WO2019007071A1 - 基于关键点的导向性导航方法、装置及设备 - Google Patents

基于关键点的导向性导航方法、装置及设备 Download PDF

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Publication number
WO2019007071A1
WO2019007071A1 PCT/CN2018/076255 CN2018076255W WO2019007071A1 WO 2019007071 A1 WO2019007071 A1 WO 2019007071A1 CN 2018076255 W CN2018076255 W CN 2018076255W WO 2019007071 A1 WO2019007071 A1 WO 2019007071A1
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Prior art keywords
navigation
point
location
path
key point
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PCT/CN2018/076255
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English (en)
French (fr)
Inventor
袁昊洋
吴限
陈庚
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乐高乐佳（北京）信息技术有限公司
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Publication of WO2019007071A1 publication Critical patent/WO2019007071A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation

Definitions

  • the present invention relates to the field of communications technologies, and in particular, to a navigation method, apparatus and device based on key points.
  • the positioning applications on the market have indoor navigation functions. These existing solutions are to plan the path between the indoor positioning coordinate points and the destination position coordinate points, and display the specific walking paths on the map. These so-called indoor navigation The mode is generally consistent with the outdoor navigation mode, and the action path is displayed on the map to inform the user that the route can reach the destination.
  • the disadvantages of this approach are as follows:
  • the indoor environment is often not as fixed as the outdoor, the indoor environment is mostly a public area without a fixed road, and the concept of the road is not strong.
  • the existing way of planning and displaying by path does not meet the intuitive feeling of the user.
  • the existing navigation methods have limited limitations in path planning and application effects, and cannot easily and effectively plan and display paths according to the characteristics of the indoor environment, and it is difficult to meet the needs of users using indoor navigation applications.
  • the object of the present invention is to provide a navigation method, device and device based on key points for at least one of the above disadvantages, which can conveniently and efficiently navigate.
  • an embodiment of the present invention provides a navigation method based on a key point, which includes the steps of: determining a navigation point in a key point of a predetermined indoor map according to the first location and the second location; a point for characterizing a passable direction in the indoor map; generating guidance information for direction guidance based on a current position and a relative orientation of the navigation point; and, based on a predetermined display rule, based on at least a portion of the indoor map
  • the navigation information and the navigation point and/or the second location are presented.
  • a key point-based navigation device comprising: at least one processor; and at least one memory communicably connected to the at least one processor; At least one memory includes processor-executable instructions that, when executed by the at least one processor, cause the apparatus to perform at least the following operations: in a predetermined room based on the first location and the second location Determining a navigation point in a key point of the map; the key point is used to represent a passable direction in the indoor map; and generating guidance information for direction guidance based on a current position and a relative orientation of the navigation point; Displaying rules that present the navigation information and the navigation point and/or the second location based on at least a portion of the indoor map.
  • the embodiment of the present invention further provides a terminal device, including a display screen, a memory, and one or more processors, where the memory is used to store information including program instructions, and the processor is configured to control program instructions. Executing, when the processor executes the program, implementing any of the key point-based navigation methods provided by the first aspect.
  • an embodiment of the present invention further provides a computer program comprising computer readable code, when the navigation device runs the computer readable code, causing the method of the first aspect to be performed.
  • the embodiment of the present invention further provides a computer readable medium, wherein the computer program according to the fourth aspect is stored.
  • the technical solution provided by the present invention has at least the following advantages:
  • an embodiment of the present invention provides a navigation method, apparatus, and terminal based on a key point.
  • a navigation method, apparatus, and terminal By analyzing a relationship between a first location and a second location and a key point describing an accessible area of an indoor map, it can be determined among the key points. And navigating the navigation point, and then generating the orientation information based on the current position (which may be the first location) and the relative orientation of the navigation point, and displaying the navigation information to the user based on the corresponding at least part of the indoor map by using a predetermined display rule And the navigation point and/or the second location.
  • the directional indication can be clearly, continuously and effectively displayed on a limited screen space, guiding the user to complete the navigation process efficiently, and improving the user's traffic efficiency.
  • the embodiment of the present invention converts an indoor plan view into image data of a predetermined format, and further generates an included area for constructing the indoor map and is accessible between the areas based on the indoor structure represented by the image data.
  • the constituent elements of the key points on the boundary, and further the indoor map is constructed according to the constituent elements; wherein the planar shape of the region is convex; and the region including the passable boundary is the passable region.
  • the construction of the structured indoor map for the above indoor navigation is effectively realized, which makes the indoor navigation more efficient and convenient.
  • the constituent elements can further include floors, and the floors are connected by the connection areas in the above-mentioned areas, thereby realizing the expansion of indoor navigation between different floors, which is more convenient and practical.
  • the embodiment of the present invention further provides an effective abnormal situation processing scheme.
  • FIG. 1 is a schematic flow chart of a key point-based navigation method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram showing the construction of an indoor map according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram showing the construction of an indoor map according to an embodiment of the present invention.
  • FIG. 4 is a schematic flowchart of determining a navigation point according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of performing guided navigation according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of path planning navigation in an existing navigation scheme
  • FIG. 7 is a structural block diagram of a navigation system based on a key point according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a device according to an embodiment of the present invention.
  • Figure 9 is a block diagram of a navigation device for performing the method in accordance with the present invention.
  • Figure 10 is a schematic diagram of a memory unit for holding or carrying program code implementing a method in accordance with the present invention.
  • terminal includes both a device of a wireless signal receiver, a device having only a wireless signal receiver without a transmitting capability, and a device for receiving and transmitting hardware having the capability of A device that performs bidirectional communication reception and transmission hardware on a two-way communication link.
  • Terminals to which the present invention is applicable include, but are not limited to, cellular or other communication devices, which are cellular or other communication devices having a single line display or a multi-line display, such as smart phones, smart tablets, and other smart terminal devices having on-screen display functions, and the like. .
  • the indoor navigation technology in the implementation of the present invention has a good development prospect in the era of mobile internet communication, and has a good universality in large shopping malls, underground garages, exhibitions, stadiums and scenic spots, and even emergency rescue situations, and has great Social and economic value.
  • a guiding navigation method for a key point of the present invention includes the following steps S11-S13:
  • Step S11 determining a navigation point in a key point of the predetermined indoor map according to the first location and the second location; the key point is used to represent the passable direction in the indoor map.
  • the first location and/or the current location in an embodiment of the present invention is obtained by using an indoor positioning technology.
  • the indoor positioning technology may include a Wi-Fi positioning technology, a Bluetooth positioning technology, an RFID positioning technology, and a Zigbee positioning technology.
  • One or more of ultra-bandwidth positioning technology and geomagnetic positioning technology are included in the indoor positioning technology.
  • indoor positioning refers to the use of indoor positioning technology as an auxiliary positioning for satellite positioning when the indoor environment is unable or difficult to use satellite positioning, and solves the problem that the satellite signal is weak and difficult to penetrate the building when it reaches the ground, and finally locates.
  • the current location of the object may include, but is not limited to, a triangulation method, a fingerprint positioning method, an LED light positioning method, a hybrid positioning method, and the like.
  • the obtaining process may include the steps of: converting the indoor plan view into image data of a predetermined format; based on the indoor structure characterized by the image data, Generating a component for constructing the indoor map, including a region and a key point on a passable boundary between the regions; constructing the indoor map according to the constituent element; wherein a planar shape of the region is convex The area containing the passable boundary is the passable area.
  • the construction of the structured indoor map for the above indoor navigation is effectively realized, which makes the indoor navigation more efficient and convenient.
  • the indoor map is mainly constructed based on key points and regions, and the passable portion of the map is divided into one or more passable regions, and at least one key point is set at a passable boundary between the passable regions, so that the key is passed.
  • the above-mentioned constituent elements may also include floors; each floor corresponds to an indoor map of one floor of a multi-storey building, on the one hand, each floor is visible It is a relatively independent complete navigation area composed of several areas and/or key points.
  • the area can further include a connection area; the floors are connected by the connection area. The realization of the indoor navigation between the floors makes the invention more convenient and practical.
  • the indoor map corresponding to each floor may be divided into a plurality of areas, each of which is surrounded by a passable boundary and/or an unreachable boundary, and generally the above area may correspond to an indoor element such as a room or a passage in the indoor map. It should be noted that all areas are constructed in a convex shape for ease of division and navigation.
  • a connection area which is used for connection between floors, and generally represents indoor elements such as a ladder, a staircase, an elevator, and the like in an indoor map.
  • the key points mentioned above are usually the passable points between the areas and the areas. There are a myriad of points on the passable boundary between the regions, and the present invention selects at least one point in place as a key point for constructing an indoor map.
  • the key point can be regarded as the entrance and exit of the area, that is, the key point in the indoor environment is the position suitable for passing.
  • the key points of the indoor map are usually at the intersection of the passage, the passage division, the room mouth, the stairway, the escalator, and the straight ladder.
  • each floor can be composed of a region and a key point, and the floors are connected by a connection area, and the connection relationship between the area and the area can be described by key points. That is, a plurality of areas including the same key point are connected areas that are connected.
  • floors, areas, and key points have a hierarchical relationship, forming a relationship from key points to regions and from regions to floors.
  • the key points may belong to a plurality of regions.
  • the key point 1B belongs to the area 2A that represents the room, but the area 2A intersects the area 2L that characterizes the channel, that is, the key point 1B also belongs to the area 2L.
  • the connection area 2 does not belong to any floor 3, please refer to Fig. 3.
  • the connection area 2A can reach the floor 3A and the floor 3B, that is, the area 2A characterizing the straight ladder is the connection area 2 of the floor 3A and the floor 3B.
  • the number of areas 2 in floor 3 is 0, which means that there is nothing in the floor 3. It is also possible that the number of key points 1 in the area 2 is 0, that is, the area 2 is an inaccessible closed area 2. Therefore, the traffic area 2 of the indoor map can be constructed by the aforementioned area 2, and the connection relationship of the arbitrary area 2 of the indoor map can be described by the array or set of the key points 1. In this way, the indoor map can be constructed by using the key points 1 and 2 as the basis for implementing the indoor navigation method based on the key point 1 guided navigation method.
  • the indoor map can be constructed by retaining contours of floors, rooms, doors, stairs, etc. in the indoor area of the CAD drawing, and using GIS software, taking ArcMa as an example, converting the format to .shp Data, and vectorization correction of the data with incorrect conversion; then transform the converted data into linear features through ArcMap, so as to form the elements of floors, regions, key points, etc. in the indoor map, so that the key points can be characterized Indoor accessible area.
  • the constituent elements such as floors, regions, and key points may be formed according to the linear elements initially formed in the indoor map.
  • the linear element can be an important part of the area element, and an area is composed of a plurality of linear elements.
  • a linear element can also serve as a boundary for a region that includes a passable boundary and an impassable boundary.
  • a zone has one or more passable boundaries, indicating that the zone has access or transit conditions.
  • the intersection of the area and the area is a point element, and the point element of the indoor map is generated according to the intersection of the passable boundary between the area and the area. For example, when the room area and the channel area meet, the side where the room area and the channel area meet is a passable boundary, and then the intersection is a key.
  • the floor represents one of the indoor buildings, and the floor has multiple areas and key points.
  • the floor and the floor are connected by a connection area (for example, an elevator, a staircase, etc.).
  • the indoor map may be pre-stored or cached in local storage or acquired via a remote port when performing the keypoint-based navigation method of the present invention.
  • the indoor map may be served by an external map client (WebGis) for an external client (eg, a device).
  • WebGis an external map client
  • the service unit is a fat server and the client is a thin client. It means that the server handles things and business logic, and the client only needs to send a request to obtain and display the corresponding map data.
  • the device sends a pre-defined HTTP request to the web server, and the service unit returns corresponding data according to the request, and the device can perform the display or information processing of the corresponding navigation content after obtaining the data returned by the web server.
  • the determining the navigation point in the key point of the predetermined indoor map according to the first location and the second location comprises: the first location connecting the second location via the keypoint to obtain a navigation path; The attribute distance of each navigation path is calculated by the physical distance and the unobstructed attribute of the navigation path; and the key point included in the navigation path whose distance is the shortest is determined as the navigation point.
  • the above navigation point may be obtained by the following steps:
  • Step S111 determining a key point adjacent to the first position to obtain a set S ⁇ P ⁇ of the key points; wherein P represents the key point adjacent to the first position.
  • Step S112 each key point in the set S ⁇ P ⁇ is sequentially connected to the adjacent next key point until the second position is connected, and each key point in the set S ⁇ P ⁇ is obtained to the second position.
  • the navigation path is respectively a subset of the corresponding key points P ⁇ M ⁇ in the corresponding set S ⁇ P ⁇ ; wherein M represents a key point in the navigation path.
  • the traversal method may be used to obtain a navigation path from the first location to the second location, thereby obtaining a set of all key points between the first location and the second location.
  • Step S113 calculating an attribute distance of each of the subsets P ⁇ M ⁇ corresponding to the navigation path; the attribute distance of the navigation path is calculated by the physical distance and the unobstructed attribute of the navigation path.
  • step S114 it is determined that the key point in the navigation path of the subset P ⁇ M ⁇ whose attribute distance is the shortest is the navigation point.
  • the method may further include:
  • step S1112 the key point in the set S ⁇ P ⁇ that cannot be connected to the second location is deleted.
  • the sorting rule in the set T ⁇ N ⁇ can be set to sort from the navigation point closest to the first position, that is, T ⁇ N 1 ⁇ is the first distance. Nearest position, T ⁇ N n ⁇ is farthest from the first position and closest to the second position.
  • the order of arrangement of the navigation point sets T ⁇ N ⁇ can also be set as the order in which the navigation points are displayed.
  • the present invention provides a navigation service for a user
  • a region 2 representing a room between the first location 4A and the second location 4B
  • the region 2 has a plurality of keypoints 1
  • the area 2 has traffic conditions.
  • the first position 4A to the second position 4B is just the interval area 2A
  • the area 2A has the key point 1A and the key point 1B, wherein the key point 1A is adjacent to the first position 4A, and the key point 1B is adjacent to the second position 4B.
  • the key point 1A and the key point 1B can be used as the navigation point 1A and the navigation point 1B, and the domain user can pass the travel area 2A from the first position 4A to the second position 4B, that is, after the navigation point 1A and then the navigation point 1B.
  • the shortest distance is reached to the second position 4B, avoiding the time and the distance traveled by the need to bypass the area 2A to find other indoor passages for the path to reach the second position 4B.
  • FIG. 5 shows that the navigation point can reach the second position 4B by the shorter distance through the room area 2, and the traffic efficiency is improved; and
  • FIG. 6 shows that the map path planning without using the navigation point leads to the winding.
  • the line room area 2A is reached to reach the second position 4B, apparently wasting more distance.
  • the invention analyzes and determines the set of key points corresponding to the navigation path with the shortest attribute distance from the first position to the second position as the navigation point set. Since there may be multiple navigation paths from the first location to the second location to generate a plurality of keypoint sets, according to the connectivity between the keypoints, some of the keypoint sets may be connected to the second location, but each keypoint set The corresponding attribute distances are often different, so the key point set with the shortest attribute distance can be selected as the optimal navigation point set from the first position to the second position.
  • the attribute distance between all the key points in each key point and the attribute distance of the key point set are compared, the attribute distances of all the key point sets are compared, and the key point set with the shortest attribute distance is determined as the first position to the first A preferred set of navigation points for two locations.
  • the key points on the same floor as the first location and reach the floor where the second location is located are calculated, and the corresponding key of the floor where the second location is located Point to the key point of the second position, or, in turn, determine the navigation point of the first position to the second position according to the above method of determining the navigation point, thereby being used for efficient indoor navigation between different floors.
  • the physical distance of the navigation path includes a linear distance of each sub-path end point in the navigation path; and/or the patency attribute of the navigation path includes a predetermined patency parameter of an area where each sub-path in the navigation path is located,
  • the patency parameter of the area characterizing the channel is higher than the patency parameter of the area characterization of the store, and the patency parameter of the area with small personnel density is higher than the area with high density of personnel.
  • the sub-path of the navigation path includes a connection of each adjacent endpoint in the navigation path; the endpoint includes the first location, the keypoint, and the second location.
  • the attribute distance of the navigation path may be the sum of the product of the patency parameter corresponding to each sub-path and the corresponding straight line distance.
  • Step S12 generating navigation information for direction guidance based on the current position and the relative orientation of the navigation point.
  • the invention realizes the guiding navigation by guiding the current position to a direction of a navigation point adjacent to the underground to guide the user to walk according to the prompt direction.
  • the present invention may display the guiding information in a predetermined position on the direct connection line between the current location and the next navigation point, such as a straight line distance center point, and the guiding information may be in the form of a guiding icon. , color, text, etc.
  • the generating the orientation information for the direction guidance based on the current location and the relative orientation of the navigation point including:
  • next navigation point is a navigation point that is closest to the current location.
  • the user's current location can be obtained by means of positioning technology, especially indoor positioning technology.
  • the relative position of the current location and the next navigation point is obtained, and in some embodiments, the acquisition of the orientation information by the corresponding sensor of the terminal configuration held by the user is also assisted.
  • Step S13 displaying the navigation information and the navigation point and/or the second location based on the corresponding at least part of the indoor map by a predetermined presentation rule.
  • the present invention displays the navigation information and the navigation point and/or the second location in the indoor map by predetermined display rules to achieve user-directed navigation.
  • corresponding guiding information is displayed at a predetermined position of the direct connection, and the direction of the guiding information points to the next key point.
  • the predetermined display rule may include: after determining, by the terminal, the first location according to the indoor positioning technology and the indoor positioning method, displaying the first location in the indoor map; obtaining and determining the current location according to the second location After the navigation point of the navigation path, the navigation point is sequentially displayed in the order of the corresponding key points in the navigation path; the navigation information of the current position to the next navigation point is displayed between the current position and the next navigation point; When you reach the next navigation point, update the key points and display them.
  • the first position may also be started, and the user guides the user to the key point according to the prompt direction by guiding the information from the current position to the navigation point T ⁇ 1 ⁇ .
  • the time interval recalculates and displays the guidance information from the current location and the navigation point T ⁇ 1 ⁇ .
  • the manner in which the orientation information is displayed may depend on the linear distance between the current location to the key point T ⁇ 1 ⁇ , and/or the terminal screen size used to display the indoor map navigation and/or the zoom ratio of the current indoor map, for example, at the current location and
  • the navigation point is displayed at the center point of the linear distance between the navigation points T ⁇ 1 ⁇ , and the direction of the guidance information is the coordinate position where the current key point T ⁇ 1 ⁇ is located.
  • the update guide information is the direction of the current position to the key point T ⁇ 2 ⁇ , and so on, until the distance between the user and the second position is less than the predetermined distance.
  • the present invention does not necessarily display all the navigation points at the same time in the above navigation, and can select the nearest key point according to the current position of the user, and display the next time when it is judged that the navigation point is reached.
  • the navigation point after displaying the navigation point T ⁇ n ⁇ , conducts guided navigation according to the second position to guide the user to the end point.
  • the embodiment of the present invention may further determine whether the next navigation point is reached according to the current location of the user. If it is determined that the navigation point has been reached, the navigation point is marked as “arrived” and the like. . So that users can understand the navigation points they have passed and plan the next steps. Moreover, when the user reaches the end point (the second position), the display of the navigation point and the navigation information can also be turned off, prompting the end of the navigation.
  • the display rule of the present invention may further include: determining the current location according to the distance and the relative orientation of the current location and the next navigation point. Whether the position deviates from the navigation path; when it is determined that the current position deviates from the navigation path, the navigation path and the corresponding navigation point are re-determined with the current position as the first position; when determining the attribute distance of the re-determined navigation path When the navigation path is smaller than the original navigation path, the corresponding navigation point and the navigation information are updated based on the re-determined navigation path.
  • the implementation of the present invention can be determined among these key points by analyzing the relationship between the first location and the second location and the key points describing the accessible area of the indoor map.
  • a navigation point for navigation and then generating navigation information based on the current location and the relative orientation of the navigation point, and displaying the navigation information and the navigation point and/or the second location in a corresponding manner by a predetermined presentation rule At least part of the indoor map. It can effectively provide indoor navigation for users and improve the user's traffic efficiency.
  • the present invention further proposes a key navigation guide device based on the above-mentioned key navigation method.
  • a navigational device for guiding a key point of the present invention includes a navigation point analyzing unit 11, a guiding generating unit 12, and a navigation display unit 13, wherein the functions of each unit are as follows:
  • the navigation point analyzing unit 11 is configured to determine a navigation point in a key point of the predetermined indoor map according to the first location and the second location; the key point is used to represent a passable direction in the indoor map.
  • the first location and/or the current location in an embodiment of the present invention is obtained by using an indoor positioning technology.
  • the indoor positioning technology may include a Wi-Fi positioning technology, a Bluetooth positioning technology, an RFID positioning technology, and a Zigbee positioning technology.
  • One or more of ultra-bandwidth positioning technology and geomagnetic positioning technology are included in the indoor positioning technology.
  • indoor positioning refers to the use of indoor positioning technology as an auxiliary positioning for satellite positioning when the indoor environment is unable or difficult to use satellite positioning, and solves the problem that the satellite signal is weak and difficult to penetrate the building when it reaches the ground, and finally locates.
  • the current location of the object may include, but is not limited to, a triangulation method, a fingerprint positioning method, an LED light positioning method, a hybrid positioning method, and the like.
  • the obtaining process may include the steps of: converting the indoor plan view into image data of a predetermined format; based on the indoor structure characterized by the image data, Generating a component for constructing the indoor map, including a region and a key point on a passable boundary between the regions; constructing the indoor map according to the constituent element; wherein a planar shape of the region is convex The area containing the passable boundary is the passable area.
  • the construction of the structured indoor map for the above indoor navigation is effectively realized, which makes the indoor navigation more efficient and convenient.
  • the indoor map is mainly constructed based on key points and regions, and the passable portion of the map is divided into one or more passable regions, and at least one key point is set at a passable boundary between the passable regions, so that the key is passed.
  • the above-mentioned constituent elements may also include floors; each floor corresponds to an indoor map of one floor of a multi-storey building, on the one hand, each floor is visible It is a relatively independent complete navigation area composed of several areas and/or key points.
  • the area can further include a connection area; the floors are connected by the connection area. The realization of the indoor navigation between the floors makes the invention more convenient and practical.
  • the indoor map corresponding to each floor may be divided into a plurality of areas, each of which is surrounded by a passable boundary and/or an unreachable boundary, and generally the above area may correspond to an indoor element such as a room or a passage in the indoor map. It should be noted that all areas are constructed in a convex shape for ease of division and navigation.
  • a connection area which is used for connection between floors, and generally represents indoor elements such as a ladder, a staircase, an elevator, and the like in an indoor map.
  • the key points mentioned above are usually the passable points between the areas and the areas. There are countless points on the passable boundary between the regions, and the present invention selects at least one point in place as a key point for constructing an indoor map.
  • the key point can be regarded as the entrance and exit of the area, that is, the key point in the indoor environment is the position suitable for passing.
  • the key points of the indoor map are usually at the intersection of the passage, the passage division, the room mouth, the stairway, the escalator, and the straight ladder.
  • each floor can be composed of a region and a key point, and the floors are connected by a connection area, and the connection relationship between the area and the area can be described by key points. That is, a plurality of areas including the same key point are connected areas that are connected.
  • floors, areas, and key points have a hierarchical relationship, forming a relationship from key points to regions and from regions to floors.
  • the key points may belong to a plurality of regions.
  • the key point 1B belongs to the area 2A that represents the room, but the area 2A intersects the area 2L that characterizes the channel, that is, the key point 1B also belongs to the area 2L.
  • the connection area 2 does not belong to any floor 3, please refer to FIG. 3.
  • the connection area 2A can reach the floor 3A and the floor 3B, that is, the area 2A characterizing the straight ladder is the connection area 2 of the floor 3A and the floor 3B.
  • the number of areas 2 in floor 3 is 0, which means that there is nothing in the floor 3. It is also possible that the number of key points 1 in the area 2 is 0, that is, the area 2 is an inaccessible closed area 2. Therefore, the traffic area 2 of the indoor map can be constructed by the aforementioned area 2, and the connection relationship of the arbitrary area 2 of the indoor map can be described by the array or set of the key points 1. In this way, the indoor map can be constructed by using the key points 1 and 2 as the basis for realizing the indoor navigation method based on the key point 1 guiding navigation device.
  • the indoor map can be constructed by retaining contours of floors, rooms, doors, stairs, etc. in the indoor area of the CAD drawing, and using GIS software, taking ArcMa as an example, converting the format to .shp Data, and vectorization correction of the data with incorrect conversion; then transform the converted data into linear features through ArcMap, so as to form the elements of floors, regions, key points, etc. in the indoor map, so that the key points can be characterized Indoor accessible area.
  • the constituent elements such as floors, regions, and key points may be formed according to the linear elements initially formed in the indoor map.
  • the linear element can be an important part of the area element, and an area is composed of a plurality of linear elements.
  • a linear element can also serve as a boundary for a region that includes a passable boundary and an impassable boundary.
  • a zone has one or more passable boundaries, indicating that the zone has access or transit conditions.
  • the intersection of the area and the area is a point element, and the point element of the indoor map is generated according to the intersection of the passable boundary between the area and the area. For example, when the intersection of the room area and the passage area, the side where the room area and the passage area meet is a passable boundary, then the intersection is a key.
  • the floor represents one of the indoor buildings, and the floor has multiple areas and key points.
  • the floor and the floor are connected by a connection area (for example, an elevator, a staircase, etc.).
  • the indoor map may be pre-stored or cached in a local memory or acquired via a remote port when performing the keypoint-based navigation device of the present invention.
  • the indoor map may be served by an external map client (WebGis) for an external client (eg, a device).
  • WebGis an external map client
  • the service unit is a fat server and the client is a thin client. It means that the server handles things and business logic, and the client only needs to send a request to obtain and display the corresponding map data.
  • the device sends a pre-defined HTTP request to the web server, and the service unit returns corresponding data according to the request, and the device can perform the display or information processing of the corresponding navigation content after obtaining the data returned by the web server.
  • the determining the navigation point in the key point of the predetermined indoor map according to the first location and the second location comprises: the first location connecting the second location via the keypoint to obtain a navigation path; The attribute distance of each navigation path is calculated by the physical distance and the unobstructed attribute of the navigation path; and the key point included in the navigation path whose distance is the shortest is determined as the navigation point.
  • the navigation point may be obtained by specifically determining a key point adjacent to the first location, and obtaining a set S ⁇ P ⁇ of the key point; wherein P represents the first location Adjacent key points; each key point in the set S ⁇ P ⁇ is sequentially connected to an adjacent next key point until the second position is connected, and each key point in the set S ⁇ P ⁇ is obtained to the a navigation path of the second location, wherein each key point included in each navigation path is a subset P ⁇ M ⁇ of a corresponding key point in the corresponding set S ⁇ P ⁇ ; wherein M represents a key point in the navigation path;
  • Each of the subsets P ⁇ M ⁇ corresponds to an attribute distance of the navigation path; the attribute distance of the navigation path is calculated by the physical distance and the unobstructed attribute of the navigation path; and the corresponding navigation path of each of the subsets P ⁇ M ⁇ is calculated.
  • the attribute distance is calculated by the physical distance and the unobstructed attribute of the navigation path; the key point in the navigation path of the subset P ⁇ M
  • the traversal method may be used to obtain a navigation path from the first location to the second location, thereby obtaining a set of all key points between the first location and the second location.
  • each key point in the set S ⁇ P ⁇ is sequentially connected to the adjacent next key point in the above, until the step of connecting the second location, : Filtering deletes key points in the set S ⁇ P ⁇ that cannot be connected to the second location.
  • the sorting rule in the set T ⁇ N ⁇ can be set to sort from the navigation point closest to the first position, that is, T ⁇ N 1 ⁇ is the first distance. Nearest position, T ⁇ N n ⁇ is farthest from the first position and closest to the second position.
  • the order of arrangement of the navigation point sets T ⁇ N ⁇ can also be set as the order in which the navigation points are displayed.
  • the present invention provides a navigation service for a user
  • a region 2 representing a room between the first location 4A and the second location 4B
  • the region 2 has a plurality of keypoints 1
  • the area 2 has traffic conditions.
  • the area 2A has the key point 1A and the key point 1B, wherein the key point 1A is adjacent to the first position 4A, and the key point 1B is adjacent to the second position 4B.
  • the key point 1A and the key point 1B can be used as the navigation point 1A and the navigation point 1B, and the domain user can pass the travel area 2A from the first position 4A to the second position 4B, that is, after the navigation point 1A and then the navigation point 1B.
  • the shortest distance is reached to the second position 4B, avoiding the time and the distance traveled by the need to bypass the area 2A to find other indoor passages for the path to reach the second position 4B.
  • FIG. 5 shows that the navigation point can reach the second position 4B by the shorter distance through the room area 2, and the traffic efficiency is improved; and
  • FIG. 6 shows that the map path planning without using the navigation point leads to the winding.
  • the line room area 2A is reached to reach the second position 4B, apparently wasting more distance.
  • the invention analyzes and determines the set of key points corresponding to the navigation path with the shortest attribute distance from the first position to the second position as the navigation point set. Since there may be multiple navigation paths from the first location to the second location to generate a plurality of keypoint sets, according to the connectivity between the keypoints, some of the keypoint sets may be connected to the second location, but each keypoint set The corresponding attribute distances are often different, so the key point set with the shortest attribute distance can be selected as the optimal navigation point set from the first position to the second position.
  • the attribute distance between all the key points in each key point and the attribute distance of the key point set are compared, the attribute distances of all the key point sets are compared, and the key point set with the shortest attribute distance is determined as the first position to the first A preferred set of navigation points for two locations.
  • the key points on the same floor as the first location and reach the floor where the second location is located are calculated, and the corresponding key of the floor where the second location is located Point to the key point of the second position, or, in turn, determine the navigation point of the first position to the second position according to the above method of determining the navigation point, thereby being used for efficient indoor navigation between different floors.
  • the physical distance of the navigation path includes a linear distance of each sub-path end point in the navigation path; and/or the patency attribute of the navigation path includes a predetermined patency parameter of an area where each sub-path in the navigation path is located,
  • the patency parameter of the area characterizing the channel is higher than the patency parameter of the area characterization of the store, and the patency parameter of the area with small personnel density is higher than the area with high density of personnel.
  • the sub-path of the navigation path includes a connection of each adjacent endpoint in the navigation path; the endpoint includes the first location, the keypoint, and the second location.
  • the attribute distance of the navigation path may be the sum of the product of the patency parameter corresponding to each sub-path and the corresponding straight line distance.
  • the steering generating unit 12 is configured to generate guiding information for direction guiding based on the current position and the relative orientation of the navigation point.
  • the invention realizes the guiding navigation by guiding the current position to a direction of a navigation point adjacent to the underground to guide the user to walk according to the prompt direction.
  • the present invention may display the guiding information in a predetermined position on the direct connection line between the current location and the next navigation point, such as a straight line distance center point, and the guiding information may be in the form of a guiding icon. , color, text, etc.
  • the generating the orientation information for the direction guidance based on the current location and the relative orientation of the navigation point including:
  • the user's current location can be obtained by means of positioning technology, especially indoor positioning technology.
  • the relative position of the current location and the next navigation point is obtained, and in some embodiments, the acquisition of the orientation information by the corresponding sensor of the terminal configuration held by the user is also assisted.
  • the navigation display unit 13 is configured to display the navigation information and the navigation point and/or the second location based on the corresponding at least part of the indoor map by a predetermined presentation rule.
  • the present invention displays the navigation information and the navigation point and/or the second location in the indoor map by predetermined display rules to achieve user-directed navigation.
  • corresponding guiding information is displayed at a predetermined position of the direct connection, and the direction of the guiding information points to the next key point.
  • the predetermined display rule may include: after determining, by the terminal, the first location according to the indoor positioning technology and the indoor positioning method, displaying the first location in the indoor map; obtaining and determining the current location according to the second location After the navigation point of the navigation path, the navigation point is sequentially displayed in the order of the corresponding key points in the navigation path; the navigation information of the current position to the next navigation point is displayed between the current position and the next navigation point; When you reach the next navigation point, update the key points and display them.
  • the first position may also be started, and the user guides the user to the key point according to the prompt direction by guiding the information from the current position to the navigation point T ⁇ 1 ⁇ .
  • the time interval recalculates and displays the guidance information from the current location and the navigation point T ⁇ 1 ⁇ .
  • the manner in which the orientation information is displayed may depend on the linear distance between the current location to the key point T ⁇ 1 ⁇ , and/or the terminal screen size used to display the indoor map navigation and/or the zoom ratio of the current indoor map, for example, at the current location and
  • the navigation point is displayed at the center point of the linear distance between the navigation points T ⁇ 1 ⁇ , and the direction of the guidance information is the coordinate position where the current key point T ⁇ 1 ⁇ is located.
  • the update guide information is the direction of the current position to the key point T ⁇ 2 ⁇ , and so on, until the distance between the user and the second position is less than the predetermined distance.
  • the present invention does not necessarily display all the navigation points at the same time in the above navigation, and can select the nearest key point according to the current position of the user, and display the next time when it is judged that the navigation point is reached.
  • the navigation point after displaying the navigation point T ⁇ n ⁇ , conducts guided navigation according to the second position to guide the user to the end point.
  • the embodiment of the present invention may further determine whether the next navigation point is reached according to the current location of the user. If it is determined that the navigation point has been reached, the navigation point is marked as “arrived” and the like. . So that users can understand the navigation points they have passed and plan the next steps. Moreover, when the user reaches the end point (the second position), the display of the navigation point and the navigation information can also be turned off, prompting the end of the navigation.
  • the display rule of the present invention may further include: determining the current location according to the distance and the relative orientation of the current location and the next navigation point. Whether the position deviates from the navigation path; when it is determined that the current position deviates from the navigation path, the navigation path and the corresponding navigation point are re-determined with the current position as the first position; when determining the attribute distance of the re-determined navigation path When the navigation path is smaller than the original navigation path, the corresponding navigation point and the navigation information are updated based on the re-determined navigation path.
  • the implementation of the present invention can be determined among these key points by analyzing the relationship between the first location and the second location and the key points describing the indoor map passable area. a navigation point for navigation, and then generating navigation information based on the current location and the relative orientation of the navigation point, and displaying the navigation information and the navigation point and/or the second location in a corresponding manner by a predetermined presentation rule At least part of the indoor map. It can effectively provide indoor navigation for users and improve the user's traffic efficiency.
  • another embodiment of the present invention further provides an apparatus, including a display screen 707, a memory 702, and one or more processors 704 for storing information including program instructions 705.
  • the processor 704 is configured to control execution of the program instructions 705, and the processor 704 executes the program instructions 705 to implement the steps in the above-described keypoint-based navigation method.
  • the display screen 707 can be used to display information input by the user or information provided to the user and various menus of the terminal.
  • the display unit may include a display panel.
  • the display panel may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like.
  • the touch panel can cover the display panel. When the touch panel detects a touch operation on or near the touch panel, the touch panel transmits to the processor 704 to determine the type of the touch event, and then the processor 704 displays the type according to the touch event. A corresponding visual output is provided on the panel.
  • the touch panel and the display panel are implemented as two separate components to implement input and output functions, in some embodiments, the touch panel and the display panel may be integrated to implement input and output of the terminal.
  • Memory 702 can be used to store applications and modules, and processor 704 executes various functional applications and data processing of the device by running program instructions 705 and modules stored in memory 702.
  • the memory 702 can mainly include a storage program area and a storage data area, wherein the storage program area can store an operating system, program instructions 705 (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area can be stored. Data created based on the use of the terminal, etc.
  • memory 702 can include high speed random access memory area 702, and can also include non-volatile memory area 702, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
  • the communication interface 703 is configured to communicate with other devices or communication networks during the interaction.
  • the communication interface 703 is an interface between the processor 704 and the external subsystem for transmitting information between the processor 704 and the external system to achieve the purpose of the control subsystem.
  • the processor 704 is the control center of the device, interconnecting various portions of the entire device using various communication interfaces 703 and lines, by running or executing program instructions and/or modules stored in the storage area 702, and by calling them stored in the storage area 702. Data, perform various functions of the device and process data to monitor the device as a whole.
  • the processor 704 can include one or more processing units; preferably, the processor 704 can integrate an application processor and a modem processor, wherein the application processor primarily processes an operating system, a user interface, and program instructions 705 Etc.
  • the modem processor primarily handles wireless communications. It will be appreciated that the above described modem processor may also not be integrated into the processor 704.
  • the processor 704 included in the device further has the following functions:
  • the navigation information and the navigation point and/or the second location are presented based on at least a portion of the indoor map by predetermined display rules.
  • Fig. 9 shows that a navigation device according to the present invention (hereinafter collectively referred to as a navigation device) can be implemented.
  • the device conventionally includes a processor 1010 and a computer program product or computer readable medium in the form of a memory 1020.
  • the memory 1020 may be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), an EPROM, a hard disk, or a ROM.
  • the memory 1020 has a memory space 1030 for executing program code 1031 of any of the above method steps.
  • storage space 1030 for program code may include various program code 1031 for implementing various steps in the above methods, respectively.
  • the program code can be read from or written to one or more computer program products.
  • Such computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks.
  • Such a computer program product is typically a portable or fixed storage unit as described with reference to FIG.
  • the storage unit may have a storage section or a storage space or the like arranged similarly to the storage 1020 in FIG.
  • the program code can be compressed, for example, in an appropriate form.
  • the storage unit comprises program code 1031' for performing the steps of the method according to the invention, ie code that can be read by, for example, a processor such as 1010, which when executed by the device causes the device to perform the above Each step in the described method.
  • the implementation of the present invention can effectively enhance the video interaction effect in the live webcast by merging the original video stream and the animation, thereby improving the user experience.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • EPROM Erasable Programmable Read-Only Memory
  • EEPROM Electrically Erasable Programmable Read-Only Memory
  • flash memory magnetic card or light card.

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Abstract

一种基于关键点的导向性导航方法、装置及设备，其中，基于关键点的导向性导航方法包括如下步骤：根据第一位置和第二位置在预定室内地图的关键点中确定导航点；该关键点用于表征室内地图中的可通行方向（S11）；基于当前的位置和导航点的相对方位生成用于方向导引的导向信息（S12）；通过预定展示规则，基于相应的至少部分室内地图展示导向信息和导航点和/或第二位置（S13）。该导航方法能够有效为用户提供室内导航，提高了用户的通行效率。

Description

基于关键点的导向性导航方法、装置及设备 技术领域
本发明涉及通信技术领域，更具体地，涉及一种基于关键点的导向性导航方法、装置及设备。
背景技术
随着移动设备和通信技术的快速发展，以及人们生活水平和用户体验要求的提高，移动通信装置的普及愈发迅速和广泛。基于定位的位置服务应用程序也日新月异，其中人们对室内定位需求也不断增加，比如大型商场导购、地下车库、大厦室内导航等，其不仅便利了人们的生活，而且蕴涵着极大的商业价值，为大数据挖掘及其在商业活动中的应用提供了关键素材，其技术变革正对商业模式的成效发挥着越来越大的影响。
目前市场上的定位应用都具备室内导航功能，这些现有方案均是在室内定位坐标点和目的位置坐标点之间进行路径规划，并将具体的行走路径显示在地图上，这些所谓的室内导航方式和室外导航方式大体一致，均为在地图上显示行动路径告知用户按照此线路可到达目的地。此种方式缺点如下：
第一，由于室内环境中往往并非像室外那样有固定的道路，室内环境大多都是没有固定道路的公共区域，路的概念不强。现有以路径方式来规划和展示的方式，不符合用户的直观感受。
第二，室内环境中有的房间或区域是可以通行的，这种小路可以有效提升行动效率。但现有的导航路径规划中无法考量这种情况建立导航规划并展示出行动线路，不符合用户的实际通行情况。
综上可知，现有导航方法在路径规划和应用效果上局限性大，无法根据室内环境的特点方便有效地规划和展示路径，难以满足用户使用室内导航应用的需求。
发明内容
本发明的目的在于针对以上存在的至少一方面不足，提供一种基于关键点的导向性导航方法、装置及设备，能够方便有效地进行导航。
为了实现上述目的，本发明采取如下若干方面的技术方案：
第一方面，本发明实施例中提供了一种基于关键点的导向性导航方法，其包括如下步骤：根据第一位置和第二位置在预定室内地图的关键点中确定导航点；所述关键点用于表征所述室内地图中的可通行方向；基于当前的位置和所述导航点的相对方位生成用于方向导引的导向信息；通过预定展示规则，基于相应的至少部分所述室内地图展示所述导向信息和所述导航点和/或所述第二位置。
第二方面，本发明实施例中提供了一种基于关键点的导向性导航装置，包括： 至少一个处理器；以及，至少一个存储器，其与所述至少一个处理器可通信地连接；所述至少一个存储器包括处理器可执行的指令，当所述处理器可执行的指令由所述至少一个处理器执行时，致使所述装置执行至少以下操作：根据第一位置和第二位置在预定室内地图的关键点中确定导航点；所述关键点用于表征所述室内地图中的可通行方向；基于当前的位置和所述导航点的相对方位生成用于方向导引的导向信息；通过预定展示规则，基于相应的至少部分所述室内地图展示所述导向信息和所述导航点和/或所述第二位置。
第三方面，本发明实施例中还提供了一种终端设备包括显示屏、存储器以及一个或多个处理器，所述存储器用于存储包括程序指令的信息，所述处理器用于控制程序指令的执行，所述处理器执行所述程序时实现第一方面提供的任意一种基于关键点的导向性导航方法。
第四方面，本发明实施例中还提供了一种计算机程序，包括计算机可读代码，当导航装置运行所述计算机可读代码时，导致第一方面所述的方法被执行。
第五方面，本发明实施例中还提供了一种计算机可读介质，其中存储了如第四方面所述的计算机程序。
相对于现有技术，本发明提供的技术方案至少具有如下优点：
首先，本发明实施例提供基于关键点的导向性导航方法、装置及终端，通过分析第一位置和第二位置和描述室内地图可通行区域的关键点的关系，能够在这些关键点中确定用于导航的导航点，而后基于当前位置(可为第一位置)和上述导航点的相对方位生成导向信息，并通过预定展示规则，基于相应的至少部分所述室内地图向用户展示所述导向信息和所述导航点和/或所述第二位置。能够在有限的屏幕空间上清晰、连续、有效的进行方向性指示，引导用户高效完成导航过程，提高了用户的通行效率。
其次，本发明实施例通过将室内平面图转化为预定格式的图像数据，进而基于所述图像数据所表征的室内结构，生成用于构建所述室内地图的包括区域以及位于所述区域之间可通行边界上的关键点的构成要素，进而根据所述构成要素构建所述室内地图；其中，所述区域的平面形状为凸形；包含所述可通行边界的区域为所述可通行区域。有效实现了用于上述室内导航的结构化室内地图的构建，使得室内导航更加高效便捷。在此基础上，该构成要素还能包括楼层，并且楼层之间通过所述上述区域中地连接区域相连接，实现不同楼层间室内导航的拓展，更加便捷实用。
此外，本发明实施例还提供了行之有效的异常情况处理方案，当根据所述当前位置与所述下一导航点的距离与相对方位，判断当前的位置偏离所述导航路径时，以所述当前位置作为第一位置重新确定导航路径和对应的导航点，且在判断重新确定的导航路径的属性距离小于原有的导航路径时，基于该重新确定的导航路径更新相应的导航点和导向信息。能够适应实际应用过程中的异常情况，使导 航过程更加人性化，提高了用户体验。
显然，上述有关本发明优点的描述是概括性的，更多的优点描述将体现在后续的实施例揭示中，以及，本领域技术人员也可以本发明所揭示的内容合理地发现本发明的其他诸多优点。
书不尽言，本发明附加的方面和优点将在下面的描述中部分给出，这些将从下面的描述中变得更加简明易懂，或通过本发明的实践了解到。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明一个实施例的基于关键点的导向性导航方法的流程示意图；
图2为本发明一个实施例的室内地图的构建示意图；
图3为本发明一个实施例的室内地图的构建示意图；
图4为本发明一个实施例的确定导航点的流程示意图；
图5为本发明一个实施例的进行导向性导航的示意图；
图6为现有导航方案中的进行路径规划导航的示意图；
图7为本发明一个实施例的基于关键点的导向性导航装置的结构框图；
图8为本发明一个实施例的设备的结构原理图；
图9为用于执行根据本发明的方法的导航装置的框图；以及
图10为用于保持或者携带实现根据本发明的方法的程序代码的存储单元示意图。
具体实施方式
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。
在本发明的说明书和权利要求书及上述附图中的描述的一些流程中，包含了按照特定顺序出现的多个操作，但是应该清楚了解，这些操作可以不按照其在本文中出现的顺序来执行或并行执行，操作的序号如S11、S12等，仅仅是用于区分开各个不同的操作，序号本身不代表任何的执行顺序。另外，这些流程可以包括更多或更少的操作，并且这些操作可以按顺序执行或并行执行。需要说明的是，本文中的“第一”、“第二”等描述，是用于区分不同的消息、设备、模块等，不代表先后顺序，也不限定“第一”和“第二”是不同的类型。
本领域普通技术人员可以理解，除非特意声明，这里使用的单数形式“一”、“一个”、“所述”和“该”也可包括复数形式。应该进一步理解的是，本发明的说明书中使用的措辞“包括”是指存在所述特征、整数、步骤、操作、元 件和/或组件，但是并不排除存在或添加一个或多个其他特征、整数、步骤、操作、元件、组件和/或它们的组件。应该理解，当我们称元件被“连接”或“耦接”到另一元件时，它可以直接连接或耦接到其他元件，或者也可以存在中间元件。此外，这里使用的“连接”或“耦接”可以包括无线连接或无线耦接。这里使用的措辞“和/或”包括一个或更多个相关联的列出项的全部或任一单元和全部组合。
本领域普通技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)，具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语，应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样被特定定义，否则不会用理想化或过于正式的含义来解释。
本领域普通技术人员可以理解，这里所使用的“终端”既包括无线信号接收器的设备，其仅具备无发射能力的无线信号接收器的设备，又包括接收和发射硬件的设备，其具有能够在双向通信链路上，进行双向通信的接收和发射硬件的设备。适用本发明的终端包括但不限于：蜂窝或其他通信设备，其为具有单线路显示器或多线路显示器的蜂窝或其他通信设备，如智能手机、智能平板及其他具有屏幕显示功能的智能终端设备等。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明实施中的室内导航技术在移动互联网通信时代具有良好的发展前景，在大型商场、地下车库、展会、体育馆及景区等，甚至紧急救援情况都有较好的普适性，具有极大的社会和经济价值。
请参阅图1，本发明的关键点的导向性导航方法，包括如下步骤S11-S13：
步骤S11，根据第一位置和第二位置在预定室内地图的关键点中确定导航点；所述关键点用于表征所述室内地图中的可通行方向。
本发明一种实施例中的第一位置和/或当前位置利用室内定位技术而获取，具体地，该室内定位技术可包括Wi-Fi定位技术、蓝牙定位技术、RFID定位技术、Zigbee定位技术、超带宽定位技术和地磁定位技术等的一种或多种。通常而言，室内定位指的是当室内环境无法或难以使用卫星定位时，使用室内定位技术作为卫星定位的辅助定位，解决卫星信号到达地面时较弱、难以穿透建筑物的问题，最终定位物体当前所处的位置。适用本发明室内定位方法可包括但不限于三角定位法、指纹定位法、LED光定位法及混合定位法等。
上述用于导航的室内地图，在一种实施例中，请参阅图2，其获取过程可包括如下步骤：将室内平面图转化为预定格式的图像数据；基于所述图像数据所表征的室内结构，生成用于构建所述室内地图的构成要素，包括区域以及位于所述区域之间可通行边界上的关键点；根据所述构成要素构建所述室内地图；其中，所述区域的平面形状为凸形；包含所述可通行边界的区域为所述可通行区域。有效实现了用于上述室内导航的结构化室内地图的构建，使得室内导航更加高效便捷。
该室内地图主要基于关键点和区域来构建，将地图中可通行的部分划分成一个或多个可通行区域，在可通行区域之间的可通行边界处设置至少一个关键点，即可通过关键点来描述室内地图的可通行区域，进而根据不同关键点之间，或者关键点与当前位置/第一位置/第二位置之间的相对位置关系，可利用上述关键点表征室内地图的可通行方向。
在此基础上，请参阅图3，鉴于现代建筑通常都是多层建筑，上述构成要素还可包括楼层；每个楼层对应多层建筑中一层的室内地图，一方面，每个楼层可视为一个相对独立的完整的导航区域，由若干的区域和/或关键点构成。另一方面，所述区域还可包括连接区域；所述楼层之间通过所述连接区域相连接。实现各楼层之间室内导航的拓展，使得本发明更加便捷实用。
具体而言，各个楼层对应的室内地图，可以划分成若干区域，每个区域由可通行边界和/或不可通行边界围成，通常上述区域可以对应室内地图中房间、通道等室内元素。需要说明的是，为了便于划分和导航，所有区域均构建为凸形。此外，还有一种特殊的区域，不妨称为连接区域，该连接区域用于楼层之间的连接，通常表征室内地图中直梯、楼梯、电梯等室内元素。
而如上所述的关键点，通常为区域与区域之间的可通行连接点。在区域之间的可通行边界上，有无数的点，本发明在适当位置选取至少一个点作为用于构建室内地图的关键点。关键点可以视为区域的出入口，即在室内环境中的关键点即为适于通过的位置。所述室内地图的关键点通常在通道交汇处、通道分割处、房间口、楼梯口、扶梯口、直梯口等位置。当然，根据以上描述应当理解，室内环境中属于同一个区域的关键点之间具有连通性。
由前述可知，每个楼层可由区域和关键点构成，楼层之间由连接区域相连接，区域与区域之间的连通关系可通过关键点来描述。即包含同一个关键点的多个区域之间是相连通的可通行区域。
总体而言，楼层、区域、关键点具有层级关系，形成由关键点到区域，由区域到楼层的关系。根据以上内容，关键点可以属于多个区域，请参阅图2，例如关键点1B属于表征房间的区域2A，但区域2A与表征通道的区域2L交汇，即关键点1B也属于区域2L。而连接区域2不属于任何楼层3，请参阅图3，例如连接区域2A可以到达楼层3A和楼层3B，即表征直梯的区域2A为楼层3A和楼 层3B的连接区域2。当然了，一些实施例中有可能楼层3中区域2的数量为0，即表示该楼层3中没有任何内容。也有可能区域2中的关键点1数量为0，即表示该区域2为不可通行的封闭区域2。因此，通过前述的区域2可以构建出室内地图的通行区域2，通过关键点1的数组或集合可以描述室内地图的任意区域2的连通关系。这样便可利用关键点1和区域2构建室内地图，作为基于关键点1的导向性导航方法的室内导航方法的实现基础。
在一些具体的实施例中，室内地图的构建可通过保留CAD图纸中室内区域中楼层、房间、门、楼梯等轮廓线，经地理信息系统软件，以ArcMa为例，转换得到格式为.shp的数据，并对转换不正确的数据进行矢量化修正；再将转换过后的数据经ArcMap转换为线状要素，以便于构成室内地图中楼层、区域、关键点等构成要素，从而可以关键点来表征室内可通行区域。进一步地，一种实施例中，可依据室内地图中初步构成的线状要素进行楼层、区域、关键点等构成要素的组建。该线状要素可作为区域元素的重要组成部分，一个区域由多条线状要素组成。线状要素也可作为区域的边界，该边界包括可通行边界和不可通行边界。一般而言区域都具有一个或多个可通行边界，表示该区域具有出入或通行条件。区域与区域的交汇处为点元素，根据区域与区域之间可通行边界的交汇，生成室内地图的点元素。例如：房间区域和通道区域交汇时，房间区域与通道区域交汇的边为可通行边界，那么其交汇处为一个关键。楼层代表室内建筑的其中一层，楼层有多个区域和关键点构成。楼层与楼层之间由连接区域(例如：电梯、楼梯等)连接。
通常，该室内地图可预先存储或缓存于本地存储器中，或者在执行本发明基于关键点的导向性导航方法时通过远程端口获取。举例而言，一种实施例中，上述室内地图可由相应的地图服务单元以Web服务(WebGis)的方式为外部客户端(如：设备)提供服务。该服务单元为胖服务端，客户端为瘦客户端。意指服务端处理事物及业务逻辑，客户端只需要发送请求获取并展现相应的地图数据。例如设备发送事先规定好的HTTP请求到Web服务器，服务单元根据请求返回相应的数据，设备得到Web服务器返回的数据后可进行相应导航内容的展现或信息处理。
要利用上述室内地图进行导航，还需在室内地图的关键点中确定导航点。一种实施例中，上述根据第一位置和第二位置在预定室内地图的关键点中确定导航点，包括：所述第一位置经由所述关键点连接所述第二位置得到导航路径；计算各导航路径的属性距离；所述导航路径的属性距离由该导航路径的物理距离和通畅属性计算得到；确定所述属性距离最短的导航路径中包含的所述关键点为导航点。
一种可能的实施例中，可具体通过以下步骤获取上述导航点：
步骤S111，确定与第一位置相邻的关键点，得到该关键点的集合S{P}；其 中，P表示所述与第一位置相邻的关键点。
步骤S112，将所述集合S{P}中的每个关键点均依次连接相邻的下一关键点，直至连接第二位置，得到集合S{P}中各关键点至所述第二位置的导航路径，分别以各导航路径包含的所有关键点为相应集合S{P}中对应关键点的子集P{M}；其中，M表示所述导航路径中的关键点。
举例而言，可采用遍历法获取第一位置到第二位置的导航路径，进而得到第一位置与第二位置间所有的关键点的集合。
步骤S113，计算各所述子集P{M}对应导航路径的属性距离；所述导航路径的属性距离由该导航路径的物理距离和通畅属性计算得到。
步骤S114，确定属性距离最短的子集P{M}的导航路径中的关键点为导航点。
为了减少获取导航点所需的运算量，在上述步骤S112之前，还可包括：
步骤S1112，筛选删除所述集合S{P}中无法连接至所述第二位置的关键点。
例如集合S{P}中某一关键点在向外扩散连接时，最终无法连接到第二位置，即该关键点为S{P}中的无效元素，不满足导航条件，则从集合中删除，并将筛选后的集合S{P}用于后续步骤的运算。
假定上述得到的导航点的集合为T{N}，可设定集合T{N}内的排序规则为以距离第一位置最近的导航点为起点进行排序，即T{N 1}距离第一位置最近，T{N n}距离第一位置最远也离第二位置最近。自然地，导航点集合T{N}的排列顺序亦可设置为导航点的展示顺序。
一种本发明为用户提供导航服务的实施例中，请参阅图5，假定第一位置4A与第二位置4B之间存在一个表征房间的区域2，并且该区域2具有多个关键点1时，则该区域2则具备通行条件。当第一位置4A到第二位置4B间刚好间隔区域2A，而区域2A具有关键点1A和关键点1B，其中，关键点1A临近第一位置4A，关键点1B临近第二位置4B。此时，可将关键点1A和关键点1B作为导航点1A、导航点1B，则域用户从第一位置4A可通过穿行区域2A达第二位置4B，即经过导航点1A再经过导航点1B，从而经过最短距离到达第二位置4B，避免因需要绕过区域2A寻找其他室内通道为路径到达第二位置4B而浪费的时间和通行距离。请参阅图5和图6，图5表示利用导航点通过穿行房间区域2得以更短的距离到达第二位置4B，提高了通行效率；而图6表示没有利用导航点的地图路径规划导致需绕行房间区域2A以到达第二位置4B，显然浪费了更多的路程。
本发明分析并确定从第一位到第二位置之间属性距离最短的导航路径对应的关键点集为导航点集。由于从第一位置到第二位置之间可能存在多种导航路径从而产生多个关键点集，根据关键点间的连通性，其中部分关键点集可以连接到第二位置，但各个关键点集对应的属性距离往往有所区别，因此可选择对应属性距离最短的关键点集作为从第一位置到达第二位置的最优导航点集。具体地，将各关键点集中所有关键点之间的属性距离和为该关键点集的属性距离，比较所有 关键点集的属性距离，确定属性距离最短的关键点集作为从第一位置到第二位置的优选导航点集。
在此基础上，假定第一位置和第二位置不在同一楼层，则计算出与第一位置处于同一楼层且可到达第二位置所处楼层的关键点，以及第二位置所处楼层的相应关键点到第二位置的关键点，或者，进而根据上述确定导航点的方法确定第一位置到第二位置的导航点，从而用于不同楼层间的高效室内导航。
进一步地，上述导航路径的物理距离包括所述导航路径中各子路径端点的直线距离；和/或所述导航路径的通畅属性包括所述导航路径中各子路径所在的区域预定的通畅参数，例如表征通道的区域的通畅参数要高于表征店铺的区域的通畅参数，再如人员密集度小的区域的通畅参数要高于人员密度大的区域。其中，导航路径的子路径包括导航路径中各相邻端点的连线；所述端点包括所述第一位置、所述关键点和所述第二位置。更具体地，上述导航路径的属性距离可以为各子路径对应的所述通畅参数和对应的直线距离之乘积的总和。
步骤S12，基于当前的位置和所述导航点的相对方位生成用于方向导引的导向信息。
本发明通过对当前位置到临近地下一个导航点的方向进行展示，以指引用户按照提示方向行走，从而实现导向性导航。可选地，本发明可在所述当前位置与所述下一导航点的直连线上的预定位置，例如直线距离中心点，展示所述导向信息，该导向信息的形式可为导向性图标、颜色、文字等。一种实施例中，上述基于当前的位置和所述导航点的相对方位生成用于方向导引的导向信息，包括：
根据当前位置与下一导航点的相对方位，生成由所述当前位置指向所述下一导航点的导向信息；所述下一导航点为与所述当前位置距离最近的导航点。
如前所述，用户当前的位置可依靠定位技术，尤其是室内定位技术得到。进而获取当前位置与下一导航点的相对方位，而且，一些实施例中还可通过用户持有的终端配置的相应传感器辅助方位信息的获取。
步骤S13，通过预定展示规则，基于相应的至少部分所述室内地图展示所述导向信息和所述导航点和/或所述第二位置。
确定导航点和导向信息之后，本发明通过预定的展示规则将所述导向信息和所述导航点和/或所述第二位置展示于上述室内地图中以实现对用户地导向性导航。一种实施例中，具体地，根据用户当前所在室内位置与临近的下一导航点的坐标位置，在其直连线的预定位置展示相应的导向信息，该导向信息的方向指向所述下一关键点。
另一种实施例中，上述预定展示规则可包括：终端依据室内定位技术及室内定位方法确定第一位置后，在室内地图中显示第一位置；在获取并根据所述第二位置确定本次导航路径的导航点后，以该导航路径中所经过相应关键点的顺序依 次展示所述导航点；在当前位置和下一导航点之间展示当前位置到下一导航点的导向信息；判断用户到达下一个导航点时，更新关键点并展示。
进一步地，例如当判断当前的位置与所述下一导航点的距离小于预定间距时，即可判断用户到达下一个关键点，则更新所述导向信息为由该当前位置指向所述下一导航点的下一顺位的导航点。具体而言，本发明可能的实施例中还可由第一位置开始，从当前位置到导航点T{1}之间通过导向信息利用方向指引的方式指引用户根据提示方向前往关键点，其间以适当的时间间隔重新计算并展示从当前位置与导航点T{1}的导向信息。导向信息的展示方式可取决当前位置到关键点T{1}间的直线距离、和/或用于展示室内地图导航的终端屏幕尺寸和/或当前室内地图的缩放比例，例如可在当前位置与导航点T{1}间直线距离处中心点展示导向信息，导向信息的指向方向为指向当前关键点T{1}所在的坐标位置。当用户当前位置与关键点T{1}间距离小于预定间距时，更新导向信息为当前位置到关键点T{2}的方向，依次类推，直到用户与第二位置距离小于预定间距时结束导航。
应当说明的是，本发明在上述导航中并不必然将所有的导航点在同一时间展示，而且可以根据用户的当前位置选择就近的关键点进行展示，当判断到达该导航点后即展示下一导航点，直到展示导航点T{n}后，根据第二位置进行导向性导航以指引用户到达终点。
为了提高导航效率和用户体验，本发明的实施例还可根据用户当前的位置判断是否到达下一导航点，如判断已到达该导航点，则将该导航点标记为“已到达”等提示信息。以便于用户了解自己经过的导航点和规划下一步行动。而且，当用户到达终点(第二位置)后，还可关闭导航点和导向信息的展示，提示本次导航结束。
可以理解的是，现实的导航场景中用户容易出现偏离导航路径的情况，因此，本发明的展示规则还可包括：根据所述当前位置与所述下一导航点的距离与相对方位，判断当前的位置是否偏离所述导航路径；当判断当前的位置偏离所述导航路径时，以所述当前位置作为第一位置重新确定导航路径和对应的导航点；当判断重新确定的导航路径的属性距离小于原有的导航路径时，基于该重新确定的导航路径更新相应的导航点和导向信息。
通过对本发明的基于关键点的导向性导航方法的揭示可以知晓，本发明的实施，能够通过分析第一位置和第二位置和描述室内地图可通行区域的关键点的关系在这些关键点中确定用于导航的导航点，而后基于当前位置和上述导航点的相对方位生成导向信息，并通过预定展示规则，将所述导向信息和所述导航点和/或所述第二位置展示于相应的至少部分所述室内地图。能够有效为用户提供室内导航，提高了用户的通行效率。
依据模块化设计思维，本发明在上述关键点的导向性导航方法的基础上，进 一步提出一种关键点的导向性导航装置。
请参阅图7，本发明的关键点的导向性导航装置，包括导航点分析单元11、导向生成单元12和导航展示单元13，其中各单元的功能介绍如下：
导航点分析单元11，用于根据第一位置和第二位置在预定室内地图的关键点中确定导航点；所述关键点用于表征所述室内地图中的可通行方向。
本发明一种实施例中的第一位置和/或当前位置利用室内定位技术而获取，具体地，该室内定位技术可包括Wi-Fi定位技术、蓝牙定位技术、RFID定位技术、Zigbee定位技术、超带宽定位技术和地磁定位技术等的一种或多种。通常而言，室内定位指的是当室内环境无法或难以使用卫星定位时，使用室内定位技术作为卫星定位的辅助定位，解决卫星信号到达地面时较弱、难以穿透建筑物的问题，最终定位物体当前所处的位置。适用本发明室内定位方法可包括但不限于三角定位法、指纹定位法、LED光定位法及混合定位法等。
上述用于导航的室内地图，在一种实施例中，请参阅图2，其获取过程可包括如下步骤：将室内平面图转化为预定格式的图像数据；基于所述图像数据所表征的室内结构，生成用于构建所述室内地图的构成要素，包括区域以及位于所述区域之间可通行边界上的关键点；根据所述构成要素构建所述室内地图；其中，所述区域的平面形状为凸形；包含所述可通行边界的区域为所述可通行区域。有效实现了用于上述室内导航的结构化室内地图的构建，使得室内导航更加高效便捷。
该室内地图主要基于关键点和区域来构建，将地图中可通行的部分划分成一个或多个可通行区域，在可通行区域之间的可通行边界处设置至少一个关键点，即可通过关键点来描述室内地图的可通行区域，进而根据不同关键点之间，或者关键点与当前位置/第一位置/第二位置之间的相对位置关系，可利用上述关键点表征室内地图的可通行方向。
在此基础上，请参阅图3，鉴于现代建筑通常都是多层建筑，上述构成要素还可包括楼层；每个楼层对应多层建筑中一层的室内地图，一方面，每个楼层可视为一个相对独立的完整的导航区域，由若干的区域和/或关键点构成。另一方面，所述区域还可包括连接区域；所述楼层之间通过所述连接区域相连接。实现各楼层之间室内导航的拓展，使得本发明更加便捷实用。
具体而言，各个楼层对应的室内地图，可以划分成若干区域，每个区域由可通行边界和/或不可通行边界围成，通常上述区域可以对应室内地图中房间、通道等室内元素。需要说明的是，为了便于划分和导航，所有区域均构建为凸形。此外，还有一种特殊的区域，不妨称为连接区域，该连接区域用于楼层之间的连接，通常表征室内地图中直梯、楼梯、电梯等室内元素。
而如上所述的关键点，通常为区域与区域之间的可通行连接点。在区域之间 的可通行边界上，有无数的点，本发明在适当位置选取至少一个点作为用于构建室内地图的关键点。关键点可以视为区域的出入口，即在室内环境中的关键点即为适于通过的位置。所述室内地图的关键点通常在通道交汇处、通道分割处、房间口、楼梯口、扶梯口、直梯口等位置。当然，根据以上描述应当理解，室内环境中属于同一个区域的关键点之间具有连通性。
由前述可知，每个楼层可由区域和关键点构成，楼层之间由连接区域相连接，区域与区域之间的连通关系可通过关键点来描述。即包含同一个关键点的多个区域之间是相连通的可通行区域。
总体而言，楼层、区域、关键点具有层级关系，形成由关键点到区域，由区域到楼层的关系。根据以上内容，关键点可以属于多个区域，请参阅图2，例如关键点1B属于表征房间的区域2A，但区域2A与表征通道的区域2L交汇，即关键点1B也属于区域2L。而连接区域2不属于任何楼层3，请参阅图3，例如连接区域2A可以到达楼层3A和楼层3B，即表征直梯的区域2A为楼层3A和楼层3B的连接区域2。当然了，一些实施例中有可能楼层3中区域2的数量为0，即表示该楼层3中没有任何内容。也有可能区域2中的关键点1数量为0，即表示该区域2为不可通行的封闭区域2。因此，通过前述的区域2可以构建出室内地图的通行区域2，通过关键点1的数组或集合可以描述室内地图的任意区域2的连通关系。这样便可利用关键点1和区域2构建室内地图，作为基于关键点1的导向性导航装置的室内导航方法的实现基础。
在一些具体的实施例中，室内地图的构建可通过保留CAD图纸中室内区域中楼层、房间、门、楼梯等轮廓线，经地理信息系统软件，以ArcMa为例，转换得到格式为.shp的数据，并对转换不正确的数据进行矢量化修正；再将转换过后的数据经ArcMap转换为线状要素，以便于构成室内地图中楼层、区域、关键点等构成要素，从而可以关键点来表征室内可通行区域。进一步地，一种实施例中，可依据室内地图中初步构成的线状要素进行楼层、区域、关键点等构成要素的组建。该线状要素可作为区域元素的重要组成部分，一个区域由多条线状要素组成。线状要素也可作为区域的边界，该边界包括可通行边界和不可通行边界。一般而言区域都具有一个或多个可通行边界，表示该区域具有出入或通行条件。区域与区域的交汇处为点元素，根据区域与区域之间可通行边界的交汇，生成室内地图的点元素。例如：房间区域的和通道区域交汇时，房间区域与通道区域交汇的边为可通行边界，那么其交汇处为一个关键。楼层代表室内建筑的其中一层，楼层有多个区域和关键点构成。楼层与楼层之间由连接区域(例如：电梯、楼梯等)连接。
通常，该室内地图可预先存储或缓存于本地存储器中，或者在执行本发明基于关键点的导向性导航装置时通过远程端口获取。举例而言，一种实施例中，上述室内地图可由相应的地图服务单元以Web服务(WebGis)的方式为外部客户 端(如：设备)提供服务。该服务单元为胖服务端，客户端为瘦客户端。意指服务端处理事物及业务逻辑，客户端只需要发送请求获取并展现相应的地图数据。例如设备发送事先规定好的HTTP请求到Web服务器，服务单元根据请求返回相应的数据，设备得到Web服务器返回的数据后可进行相应导航内容的展现或信息处理。
要利用上述室内地图进行导航，还需在室内地图的关键点中确定导航点。一种实施例中，上述根据第一位置和第二位置在预定室内地图的关键点中确定导航点，包括：所述第一位置经由所述关键点连接所述第二位置得到导航路径；计算各导航路径的属性距离；所述导航路径的属性距离由该导航路径的物理距离和通畅属性计算得到；确定所述属性距离最短的导航路径中包含的所述关键点为导航点。
一种可能的实施例中，可具体通过以下步骤获取上述导航点：确定与第一位置相邻的关键点，得到该关键点的集合S{P}；其中，P表示所述与第一位置相邻的关键点；将所述集合S{P}中的每个关键点均依次连接相邻的下一关键点，直至连接第二位置，得到集合S{P}中各关键点至所述第二位置的导航路径，分别以各导航路径包含的所有关键点为相应集合S{P}中对应关键点的子集P{M}；其中，M表示所述导航路径中的关键点；计算各所述子集P{M}对应导航路径的属性距离；所述导航路径的属性距离由该导航路径的物理距离和通畅属性计算得到；计算各所述子集P{M}对应导航路径的属性距离；所述导航路径的属性距离由该导航路径的物理距离和通畅属性计算得到；确定属性距离最短的子集P{M}的导航路径中的关键点为导航点。
举例而言，可采用遍历法获取第一位置到第二位置的导航路径，进而得到第一位置与第二位置间所有的关键点的集合。
为了减少获取导航点所需的运算量，在上述将所述集合S{P}中的每个关键点均依次连接相邻的下一关键点，直至连接第二位置的步骤之前，还可包括：筛选删除所述集合S{P}中无法连接至所述第二位置的关键点。
例如集合S{P}中某一关键点在向外扩散连接时，最终无法连接到第二位置，即该关键点为S{P}中的无效元素，不满足导航条件，则从集合中删除，并将筛选后的集合S{P}用于后续步骤的运算。
假定上述得到的导航点的集合为T{N}，可设定集合T{N}内的排序规则为以距离第一位置最近的导航点为起点进行排序，即T{N 1}距离第一位置最近，T{N n}距离第一位置最远也离第二位置最近。自然地，导航点集合T{N}的排列顺序亦可设置为导航点的展示顺序。
一种本发明为用户提供导航服务的实施例中，请参阅图5，假定第一位置4A与第二位置4B之间存在一个表征房间的区域2，并且该区域2具有多个关键点1时，则该区域2则具备通行条件。当第一位置4A到第二位置4B间刚好间隔区 域2A，而区域2A具有关键点1A和关键点1B，其中，关键点1A临近第一位置4A，关键点1B临近第二位置4B。此时，可将关键点1A和关键点1B作为导航点1A、导航点1B，则域用户从第一位置4A可通过穿行区域2A达第二位置4B，即经过导航点1A再经过导航点1B，从而经过最短距离到达第二位置4B，避免因需要绕过区域2A寻找其他室内通道为路径到达第二位置4B而浪费的时间和通行距离。请参阅图5和图6，图5表示利用导航点通过穿行房间区域2得以更短的距离到达第二位置4B，提高了通行效率；而图6表示没有利用导航点的地图路径规划导致需绕行房间区域2A以到达第二位置4B，显然浪费了更多的路程。
本发明分析并确定从第一位到第二位置之间属性距离最短的导航路径对应的关键点集为导航点集。由于从第一位置到第二位置之间可能存在多种导航路径从而产生多个关键点集，根据关键点间的连通性，其中部分关键点集可以连接到第二位置，但各个关键点集对应的属性距离往往有所区别，因此可选择对应属性距离最短的关键点集作为从第一位置到达第二位置的最优导航点集。具体地，将各关键点集中所有关键点之间的属性距离和为该关键点集的属性距离，比较所有关键点集的属性距离，确定属性距离最短的关键点集作为从第一位置到第二位置的优选导航点集。
在此基础上，假定第一位置和第二位置不在同一楼层，则计算出与第一位置处于同一楼层且可到达第二位置所处楼层的关键点，以及第二位置所处楼层的相应关键点到第二位置的关键点，或者，进而根据上述确定导航点的方法确定第一位置到第二位置的导航点，从而用于不同楼层间的高效室内导航。
进一步地，上述导航路径的物理距离包括所述导航路径中各子路径端点的直线距离；和/或所述导航路径的通畅属性包括所述导航路径中各子路径所在的区域预定的通畅参数，例如表征通道的区域的通畅参数要高于表征店铺的区域的通畅参数，再如人员密集度小的区域的通畅参数要高于人员密度大的区域。其中，导航路径的子路径包括导航路径中各相邻端点的连线；所述端点包括所述第一位置、所述关键点和所述第二位置。更具体地，上述导航路径的属性距离可以为各子路径对应的所述通畅参数和对应的直线距离之乘积的总和。
导向生成单元12，用于基于当前的位置和所述导航点的相对方位生成用于方向导引的导向信息。
本发明通过对当前位置到临近地下一个导航点的方向进行展示，以指引用户按照提示方向行走，从而实现导向性导航。可选地，本发明可在所述当前位置与所述下一导航点的直连线上的预定位置，例如直线距离中心点，展示所述导向信息，该导向信息的形式可为导向性图标、颜色、文字等。一种实施例中，上述基于当前的位置和所述导航点的相对方位生成用于方向导引的导向信息，包括：
根据当前位置与下一导航点的相对方位，生成由所述当前位置指向所述下一 导航点的导向信息；所述下一导航点为与所述当前位置距离最近的导航点。
如前所述，用户当前的位置可依靠定位技术，尤其是室内定位技术得到。进而获取当前位置与下一导航点的相对方位，而且，一些实施例中还可通过用户持有的终端配置的相应传感器辅助方位信息的获取。
导航展示单元13，用于通过预定展示规则，基于相应的至少部分所述室内地图展示所述导向信息和所述导航点和/或所述第二位置。
确定导航点和导向信息之后，本发明通过预定的展示规则将所述导向信息和所述导航点和/或所述第二位置展示于上述室内地图中以实现对用户地导向性导航。一种实施例中，具体地，根据用户当前所在室内位置与临近的下一导航点的坐标位置，在其直连线的预定位置展示相应的导向信息，该导向信息的方向指向所述下一关键点。
另一种实施例中，上述预定展示规则可包括：终端依据室内定位技术及室内定位方法确定第一位置后，在室内地图中显示第一位置；在获取并根据所述第二位置确定本次导航路径的导航点后，以该导航路径中所经过相应关键点的顺序依次展示所述导航点；在当前位置和下一导航点之间展示当前位置到下一导航点的导向信息；判断用户到达下一个导航点时，更新关键点并展示。
进一步地，例如当判断当前的位置与所述下一导航点的距离小于预定间距时，即可判断用户到达下一个关键点，则更新所述导向信息为由该当前位置指向所述下一导航点的下一顺位的导航点。具体而言，本发明可能的实施例中还可由第一位置开始，从当前位置到导航点T{1}之间通过导向信息利用方向指引的方式指引用户根据提示方向前往关键点，其间以适当的时间间隔重新计算并展示从当前位置与导航点T{1}的导向信息。导向信息的展示方式可取决当前位置到关键点T{1}间的直线距离、和/或用于展示室内地图导航的终端屏幕尺寸和/或当前室内地图的缩放比例，例如可在当前位置与导航点T{1}间直线距离处中心点展示导向信息，导向信息的指向方向为指向当前关键点T{1}所在的坐标位置。当用户当前位置与关键点T{1}间距离小于预定间距时，更新导向信息为当前位置到关键点T{2}的方向，依次类推，直到用户与第二位置距离小于预定间距时结束导航。
应当说明的是，本发明在上述导航中并不必然将所有的导航点在同一时间展示，而且可以根据用户的当前位置选择就近的关键点进行展示，当判断到达该导航点后即展示下一导航点，直到展示导航点T{n}后，根据第二位置进行导向性导航以指引用户到达终点。
为了提高导航效率和用户体验，本发明的实施例还可根据用户当前的位置判断是否到达下一导航点，如判断已到达该导航点，则将该导航点标记为“已到达”等提示信息。以便于用户了解自己经过的导航点和规划下一步行动。而且，当用户到达终点(第二位置)后，还可关闭导航点和导向信息的展示，提示本次导航 结束。
可以理解的是，现实的导航场景中用户容易出现偏离导航路径的情况，因此，本发明的展示规则还可包括：根据所述当前位置与所述下一导航点的距离与相对方位，判断当前的位置是否偏离所述导航路径；当判断当前的位置偏离所述导航路径时，以所述当前位置作为第一位置重新确定导航路径和对应的导航点；当判断重新确定的导航路径的属性距离小于原有的导航路径时，基于该重新确定的导航路径更新相应的导航点和导向信息。
通过对本发明的基于关键点的导向性导航装置的揭示可以知晓，本发明的实施，能够通过分析第一位置和第二位置和描述室内地图可通行区域的关键点的关系在这些关键点中确定用于导航的导航点，而后基于当前位置和上述导航点的相对方位生成导向信息，并通过预定展示规则，将所述导向信息和所述导航点和/或所述第二位置展示于相应的至少部分所述室内地图。能够有效为用户提供室内导航，提高了用户的通行效率。
请参阅图8，本发明另一实施例中进一步提供了一种设备，包括显示屏707、存储器702以及一个或多个处理器704，所述存储器702用于存储包括程序指令705的信息，所述处理器704用于控制程序指令705的执行，所述处理器704执行所述程序指令705时实现上述基于关键点的导向性导航方法中的步骤。
其中，具体而言，显示屏707可用于显示由用户输入的信息或提供给用户的信息以及终端的各种菜单。显示单元可包括显示面板，可选的，可以采用液晶显示器(Liquid Crystal Display，LCD)、有机发光二极管(Organic Light-Emitting Diode,OLED)等形式来配置显示面板。进一步的，触控面板可覆盖显示面板，当触控面板检测到在其上或附近的触摸操作后，传送给处理器704以确定触摸事件的类型，随后处理器704根据触摸事件的类型在显示面板上提供相应的视觉输出。虽然一些实施例中，触控面板与显示面板是作为两个独立的部件来实现输入和输出功能，但是在某些实施例中，可以将触控面板与显示面板集成而实现终端的输入和输出功能。
存储器702可用于存储应用程序以及模块，处理器704通过运行存储在存储器702的程序指令705以及模块，从而执行设备的各种功能应用以及数据处理。存储器702可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的程序指令705(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据终端的使用所创建的数据等。此外，存储器702可以包括高速随机存取存储区702，还可以包括非易失性存储区702，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
通信接口703，用于上述交互过程中设备与其他设备或通信网络通信。通信接口703是处理器704与外界子系统进行通信的接口，用于处理器704与外界系统之间信息的传输，以达到控制子系统的目的。
处理器704是设备的控制中心，利用各种通信接口703和线路连接整个设备的各个部分，通过运行或执行存储在存储区702内的程序指令和/或模块，以及调用存储在存储区702内的数据，执行设备的各种功能和处理数据，从而对设备进行整体监控。可选的，处理器704可包括一个或多个处理单元；优选的，处理器704可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、用户界面和程序指令705等，调制解调处理器主要处理无线通信。可以理解的是，上述调制解调处理器也可以不集成到处理器704中。
一个或多个程序指令705，优选地，这些程序指令705都被存储在所述存储区702中并被配置为由所述一个或多个处理器704执行，所述一个或多个程序被配置为基于关键点的导向性导航方法的任何实施例所实现的功能。
在本发明实施例中，该设备所包括的处理器704还具有以下功能：
根据第一位置和第二位置在预定室内地图的关键点中确定导航点；所述关键点用于表征所述室内地图中的可通行方向；
基于当前的位置和所述导航点的相对方位生成用于方向导引的导向信息；
通过预定展示规则，基于相应的至少部分所述室内地图展示所述导向信息和所述导航点和/或所述第二位置。
图9示出了可以实现根据本发明的导航装置(下述将导航装置统称为设备)。该设备传统上包括处理器1010和以存储器1020形式的计算机程序产品或者计算机可读介质。存储器1020可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器1020具有用于执行上述方法中的任何方法步骤的程序代码1031的存储空间1030。例如，用于程序代码的存储空间1030可以包括分别用于实现上面的方法中的各种步骤的各个程序代码1031。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘，紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为如参考图10所述的便携式或者固定存储单元。该存储单元可以具有与图9中的存储器1020类似布置的存储段或者存储空间等。程序代码可以例如以适当形式进行压缩。通常，存储单元包括用于执行根据本发明的方法步骤的程序代码1031’，即可以由例如诸如1010之类的处理器读取的代码，这些代码当由设备运行时，导致该设备执行上面所描述的方法中的各个步骤。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
通过对本发明的设备的揭示可以知晓，本发明的实施，能够通过将原始视频流和动画进行融合，有效增强网络直播中的视频互动效果，提升了用户体验。
本领域普通技术人员可以理解,上述实施例的各种方法中的全部或部分步 骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一运算机可读存储介质中，存储介质可以包括但不限于：任何类型的盘(包括软盘、硬盘、光盘、CD-ROM、和磁光盘)、ROM(Read-Only Memory，只读存储器)、RAM(Random Access Memory，随即存储器)、EPROM(Erasable Programmable Read-Only Memory，可擦写可编程只读存储器)、EEPROM(Electrically Erasable Programmable Read-Only Memory，电可擦可编程只读存储器)、闪存、磁性卡片或光线卡片。
以上对本发明所提供的基于关键点的导向性导航方法、装置和设备进行了详细介绍，对于本领域的一般技术人员，在不脱离本发明原理的前提下，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (29)

  1. 一种基于关键点的导向性导航方法，包括如下步骤：
    根据第一位置和第二位置在预定室内地图的关键点中确定导航点；所述关键点用于表征所述室内地图中的可通行方向；
    基于当前的位置和所述导航点的相对方位生成用于方向导引的导向信息；
    通过预定展示规则，基于相应的至少部分所述室内地图展示所述导向信息和所述导航点和/或所述第二位置。
  2. 根据权利要求1所述的基于关键点的导向性导航方法，其特征在于，所述室内地图的获取包括如下步骤：
    将室内平面图转化为预定格式的图像数据；
    基于所述图像数据所表征的室内结构，生成用于构建所述室内地图的构成要素，包括区域以及位于所述区域之间可通行边界上的关键点；
    根据所述构成要素构建所述室内地图；
    其中，所述区域的平面形状为凸形；包含所述可通行边界的区域为所述可通行区域。
  3. 根据权利要求2所述的基于关键点的导向性导航方法，其特征在于，所述构成要素还包括楼层；所述区域还包括连接区域；所述楼层之间通过所述连接区域相连接。
  4. 根据权利要求1所述的基于关键点的导向性导航方法，其特征在于，所述根据第一位置和第二位置在预定室内地图的关键点中确定导航点，包括：
    所述第一位置经由所述关键点连接所述第二位置得到导航路径；
    计算各导航路径的属性距离；所述导航路径的属性距离由该导航路径的物理距离和通畅属性计算得到；
    确定所述属性距离最短的导航路径中包含的所述关键点为导航点。
  5. 根据权利要求1所述的基于关键点的导向性导航方法，其特征在于，所述根据第一位置和第二位置在预定室内地图的关键点中确定导航点，包括：
    确定与第一位置相邻的关键点，得到该关键点的集合S{P}；其中，P表示所述与第一位置相邻的关键点；
    将所述集合S{P}中的每个关键点均依次连接相邻的下一关键点，直至连接第二位置，得到集合S{P}中各关键点至所述第二位置的导航路径，分别以各导航路径包含的所有关键点为相应集合S{P}中对应关键点的子集P{M}；其中，M表示所述导航路径中的关键点；
    计算各所述子集P{M}对应导航路径的属性距离；所述导航路径的属性距离由该导航路径的物理距离和通畅属性计算得到；
    确定属性距离最短的子集P{M}的导航路径中的关键点为导航点。
  6. 根据权利要求4或5所述的基于关键点的导向性导航方法，其特征在于，所述导航路径的物理距离包括所述导航路径中各子路径端点的直线距离；和/或
    所述导航路径的通畅属性包括所述导航路径中各子路径所在的区域预定的通畅参数；
    其中，导航路径的子路径包括导航路径中各相邻端点的连线；所述端点包括所述第一位置、所述关键点和所述第二位置。
  7. 根据权利要求6所述的基于关键点的导向性导航方法，其特征在于，所述导航路径的属性距离为各子路径对应的所述通畅参数和对应的直线距离之乘积的总和。
  8. 根据权利要求6所述的基于关键点的导向性导航方法，其特征在于，所述展示所述导航点的顺序为所述属性距离最短的导航路径中所经过相应关键点的顺序。
  9. 根据权利要求8所述的基于关键点的导向性导航方法，其特征在于，所述基于当前的位置和所述导航点的相对方位生成用于方向导引的导向信息，包括：
    根据当前位置与下一导航点的相对方位，生成由所述当前位置指向所述下一导航点的导向信息；所述下一导航点为与所述当前位置距离最近的导航点。
  10. 根据权利要求1或9所述的基于关键点的导向性导航方法，其特征在于，所述预定展示规则包括：
    在所述当前位置与所述下一导航点的直连线上的预定位置展示所述导向信息。
  11. 根据权利要求10所述的基于关键点的导向性导航方法，其特征在于，所述预定展示规则还包括：
    当判断当前的位置与所述下一导航点的距离小于预定间距时，更新所述导向信息为由该当前位置指向所述下一导航点的下一顺位的导航点。
  12. 根据权利要求6所述的基于关键点的导向性导航方法，其特征在于，所述预定展示规则还包括：
    根据所述当前位置与所述下一导航点的距离与相对方位，判断当前的位置是否偏离所述导航路径；
    当判断当前的位置偏离所述导航路径时，以所述当前位置作为第一位置重新确定导航路径和对应的导航点；
    当判断重新确定的导航路径的属性距离小于原有的导航路径时，基于该重新确定的导航路径更新相应的导航点和导向信息。
  13. 根据权利要求10所述的基于关键点的导向性导航方法，其特征在于，所述预定展示规则还包括：
    根据当前终端的显示屏参数和/或预定的地图比例，适应性展示所述导向信息和所述导航点和/或所述第二位置于相应的至少部分所述室内地图中。
  14. 一种基于关键点的导向性导航装置，包括：
    至少一个处理器；
    以及，至少一个存储器，其与所述至少一个处理器可通信地连接；所述至少一个存储器内存储有处理器可执行的指令，当所述处理器可执行的指令由所述至少一个处理器执行时，致使所述装置执行至少以下操作：
    根据第一位置和第二位置在预定室内地图的关键点中确定导航点；所述关键点用于表征所述室内地图中的可通行方向；
    基于当前的位置和所述导航点的相对方位生成用于方向导引的导向信息；
    通过预定展示规则，基于相应的至少部分所述预定室内地图展示所述导向信息和所述导航点和/或所述第二位置。
  15. 根据权利要求14所述的基于关键点的导向性导航装置，其特征在于，所述室内地图的获取包括：
    将室内平面图转化为预定格式的图像数据；
    基于所述图像数据所表征的室内结构，生成用于构建所述室内地图的构成要素，包括区域以及位于所述区域之间可通行边界上的关键点；
    根据所述构成要素构建所述室内地图；
    其中，所述区域的平面形状为凸形；包含所述可通行边界的区域为所述可通行区域。
  16. 根据权利要求15所述的基于关键点的导向性导航装置，其特征在于，所述构成要素还包括楼层；所述区域还包括连接区域；所述楼层之间通过所述连接区域相连接。
  17. 根据权利要求14所述的基于关键点的导向性导航装置，其特征在于，所述根据第一位置和第二位置在预定室内地图的关键点中确定导航点的操作，包括：
    所述第一位置经由所述关键点连接所述第二位置得到导航路径；
    计算各导航路径的属性距离；所述导航路径的属性距离由该导航路径的物理距离和通畅属性计算得到；
    确定所述属性距离最短的导航路径中包含的所述关键点为导航点。
  18. 根据权利要求14所述的基于关键点的导向性导航装置，其特征在于，所述根据第一位置和第二位置在预定室内地图的关键点中确定导航点的操作，包括：
    确定与第一位置相邻的关键点，得到该关键点的集合S{P}；其中，P表示所述与第一位置相邻的关键点；
    将所述集合S{P}中的每个关键点均依次连接相邻的下一关键点，直至连接第二位置，得到集合S{P}中各关键点至所述第二位置的导航路径，分别以各导航路径包含的所有关键点为相应集合S{P}中对应关键点的子集P{M}；其中，M表示所述导航路径中的关键点；
    计算各所述子集P{M}对应导航路径的属性距离；所述导航路径的属性距离由该导航路径的物理距离和通畅属性计算得到；
    确定属性距离最短的子集P{M}的导航路径中的关键点为导航点。
  19. 根据权利要求17或18所述的基于关键点的导向性导航装置，其特征在于，所述导航路径的物理距离包括所述导航路径中各子路径端点的直线距离；和/或
    所述导航路径的通畅属性包括所述导航路径中各子路径所在的区域预定的通畅参数；
    其中，导航路径的子路径包括导航路径中各相邻端点的连线；所述端点包括所述第一位置、所述关键点和所述第二位置。
  20. 根据权利要求19所述的基于关键点的导向性导航装置，其特征在于，所述导航路径的属性距离为各子路径对应的所述通畅参数和对应的直线距离之乘积的总和。
  21. 根据权利要求19所述的基于关键点的导向性导航装置，其特征在于，所述展示 所述导航点的顺序为所述属性距离最短的导航路径中所经过相应关键点的顺序。
  22. 根据权利要求21所述的基于关键点的导向性导航装置，其特征在于，所述基于当前的位置和所述导航点的相对方位生成用于方向导引的导向信息，包括：
    根据当前位置与下一导航点的相对方位，生成由所述当前位置指向所述下一导航点的导向信息；所述下一导航点为与所述当前位置距离最近的导航点。
  23. 根据权利要求14或22所述的基于关键点的导向性导航装置，其特征在于，所述预定展示规则包括：
    在所述当前位置与所述下一导航点的直连线上的预定位置展示所述导向信息。
  24. 根据权利要求23所述的基于关键点的导向性导航装置，其特征在于，所述预定展示规则还包括：
    当判断当前的位置与所述下一导航点的距离小于预定间距时，更新所述导向信息为由该当前位置指向所述下一导航点的下一顺位的导航点。
  25. 根据权利要求19所述的基于关键点的导向性导航装置，其特征在于，所述预定展示规则还包括：
    根据所述当前位置与所述下一导航点的距离与相对方位，判断当前的位置是否偏离所述导航路径；
    当判断当前的位置偏离所述导航路径时，以所述当前位置作为第一位置重新确定导航路径和对应的导航点；
    当判断重新确定的导航路径的属性距离小于原有的导航路径时，基于该重新确定的导航路径更新相应的导航点和导向信息。
  26. 根据权利要求23所述的基于关键点的导向性导航装置，其特征在于，所述预定展示规则还包括：
    根据当前终端的显示屏参数和/或预定的地图比例，适应性展示所述导向信息和所述导航点和/或所述第二位置于相应的至少部分所述室内地图中。
  27. 一种设备，包括显示屏、存储器以及一个或多个处理器，所述存储器用于存储包括程序指令的信息，所述处理器用于控制程序指令的执行，所述处理器执行所述程序时实现以下基于关键点的导向性导航方法，所述方法包括以下步骤：
    根据第一位置和第二位置在预定室内地图的关键点中确定导航点；所述关键点用于表征所述室内地图中的可通行方向；
    基于当前的位置和所述导航点的相对方位生成用于方向导引的导向信息；
    通过预定展示规则，基于相应的至少部分所述室内地图展示所述导向信息和所述导航点和/或所述第二位置。
  28. 一种计算机程序，包括计算机可读代码，当导航装置运行所述计算机可读代码时，导致权利要求1-13中的任一项权利要求所述的方法被执行。
  29. 一种计算机可读介质，其中存储了如权利要求28所述的计算机程序。
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