CN113467444A - Underground space intelligent guiding method - Google Patents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
An underground space intelligent guiding method, a plurality of position devices are installed in an underground space or an above-ground building space; judging whether a user inputs a starting point and an end point which need to be guided; if the user does not input the starting point required to be guided, the user transmits signals which can only be matched with the position device to the periphery according to the mobile equipment of the user; obtaining the relative position relation between the mobile equipment and a position device in the area according to the distance between the direction of the electromagnetic wave signal and the mobile equipment to the position device, and calculating to obtain the three-dimensional coordinate of the mobile equipment as a starting point according to the three-dimensional coordinate of the position device and the relative position relation between the mobile equipment and the position device; and planning a route among the multiple points through a genetic algorithm according to the obtained starting point coordinates and the target coordinates. The problem of among the prior art, can't plan the route of underground building space inside is solved.
Description
Technical Field
The invention relates to the field of underground space navigation, in particular to an underground space intelligent guiding method.
Background
The general navigation mainly refers to the guidance of a moving route by using vehicle-mounted and handheld terminals through satellite positioning of an electronic map, and the global navigation system is generally used in the world and is also a Beidou satellite navigation system which is researched and developed by China.
At present, route navigation software mainly used for daily staff and vehicles in China comprises a Baidu map and a Gaode map, the mainstream navigation software provides ground road route planning for the travel of the staff based on satellite positioning of an electronic map, but the current navigation software cannot realize route planning in an underground building space, namely route planning related to a three-dimensional layer.
Disclosure of Invention
In view of the above, the present invention has been made to provide a method for intelligent guidance of a subsurface space that overcomes or at least partially solves the above problems.
In order to solve the technical problem, the embodiment of the application discloses the following technical scheme:
an underground space intelligent guiding method comprises the following steps:
s100, installing a plurality of position devices in an underground space or an above-ground building space;
s200, judging whether a user inputs a starting point and an end point which need to be guided;
s300, if the user does not input the starting point required to be guided, the user transmits signals which can only be matched with the position device to the periphery according to the mobile equipment of the user;
s400, obtaining the relative position relationship between the mobile equipment and a position device in an area according to the distance between the direction of the electromagnetic wave signal and the mobile equipment to the position device, and calculating to obtain the three-dimensional coordinate of the mobile equipment as a starting point according to the three-dimensional coordinate of the position device and the relative position relationship between the mobile equipment and the position device;
s500, according to the obtained starting point coordinates and the target coordinates, path planning is carried out among multiple points through a genetic algorithm.
Further, in S100, the electromagnetic wave signal transmitted by the location device is set by a person who develops the location device, according to an actual scene, and the wavelength and frequency of the electromagnetic wave are set.
Further, in S300, if the user directly inputs the start point and the end point of the guidance required, the route is directly planned between the plurality of points through the genetic algorithm.
Further, in S300, the mobile device may set a plurality of types of transmittable electromagnetic wave signals and receivable electromagnetic wave signals.
Further, in S400, the method for obtaining the relative position relationship between the mobile device and the location device in the area according to the distance between the direction of the electromagnetic wave signal and the mobile device to the location device includes: after receiving the electromagnetic wave signals sent by the position device, the mobile equipment obtains three-dimensional coordinates (xi, yi, zi) of N devices at the nearest positions through signal demodulation, wherein i is 1, 2, 1, N, the mobile equipment obtains angles (ai, bi) according to the direction of the received signals, and then the time t spent on sending and receiving is calculated; wherein ai is an included angle between the signal direction and the due north direction on the horizontal plane, and the angle is calculated clockwise; bi is the angle between the signal direction and the normal of the horizontal plane on the vertical plane, calculated clockwise.
Further, in S400, the method for calculating the three-dimensional coordinates of the mobile user terminal includes: based on the three-dimensional coordinates (xi, yi, zi) of the position device, the time t and the electromagnetic wave propagation speed, and the distance di between the two, N user positions can be calculated by N position devices, and the obtained user coordinates are 1/N (xi + di cos (ai), yi + di sin (ai), zi + di sin (bi)), wherein i ═ 1, 2,. copy.,. N, (xi + di cos (ai), yi + di sin ai), zi + di sin (bi)) represent the result calculated by the i-th position device.
Further, in S400, the method for calculating the three-dimensional coordinates of the mobile user terminal further includes: according to the angle (ai, bi) and the three-dimensional coordinates (xi, yi, zi) of the position device; and (3) making an extension line from the three-dimensional coordinates of the i position devices to the (pi + ai, pi + bi) direction, if the three position devices have intersection points, calculating the coordinates of the intersection points, if the intersection points do not exist, and searching for the point closest to the total distance of the three lines.
Further, in S500, according to the obtained start point coordinates and target coordinates, a method for performing route planning between multiple points through a genetic algorithm includes:
s501, meshing a starting point and a target point, coding, marking a non-channel part in a grid as 0, and marking a channel part as 1; meanwhile, marking a serial number for each grid from 1;
s502, initializing the paths, randomly selecting a plurality of paths, wherein each path consists of a plurality of channel points, and verifying whether the starting point and the target point are communicated or not by a union set checking algorithm;
s503, calculating the fitness of the path, wherein the fitness is the length of the path, the length of the path is calculated through the number of networks passed by the path, and an individual with a shorter path is selected;
s504, mutually exchanging grids passed by a plurality of individuals with short passing paths, wherein only 1 grid is exchanged, after one grid is exchanged, checking whether the grids are connected or not, if not, eliminating the individuals, if not, re-crossing and mutating;
s505, repeating S503-S504 until the path length is shortest.
Further, an underground space intelligent guiding method further comprises the following steps:
s600, determining the orientation of a user according to a gyroscope in the mobile equipment, and navigating according to a navigation scheme selected by the user; fixed equipment within the venue displays the selected route and displays the markers on the route for user navigation.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
the invention discloses an underground space intelligent guiding method, which is characterized in that a plurality of position devices are arranged in an underground space or an overground building space; judging whether a user inputs a starting point and an end point which need to be guided; if the user does not input the starting point required to be guided, the user transmits signals which can only be matched with the position device to the periphery according to the mobile equipment of the user; obtaining the relative position relation between the mobile equipment and a position device in the area according to the distance between the direction of the electromagnetic wave signal and the mobile equipment to the position device, and calculating to obtain the three-dimensional coordinate of the mobile equipment as a starting point according to the three-dimensional coordinate of the position device and the relative position relation between the mobile equipment and the position device; and planning a route among the multiple points through a genetic algorithm according to the obtained starting point coordinates and the target coordinates. The problem of among the prior art, can't plan the route of underground building space inside is solved.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of an underground space intelligent guidance method in embodiment 1 of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In order to solve the problems in the prior art, the embodiment of the invention provides an underground space intelligent guiding method.
Example 1
An underground space intelligent guiding method, as shown in fig. 1, comprises the following steps:
s100, installing a plurality of position devices in an underground space or an above-ground building space; in this embodiment, the electromagnetic wave signal transmitted by the location device is set by a person who develops the location device, depending on the actual scene, to include the wavelength and frequency of the electromagnetic wave.
S200, judging whether a user inputs a starting point and an end point which need to be guided; in this embodiment, whether the user inputs the start point and the end point of the required guidance can be automatically judged through the terminal.
S300, if the user does not input the starting point required to be guided, the user transmits signals which can only be matched with the position device to the periphery according to the mobile equipment of the user; in this embodiment, if the user directly inputs the start point and the end point of the guidance to be input, the route is planned among the plurality of points directly by the genetic algorithm.
S400, obtaining the relative position relation between the mobile equipment and the position device in the area according to the distance between the electromagnetic wave signal direction and the mobile equipment to the position device, and calculating to obtain the three-dimensional coordinate of the mobile equipment as a starting point according to the three-dimensional coordinate of the position device and the relative position relation between the mobile equipment and the position device.
Specifically, in this embodiment, the method for obtaining the relative position relationship between the mobile device and the location device in the area according to the distance between the direction of the electromagnetic wave signal and the mobile device to the location device includes: after receiving the electromagnetic wave signals sent by the position device, the mobile equipment obtains three-dimensional coordinates (xi, yi, zi) of N devices at the nearest positions through signal demodulation, wherein i is 1, 2, 1, N, the mobile equipment obtains angles (ai, bi) according to the direction of the received signals, and then the time t spent on sending and receiving is calculated; wherein ai is an included angle between the signal direction and the due north direction on the horizontal plane, and the angle is calculated clockwise; bi is the angle between the signal direction and the normal of the horizontal plane on the vertical plane, calculated clockwise.
In some preferred embodiments, the method for calculating the three-dimensional coordinates of the mobile user terminal includes: based on the three-dimensional coordinates (xi, yi, zi) of the position device, the time t and the electromagnetic wave propagation speed, and the distance di between the two, N user positions can be calculated by N position devices, and the obtained user coordinates are 1/N (xi + di cos (ai), yi + di sin (ai), zi + di sin (bi)), wherein i ═ 1, 2,. copy.,. N, (xi + di cos (ai), yi + di sin ai), zi + di sin (bi)) represent the result calculated by the i-th position device.
In some preferred embodiments, the method for calculating the three-dimensional coordinates of the mobile user terminal further includes: according to the angle (ai, bi) and the three-dimensional coordinates (xi, yi, zi) of the position device; and (3) making an extension line from the three-dimensional coordinates of the i position devices to the (pi + ai, pi + bi) direction, if the three position devices have intersection points, calculating the coordinates of the intersection points, if the intersection points do not exist, and searching for the point closest to the total distance of the three lines.
S500, according to the obtained starting point coordinates and the target coordinates, path planning is carried out among multiple points through a genetic algorithm.
In this embodiment, a method for planning a route between multiple points by a genetic algorithm according to the obtained start point coordinates and target coordinates includes:
s501, meshing a starting point and a target point, coding, marking a non-channel part in a grid as 0, and marking a channel part as 1; meanwhile, marking a serial number for each grid from 1;
s502, initializing the paths, randomly selecting a plurality of paths, wherein each path consists of a plurality of channel points, and verifying whether the starting point and the target point are communicated or not by a union set checking algorithm;
s503, calculating the fitness of the path, wherein the fitness is the length of the path, the length of the path is calculated through the number of networks passed by the path, and an individual with a shorter path is selected;
s504, mutually exchanging grids passed by a plurality of individuals with short passing paths, wherein only 1 grid is exchanged, after one grid is exchanged, checking whether the grids are connected or not, if not, eliminating the individuals, if not, re-crossing and mutating;
s505, repeating S503-S504 until the path length is shortest.
In some preferred embodiments, a method for intelligent guidance of underground space further comprises: s600, determining the orientation of a user according to a gyroscope in the mobile equipment, and navigating according to a navigation scheme selected by the user; fixed equipment within the venue displays the selected route and displays the markers on the route for user navigation.
The embodiment discloses an underground space intelligent guiding method, which is characterized in that a plurality of position devices are installed in an underground space or an overground building space; judging whether a user inputs a starting point and an end point which need to be guided; if the user does not input the starting point required to be guided, the user transmits signals which can only be matched with the position device to the periphery according to the mobile equipment of the user; obtaining the relative position relation between the mobile equipment and a position device in the area according to the distance between the direction of the electromagnetic wave signal and the mobile equipment to the position device, and calculating to obtain the three-dimensional coordinate of the mobile equipment as a starting point according to the three-dimensional coordinate of the position device and the relative position relation between the mobile equipment and the position device; and planning a route among the multiple points through a genetic algorithm according to the obtained starting point coordinates and the target coordinates. The problem of among the prior art, can't plan the route of underground building space inside is solved.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Of course, the processor and the storage medium may reside as discrete components in a user terminal.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in memory units and executed by processors. The memory unit may be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
Claims (9)
1. An intelligent guiding method for underground space, which is characterized by comprising the following steps:
s100, installing a plurality of position devices in an underground space or an above-ground building space;
s200, judging whether a user inputs a starting point and an end point which need to be guided;
s300, if the user does not input the starting point required to be guided, the user transmits signals which can only be matched with the position device to the periphery according to the mobile equipment of the user;
s400, obtaining the relative position relationship between the mobile equipment and a position device in an area according to the distance between the direction of the electromagnetic wave signal and the mobile equipment to the position device, and calculating to obtain the three-dimensional coordinate of the mobile equipment as a starting point according to the three-dimensional coordinate of the position device and the relative position relationship between the mobile equipment and the position device;
s500, according to the obtained starting point coordinates and the target coordinates, path planning is carried out among multiple points through a genetic algorithm.
2. The intelligent guidance method for underground space according to claim 1, wherein in S100, the electromagnetic wave signal transmitted by the location device is set by a person who develops the location device according to different actual scenes, and the wavelength and frequency of the electromagnetic wave are set.
3. The method as claimed in claim 1, wherein in S300, if the user directly inputs the start point and the end point of the guidance, the route between the points is directly planned by the genetic algorithm.
4. The method as claimed in claim 1, wherein the mobile device can set a plurality of types of transmittable electromagnetic wave signals and receivable electromagnetic wave signals in S300.
5. The method for intelligently guiding the underground space as claimed in claim 1, wherein in S400, the method for obtaining the relative position relationship between the mobile device and the position device in the area according to the distance between the direction of the electromagnetic wave signal and the distance from the mobile device to the position device comprises: after receiving the electromagnetic wave signals sent by the position device, the mobile equipment obtains three-dimensional coordinates (xi, yi, zi) of N devices at the nearest positions through signal demodulation, wherein i is 1, 2, 1, N, the mobile equipment obtains angles (ai, bi) according to the direction of the received signals, and then the time t spent on sending and receiving is calculated; wherein ai is an included angle between the signal direction and the due north direction on the horizontal plane, and the angle is calculated clockwise; bi is the angle between the signal direction and the normal of the horizontal plane on the vertical plane, calculated clockwise.
6. The method for intelligent guidance of underground space as claimed in claim 1, wherein in S400, the method for calculating the three-dimensional coordinates of the mobile user terminal includes: based on the three-dimensional coordinates (xi, yi, zi) of the position device, the time t and the electromagnetic wave propagation speed, and the distance di between the two, N user positions can be calculated by N position devices, and the obtained user coordinates are 1/N (xi + di cos (ai), yi + di sin (ai), zi + di sin (bi)), wherein i ═ 1, 2,. copy.,. N, (xi + di cos (ai), yi + di sin ai), zi + di sin (bi)) represent the result calculated by the i-th position device.
7. The method for intelligent guidance of underground space as claimed in claim 1, wherein in S400, the method for calculating the three-dimensional coordinates of the mobile user terminal further comprises: according to the angle (ai, bi) and the three-dimensional coordinates (xi, yi, zi) of the position device; and (3) making an extension line from the three-dimensional coordinates of the i position devices to the (pi + ai, pi + bi) direction, if the three position devices have intersection points, calculating the coordinates of the intersection points, if the intersection points do not exist, and searching for the point closest to the total distance of the three lines.
8. The method for guiding the underground space intelligently as claimed in claim 1, wherein in S500, the method for planning the route between the multiple points by the genetic algorithm according to the obtained start point coordinates and the target coordinates comprises:
s501, meshing a starting point and a target point, coding, marking a non-channel part in a grid as 0, and marking a channel part as 1; meanwhile, marking a serial number for each grid from 1;
s502, initializing the paths, randomly selecting a plurality of paths, wherein each path consists of a plurality of channel points, and verifying whether the starting point and the target point are communicated or not by a union set checking algorithm;
s503, calculating the fitness of the path, wherein the fitness is the length of the path, the length of the path is calculated through the number of networks passed by the path, and an individual with a shorter path is selected;
s504, mutually exchanging grids passed by a plurality of individuals with short passing paths, wherein only 1 grid is exchanged, after one grid is exchanged, checking whether the grids are connected or not, if not, eliminating the individuals, if not, re-crossing and mutating;
s505, repeating S503-S504 until the path length is shortest.
9. The intelligent guidance method for underground space as claimed in claim 1, further comprising:
s600, determining the orientation of a user according to a gyroscope in the mobile equipment, and navigating according to a navigation scheme selected by the user; fixed equipment within the venue displays the selected route and displays the markers on the route for user navigation.
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