first digital map to obtain a second digital map;
the image display module is used for displaying the grid pictures, the first digital map or the second digital map, and can be used for displaying the grid pictures or the digital maps of a plurality of layers respectively or superposing the grid pictures or the digital maps of the plurality of layers together for displaying.
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