TWI417522B - Path planning method - Google Patents

Description

Path planning method

The invention provides a path planning method, in particular, a path planning processing operation through an electronic device, and then compressing the path planning data to a global satellite positioning system, so the global satellite positioning system does not need to set a central processing unit with a fast computing speed and a larger The storage unit of capacity, in turn, saves overall manufacturing costs.

According to the technology era of today's increasingly convenient transportation, the scope of human activities has gradually expanded. Therefore, the concept of the so-called global village has been proposed, and in order to save time and improve efficiency, the location of people or objects can be accurately located in a large area. And at the same time, there is a system that can communicate anywhere, anytime, to reduce the waste of manpower, time and resources is a very urgent need, and to achieve this purpose, the use of the Global Positioning System (GPS) to provide accurate longitude and latitude Values so that users around the world know where they are.

A global positioning system receiving device can usually receive signals from multiple satellites at the same time, that is, by transmitting the precise position of these satellites to obtain accurate position information to determine the current position, generally the most commonly used to the global positioning system. There is no means of transportation, using a global positioning system installed in a car or a ship to receive a host, receiving signals from satellites to help drivers find their location, and thus provide many different services, such as: navigation, help , theft, etc.

In recent years, car satellite navigation systems have become one of the most important applications of global satellite positioning units. However, the navigation map programs of today's car satellite navigation systems have 3D real-time simulation pictures and multiple path planning modes, thus increasing the capacity of the program and increasing the operation. Processing complexity, so it is necessary to set up a central processing unit with powerful computing power, and a large-capacity storage unit to store the navigation map program, so that the manufacturing cost of the car satellite navigation system cannot be reduced, so that the economic burden of the consumer increases. Can not be widely used for public use.

Therefore, how to solve the problem and lack of the conventional satellite navigation system is the direction for the relevant manufacturers engaged in this industry to research and improve.

Therefore, in view of the above-mentioned problems and deficiencies, the inventors collected relevant information, and through multi-party evaluation and consideration, and using years of research and development experience in this industry, through continuous trial and modification, the invention of this path planning method was designed. The birth of the patent.

The main purpose of the present invention is that when the output/input of the electronic device is input to the preset destination to the processor, the processor calculates the path planning data and compresses it through the compression method, and then transmits the data to the global satellite positioning system, and the satellite positioning. The unit uses the antenna to receive the signal sent by the satellite, and then converts the path planning data into a navigation map through the central processing unit, so that the display unit can display the path direction, the time and distance required to reach the destination, and the path planning processing work by using the electronic device. Then, the compressed path plan is transmitted to the global satellite positioning system, so that the global satellite positioning system only needs to perform the positioning processing work, and the central processing unit with a fast calculation speed and the storage unit with a large capacity can be set. Effectively reduce manufacturing costs.

The secondary purpose of the present invention is to prevent or reduce the signal reception of the antenna to the satellite when the user is driving in the tunnel or when the sky cloud layer is too thick, but the central processing unit is connected with an auxiliary unit, which can assist in strengthening the positioning of the satellite positioning unit. Function and assist calculation of the current path and direction through the auxiliary unit.

In order to achieve the above object and construction, the technical means and the functions thereof are as follows. The steps and functions of the preferred embodiments of the present invention are described in detail below.

Please refer to the first and second figures, which are block diagrams and schematic diagrams of the circuit of the present invention. As can be clearly seen from the figure, the path planning method of the present invention includes the global satellite positioning system 1 and the electronic device 2 The central processing unit 11 has a central processing unit 11 and the central processing unit 11 is respectively connected with a transmission interface 12 for transmitting and receiving signals and a storage unit 13 for storing data, and the central processing unit 11 is The satellite positioning unit 14 and the antenna 15 are connected in series, and the random access memory 16 capable of temporarily storing data is connected to the central processing unit 11, and the display unit 17 and the output/input port 18 are respectively connected to the central processing unit 11 and Auxiliary unit 19.

The electronic device 2 has a processor 21, and the processor 21 is respectively connected with a transmission interface 22 and an output/input port 23, and the processor 21 is connected with a random access memory 24 for temporarily storing data, and the processor 21 is connected to the processor 21 A memory unit 25 for storing data is connected.

Please refer to the first and third figures, which are block diagrams and flowcharts of the circuit of the present invention. It can be clearly seen from the figure, and the execution steps are as follows: (300) output/input through the electronic device 2 A preset destination is input to the processor 21.

(301) The processor 21 operates to generate path planning data.

(302) The processor 21 compresses the path planning data by a compression method, and further, whether it needs to be transmitted to the global satellite positioning system 1, if necessary, proceeds to step 304, otherwise proceeds to step 303.

(303) is stored to the memory unit 25 and ends.

(304) The processor transmits the compressed path planning data to the transmission interface 12 of the global satellite positioning system 1 by using the transmission interface 22.

(305) The central processing unit 11 of the global positioning system 1 receives via the transmission interface 12.

(306) The central processing unit 11 stores the path planning data in the storage unit 13.

(307) The satellite positioning unit 14 receives the signal from the satellite using the antenna 15, and the central processing unit 11 calculates the current coordinate data.

(308) The central processing unit 11 performs an operation, and the display unit 17 displays the path direction, the time and distance required to reach the destination.

(309) The auxiliary unit 19 assists the positioning of the satellite positioning unit 14 more accurately.

The user can connect an external input device (such as a keyboard, a mouse, etc.) through an output/input port 23 of the electronic device 2 (such as a desktop computer, a notebook computer, a personal digital assistant, etc.) (shown at the end of the figure). The pre-designed picture or travel destination is input to the processor 21 by using the input device, and the path planning data (such as the path of the plurality of landmarks or the travel destination) is generated by the processor 21, and the data in the operation is temporarily stored in the random state. The memory device 24 accesses the path planning data in the random access memory 24 through the compression method and stores the data to the memory unit 25. The processor 21 can also transmit the interface 22 through the transmission interface 22. The compressed path planning data is transmitted to the transmission interface 12 of the global positioning system 1 in the memory unit 25, and the transmission interface 22 of the electronic device 2 is corresponding to the transmission interface 12 of the global satellite positioning system 1, and can be a radio frequency module. (RF), Bluetooth module, transmission line, etc.

The central processing unit 11 of the global positioning system 1 receives the transmission through the transmission interface 12, and the path planning data is stored in the storage unit 13 by the central processing unit 11, and the satellite positioning unit 14 connected to the central processing unit 11 receives the antenna 15 by using the antenna 15. The signal sent by the satellite is calculated by the central processing unit 11 to calculate the latitude and longitude coordinate data of the current position, and then the coordinate data and the path planning data in the storage unit 13 are temporarily stored in the random access memory 16 for central processing. The unit 11 performs arithmetic processing, and the central processing unit 11 converts the coordinate data and the path planning data into a planar or three-dimensional navigation map, and then displays the navigation map and the path direction via the display unit 17 (such as a liquid crystal display or a touch screen). The distance from the destination and the required time. Because the path planning processing is performed through the electronic device 2, the path planning data is compressed and transmitted to the global satellite positioning system 1, so that the global satellite positioning system 1 only needs to perform the positioning processing work. , without the need to set the central processing unit 11 with a fast computing speed and a large capacity storage list Yuan 13, in order to effectively reduce the overall manufacturing cost of the global satellite positioning system 1, thereby increasing the popular usage rate.

Please refer to the third, fourth, fifth and sixth figures, which are flowcharts of the present invention, a flow chart (1), a flow chart (2) of the compression method of the present invention, and a schematic diagram of a preferred embodiment of the compression method. It can be clearly seen that the processor 21 can compress the path planning data through the compression method, and the compression method is performed as follows: the user sequentially sets the preset distance T (T can be 10 meters or 100 meters, etc.), preset angle F (F can be 120 degrees or 130 degrees, but can not be equal to or greater than 180 degrees) and preset compression points Q (Q can be 50 points), because a section of the path planning data has A route (such as 10 km), which has a preset number of recording points (such as 100), assuming that the first recording point (P0) is the starting point, and the starting point moves to the next recording point (P1) ) The recording distance (d) will be formed, and the next recording point (P1) will move to the recording point (P2) to form the recording distance (d1), and then the recording point (P2) will be sequentially moved to the recording point (P3). , P4, P5), can also be one recording point does not move, another recording point moves (such as P2 to P3, P2 to P4 or P2 to P6, etc.), the preset can be preset From (T) value of the length construed as compared with the length of recording a distance (d, d1, d2, d3, d4, etc.).

When moving more than two recording points, it is possible to connect three recording points (such as P0, P1, P2; P1, P2, P3 or P1, P3, P4) to form a two-line segment with a recording angle (Θ). The preset angle (F) can be interpreted as an angle value compared with the angle of the recording angle (Θ); in addition, the preset compression point number (Q) is interpreted as the path of the original section of the path planning data has 100 recording points, if The preset is to be compressed into 50 recording points. At this time, the 50 recording points are the preset compression points (Q), and the subsequent complete execution steps are as follows:

(401) Inputting the preset destination location to the electronic device 2, and the electronic device 2 generates a route of the route planning data, wherein the route has a plurality of recording points between the starting point and the ending point.

(402) Set a preset distance (T), a preset angle (F), and a preset compression point (Q) according to the route planning data.

(403) Enter the starting point.

(404) Calculating the connection angle (d) between the two recording points between the movements or the internal angle angle (Θ) formed by the two connection line segments of the three recording points between the movements.

(405) It is judged whether the connection distance (d) between the two recording points between the movements is greater than or equal to the value of the preset distance (T), and if so, proceeds to step (407), otherwise proceeds to step (406).

(406) determining whether the angle of the internal angle formed by the two line segments of the three recording points between the movements is greater than or equal to the value of F, and if so, proceeding to step (407), otherwise proceeding to step (409).

(407) The reference point moves to the next moving point, and the accumulated number of recorded points is incremented by one, and the recording point is stored.

(408) Determining whether to calculate the plural record point of the completed route, and if so, proceeding to step (410), otherwise proceeding to step (409).

(409) First, proceed to step (404), and move the point to the next recording point, and then recalculate the angle and distance.

(410) Whether the accumulated accumulated point value is greater than the preset compression point number Q, and if so, proceeds to step (411), otherwise proceeds to step (413).

(411) Zero the number of compression points Q of the value.

(412) Increase the value of T and proceed to step (403).

(413) Complete compression.

Therefore, the preset destination location is input to the electronic device 2, and the electronic device 2 generates the path planning data, and the route planning data has a plurality of recording points (such as 100 points) between the starting point and the ending point. And setting a preset distance (T) that can be compared with the length of the two recording points, and comparing with a preset angle (F) of the angle formed by the two line segments formed by any three recording points, and then setting the compression of the plurality of recording points After the preset compression point (Q), in addition, input the starting point (P0, set P0 = K0), and set the n and Z determinant values (for example, n is equal to 0 to 100 and Z is equal to 0 to 100), Then calculate the connection distance (d) between the two recording points between the movements or the angle between the two line segments of the three recording points between the movements (Θ), and the calculation method of the calculation method is d=dist(K[ Z], P[n+1]), and d is the recording distance, and K[Z] is the reference point, and P[n+1] is the n+1th recording point, and the n+1th recording point is also the front moving point, assuming that The starting reference point is the first recording point (P0), and P[n+1] is the n+1th recording point (P1), so the reference point to the n+1th recording point (P1) will form the recording distance (d), and The recording point (P1) moves to the next recording point (P2) to form another recording distance (d1), or the reference point moves to the recording point (P1) at the same time to form another recording distance (d2); The preset distance (T) is interpreted as a length value that is compared with the recording distance (d, d1, d2, etc.).

In addition, a straight line is formed between the reference point (K[Z]=K[0]) and the previous moving point (P[n+1]=P[1]), and (P[n+2]=P[2]) is After moving the point, another line will be formed between the rear moving point (P[n+2]=P[2]) and the front moving point (P[n+1]=P[1]), and will be between the two straight lines. With an internal angle, the expression is: And determining whether the value of the recording distance (d) is greater than the value of the preset distance (T), and if not, determining whether the angle value of the inner angle angle (Θ) is greater than the angle value of the recording angle (F), If not, move the previous moving point from the original second recording point (P1) to the third recording point (P2), and then move the moving point from the original third recording point to the fourth recording point (P3). ).

For example, if the cumulative number of movements (Z) of the current moving point is equal to 40 and the preset number of compression points (Q) is equal to 50, it means that the original compression from 100 points to 40 points, since 40 points is less than 50 points, the number of points after compression is completed. It is less than the preset compression point (Q), but all steps are completed, but if the value of Z is equal to 60, and Q is equal to 50, because the value is greater than Q, the number of points is compressed to the preset compression point (Q) , and must be reset, and increase the length of the preset distance (T), re-execute the above steps, until the value of Z is less than the value of Q, all steps can be completed.

In addition, the central processing unit 11 of the global positioning system 1 is connected with an auxiliary unit 19, which can be an electronic compass or an acceleration sensor (G-Sensor), which can assist the positioning of the satellite positioning unit 14 more accurately. When the user travels in a cave, a tunnel or when the sky clouds are too thick, the antenna 15 can block the signal receiving capability of the satellite, so that the satellite positioning unit 14 cannot receive the satellite signal through the antenna 15, but still can pass through the auxiliary unit 19 at this time. Auxiliary calculation of the current path and direction of travel.

Therefore, the key to the path planning method of the present invention for improving the usage is:

(1) Since the path planning processing can be performed through the electronic device 2, and then the path planning is transmitted to the global satellite positioning system 1, the global satellite positioning system 1 only needs to be simply positioned, and the conventional operation must be set to perform complicated operations. The central processing unit 11 achieves the purpose of saving manufacturing costs.

(2) When the user travels in the tunnel or when the sky cloud layer is too thick, the signal reception of the satellite 15 to the satellite is blocked or weakened, but the central processing unit 11 is connected with the auxiliary unit 19, which can assist the positioning function of the satellite positioning unit 14 And assisting in calculating the current travel path and direction through the auxiliary unit 19.

(3) The compression method can compress a piece of path data into fewer points for recording, thereby reducing the amount of data storage required for recording, and reducing the amount of data storage, making it easier to store data and speed up data transmission. The effect of speed.

Therefore, the present invention mainly aims to perform path planning processing through an electronic device, and then transmits path planning data to a global satellite positioning system, so that the global satellite positioning system only needs to perform positioning processing simply, so there is no need to set a central processing unit with a fast computing speed. The effect of effectively reducing the manufacturing cost is achieved. However, the above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, so that the use of the specification and the contents of the present invention is simple. Modifications and equivalent structural changes are still included in the scope of patents covered by the present invention and are combined with Chen Ming.

In summary, the above path planning method of the present invention can achieve its efficacy and purpose, so the invention is an invention with excellent practicability, and is in fact conforming to the application requirements of the invention patent, and submitting an application according to law, expecting the trial committee The case will be granted as soon as possible to protect the inventor's hard work. If there is any doubt in the bureau, please do not hesitate to instruct the inventor to make every effort to cooperate.

1. . . Global positioning system

11. . . Central processing unit

12. . . Transmission interface

13. . . Storage unit

14. . . Satellite positioning unit

15. . . antenna

16. . . Random access memory

17. . . Display unit

18. . . Output/entry

19. . . Auxiliary unit

2. . . Electronic device

twenty one. . . processor

twenty two. . . Transmission interface

twenty three. . . Output/entry

twenty four. . . Random access memory

25. . . Memory unit

The first figure is a block diagram of the circuit of the present invention.

The second figure is a schematic diagram of the use of the present invention.

The third figure is a flow chart of the present invention.

The fourth figure is a flow chart (1) of the compression method of the present invention.

The fifth figure is a flow chart (2) of the compression method of the present invention.

Figure 6 is a schematic diagram of a preferred embodiment of the compression method of the present invention.

1. . . Global positioning system

11. . . Central processing unit

12. . . Transmission interface

13. . . Storage unit

14. . . Satellite positioning unit

15. . . antenna

16. . . Random access memory

17. . . Display unit

18. . . Output/entry

19. . . Auxiliary unit

2. . . Electronic device

twenty one. . . processor

twenty two. . . Transmission interface

twenty three. . . Output/entry

twenty four. . . Random access memory

25. . . Memory unit

Claims (6)

A path planning method, in particular, a path planning method for transmitting an operation path planning data to a global satellite positioning system by an electronic device, comprising an electronic device and a global satellite positioning system, the electronic device having a processor, and The processor is respectively connected with a transmission interface, an output/input and a memory unit, and the electronic device can transmit signals to the global satellite positioning system, and the global satellite positioning system has a central processing unit, and the central processing unit is respectively connected with a transmission interface, The storage unit, the display unit and the satellite positioning unit are connected to the antenna by the satellite positioning unit, and the path planning method comprises the following steps: (A) inputting the preset destination to the processor through the output/input of the electronic device; (B) The processor operation generates the path planning data; (C) the processor compresses the path planning data through the compression method, and further, whether it needs to be transmitted to the global satellite positioning system, if necessary, proceeds to step (E), otherwise enters the step ( D); and the compression method is performed in the following steps: (C1) input preset destination position The electronic device, and the electronic device generates a route of the route planning data, wherein the route has a plurality of recording points between the starting point and the ending point; (C2) setting the preset distance T and the preset angle F according to the route planning data route And preset compression point number Q; (C3) input starting point; (C4) Calculate the connection distance (d) between the two recording points between the movements or the internal angle (θ) formed by the two connection points of the three recording points between the movements; (C5) determine between the two recording points between the movements Whether the connection distance (d) is greater than or equal to the preset distance (T), if yes, proceed to step (C7), otherwise enter step (C6); (C6) determine the two records of the three records in the mobile Whether the inner angle θ formed by the line segment is greater than or equal to the value of F, if yes, proceeds to step (C7), otherwise proceeds to step (C9); (C7) the reference point moves to the next moving point, and the number of recorded points is accumulated Add a value and store the record point; (C8) determine whether to calculate the complex record point of the completed route, if yes, proceed to step (C10), otherwise enter step (C9); (C9) first enter step (C4), and Move the point to the next recording point, and then recalculate the angle and distance; (C10) whether the accumulated accumulated point value is greater than the preset compression point number Q, if yes, go to step (C11), otherwise enter the step (C13) (C11) zero the number of compression points Q; (C12) increase the value of T and enter step (C3); (C13) complete compression; (D) store to memory unit and end; (E) processor uses transmission interface to transmit compressed path planning data to global satellite The transmission interface of the positioning system; (F) the central processing unit of the global positioning system stores the path planning data in the storage unit; (G) the satellite positioning unit of the global positioning satellite system uses the antenna to receive the signal from the satellite and is processed by the central processing unit The unit calculates the current coordinate data; (H) the central processing unit of the global satellite positioning system displays the direction of the path and the time and distance required to reach the destination through the display unit. The path planning method according to claim 1, wherein the central processing unit of the global satellite positioning system is connected with an auxiliary unit, and the auxiliary unit may be an electronic compass or an acceleration sensor. The path planning method according to claim 1, wherein the central processing unit of the global positioning system is connected to an output/input that can transmit with an external signal. The path planning method according to claim 1, wherein the central processing unit of the global positioning system is connected to a random access memory capable of temporarily storing data. The path planning method described in claim 1, wherein the electronic device The transmission interface of the global satellite positioning system is a corresponding Bluetooth, RF or transmission line. The path planning method of claim 1, wherein the processor of the electronic device is connected to a random access memory capable of temporarily storing data.