Multi-target point path search method, system and medium of edge ripple thinking

Abstract

The present invention proposes a multi-target point path search method, system and medium of edge ripple thinking, including: obtaining a target road network on a road surface to be processed and performing line-surface conversion to obtain multiple to-be-processed mesh surfaces; selecting one of the to-be-processed mesh surfaces from the edge position of the target road network as the starting mesh belt; querying and labeling the to-be-processed mesh surfaces starting from the starting mesh belt, and assigning each of the remaining to-be-processed mesh surfaces to their respective mesh belts; each to-be-processed mesh surface of the first mesh belt is adjacent to the starting mesh belt, and each to-be-processed mesh surface of the Nth mesh belt is adjacent to one of the to-be-processed mesh surfaces in the N-1th mesh belt; deleting mesh belts whose label values ​​do not meet the retention rules; removing holes and merging mesh belts that meet the retention rules and the starting mesh belt to obtain the target road surface belt; converting the target road surface belt into a line-surface to obtain the target path of the road surface to be processed. Thus, the solution to the path to reach multiple target points is quickly obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-target point path search of edge ripple thinking, and in particular to a multi-target point path search method, system and medium of edge ripple thinking. Background Art

[0002] The multi-target arrival problem is one of the most common path problems in daily life. Human activities on the surface are mostly carried out along predetermined routes. According to incomplete statistics, the GDP loss caused by traffic can reach 5%. Therefore, in-depth research and breakthroughs on this problem are very important. Academically, multi-target arrival belongs to the category of Hamiltonian path. The Hamiltonian path is the path to all nodes, and the TSP path, that is, the solution to the traveler problem, is the optimal solution to this problem. The difficulty of the Hamiltonian path problem is mainly reflected in the diversity and uncertainty of the path selection of the points. It is a typical NP problem. The problem of multi-point arrival under existing road network conditions, that is, the problem of solving the Hamiltonian path under constraints, has become one of the biggest obstacles to theoretical research in this field for decades. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a multi-target point path search method, system and medium of corner ripple thinking, which can quickly find a solution to the path to multiple target points.

[0004] In a first aspect, an embodiment of the present invention provides a multi-target point path search method of corner ripple thinking, comprising:

[0005] Acquire a target road network on the road surface to be processed, and perform line-surface conversion on the target road network to obtain a plurality of network surfaces to be processed; the road surface to be processed has a plurality of target points, and the target road network is formed by connecting the plurality of target points;

[0006] Selecting one of the to-be-processed mesh surfaces from the edge position of the target road network as a starting mesh belt;

[0007] According to the preset first query operator, the remaining mesh surfaces to be processed are queried starting from the starting mesh belt, and each of the remaining mesh surfaces to be processed is attributed to the mesh belt to which it belongs; wherein each mesh belt includes a plurality of mesh surfaces to be processed, each of the mesh surfaces to be processed in the first mesh belt is adjacent to the starting mesh belt, and each of the mesh surfaces to be processed in the Nth mesh belt is adjacent to one of the mesh surfaces to be processed in the N-1th mesh belt; N is a positive integer greater than 1;

[0008] Labeling the starting mesh belt and each mesh belt to obtain the label value of the starting mesh belt and each mesh belt;

[0009] The mesh band whose label value does not meet the preset retention rule is regarded as a mesh band to be deleted, and the mesh band to be deleted is deleted;

[0010] The mesh belts whose number values ​​meet the retention rule and the starting mesh belt are used as spare mesh belts, and all the spare mesh belts are merged to remove holes to obtain a target road surface belt;

[0011] The target road surface strip is converted from line to surface to obtain the target path of the road surface to be processed.

[0012] In some embodiments of the present invention, labeling the starting mesh belt and each mesh belt to obtain the label value of the starting mesh belt and each mesh belt includes:

[0013] Acquire the mesh belt adjacent to the starting mesh belt, and add 1 to the index value of the starting mesh belt to obtain the index value of the mesh belt;

[0014] Starting from the mesh belt adjacent to the starting mesh belt, the adjacent mesh belts are numbered in sequence, wherein the number value of the Nth mesh belt is the number value of the Nth mesh belt plus 1, and N is a positive integer greater than 1.

[0015] In some embodiments of the present invention, the step of treating the mesh band whose label value does not conform to a preset retention rule as a mesh band to be deleted, and deleting the mesh band to be deleted includes:

[0016] Query the mesh belts whose label values ​​are even numbers, and delete the mesh belts whose label values ​​are even numbers;

[0017] or,

[0018] The mesh belts whose label values ​​are odd numbers are searched, and the mesh belts whose label values ​​are odd numbers are deleted.

[0019] In some embodiments of the present invention, the mesh belts whose number values ​​meet the retention rule and the starting mesh belt are used as spare mesh belts, and all the spare mesh belts are removed and merged to obtain the target road surface belt, including:

[0020] Selecting one of the to-be-processed meshes from each of the to-be-deleted mesh belts as the to-be-merged meshes; each of the to-be-deleted mesh belts has two adjacent spare mesh belts, and the to-be-merged meshes of each of the to-be-deleted mesh belts have two connecting edges connected to the two adjacent spare mesh belts, and each of the connecting edges has two target points;

[0021] The mesh surface to be merged is merged into the spare mesh belt to obtain the target road surface belt.

[0022] In some embodiments of the present invention, the method of treating the mesh band whose label value does not meet the preset retention rule as a mesh band to be deleted, and deleting the mesh band to be deleted, comprises:

[0023] Query the target point in the backup mesh belt according to a preset second query operator, and obtain the target point covered by the backup mesh belt and not located at the edge of the backup mesh belt as a coverage point;

[0024] Query the target point in the to-be-deleted mesh belt according to a preset third query operator, and obtain the target point located in the to-be-deleted mesh belt and not intersecting with the standby mesh belt as a non-covered point;

[0025] The non-covered point and the covered point are subjected to hanging point processing.

[0026] In some embodiments of the present invention, the method of performing hanging point processing on the non-covered point includes:

[0027] Acquire the to-be-processed mesh surface where the non-covered point is located as the non-covered mesh surface;

[0028] When the edge of the non-covered mesh surface is connected to the edge of the spare mesh belt, the non-covered mesh surface is merged into the spare mesh belt.

[0029] In some embodiments of the present invention, when the edge of the non-covered mesh surface is connected to the edge of the spare mesh belt, merging the non-covered mesh surface into the spare mesh belt comprises:

[0030] Acquire the connection relationship between the non-covered mesh surface and the to-be-processed mesh surface in the adjacent spare mesh belt;

[0031] When the non-covered mesh surface is connected to the to-be-processed mesh surface at a common point, and the edge where the common point is located in the non-covered mesh surface is not connected to the edge of the to-be-processed mesh surface, the non-covered mesh surface is deleted.

[0032] In a second aspect, an embodiment of the present invention provides a multi-target point path search system of corner ripple thinking, comprising:

[0033] The first module is used to obtain a target road network on the road surface to be processed, and perform line-surface conversion on the target road network to obtain multiple network surfaces to be processed; the road surface to be processed has multiple target points, and the target road network is formed by connecting the multiple target points;

[0034] The second module is used to select one of the to-be-processed mesh surfaces from the edge position of the target road network as a starting mesh belt;

[0035] The third module is used to query the remaining mesh surfaces to be processed starting from the starting mesh belt according to the preset first query operator, and attribute each of the remaining mesh surfaces to be processed to the mesh belt to which it belongs; wherein each mesh belt includes a plurality of mesh surfaces to be processed, each of the mesh surfaces to be processed in the first mesh belt is adjacent to the starting mesh belt, and each of the mesh surfaces to be processed in the Nth mesh belt is adjacent to one of the mesh surfaces to be processed in the N-1th mesh belt; N is a positive integer greater than 1;

[0036] The fourth module is used to label the starting mesh belt and each mesh belt to obtain the label value of the starting mesh belt and each mesh belt;

[0037] A fifth module is used to treat the mesh band whose label value does not meet the preset retention rule as a mesh band to be deleted, and delete the mesh band to be deleted;

[0038] The sixth module is used to use the mesh belts whose number values ​​meet the retention rule and the starting mesh belt as spare mesh belts, and remove holes and merge all the spare mesh belts to obtain a target road surface belt;

[0039] The seventh module is used to perform line-to-surface conversion on the target road surface strip to obtain the target path of the road surface to be processed.

[0040] In the third aspect, an embodiment of the present invention provides an electronic device comprising at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the multi-target point path search method of Corner Ripple Thinking as described in the first aspect above.

[0041] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the multi-target point path search method of Corner Ripple Thinking as described in the first aspect above.

[0042] According to the multi-target point path search method of Corner Ripple Thinking according to the embodiment of the present invention, there are at least the following beneficial effects: obtaining a target road network on the road surface to be processed, and performing line-to-surface conversion on the target road network to obtain a plurality of mesh surfaces to be processed; the road surface to be processed has a plurality of target points, and the target road network is formed by connecting a plurality of target points; selecting one of the mesh surfaces to be processed from the edge position of the target road network as the starting mesh belt; according to a preset first query operator, starting from the starting mesh belt, querying the remaining mesh surfaces to be processed, and attributing each of the remaining mesh surfaces to be processed to its respective mesh belt; wherein each mesh belt includes a plurality of mesh surfaces to be processed, each of the mesh surfaces to be processed in the first mesh belt is adjacent to the starting mesh belt, and each of the mesh surfaces to be processed in the Nth mesh belt is adjacent to one of the mesh surfaces in the N-1th mesh belt. A mesh surface to be processed is adjacent; N is a positive integer greater than 1, that is, starting from the starting mesh belt, query the adjacent mesh belts in the ripple method until all the mesh belts on the road surface to be processed are queried, and finally the sample space is striped to achieve dimensionality reduction operation; the starting mesh belt and each mesh belt are labeled to obtain the label value of the starting mesh belt and each mesh belt; the mesh belt whose label value does not meet the preset retention rule is used as the mesh belt to be deleted, and the mesh belt to be deleted is deleted to reduce the complexity of the multi-target point path search of the corner ripple thinking; the mesh belt whose label value meets the retention rule and the starting mesh belt are used as spare mesh belts, and all the spare mesh belts are removed and merged to obtain the target road surface belt; the target road surface belt is converted into a line-to-surface to obtain the target path of the road surface to be processed. The entire method can be executed quickly and in parallel, achieving full sample coverage and simple graph integration through the critical constraints of the mesh belt, thereby realizing the rapid solution of the path to multiple target points. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a flow chart of a multi-target point path search method of corner ripple thinking provided by an embodiment of the present invention;

[0044] Figure 2 is a schematic diagram of a road surface to be treated provided by an embodiment of the present invention;

[0045] Figure 3 is a schematic diagram of multiple mesh surfaces to be processed after line-surface conversion provided by an embodiment of the present invention;

[0046] Figure 4 is a schematic diagram of a starting mesh belt provided by one embodiment of the present invention;

[0047] Figure 5 is a schematic diagram of a mesh belt adjacent to a starting mesh belt provided by one embodiment of the present invention;

[0048] Figure 6 is a schematic diagram of a process of querying all to-be-processed web pages provided by an embodiment of the present invention;

[0049] Figure 7 is a schematic diagram of an embodiment of the present invention after all the mesh surfaces to be processed are assigned to the respective mesh belts;

[0050] Figure 8 It is a schematic diagram of retaining a spare mesh belt after deleting the mesh belt to be deleted provided by an embodiment of the present invention;

[0051] Fig. 9 is an overall schematic diagram of a non-coverage point provided by an embodiment of the present invention;

[0052] Fig.10 is a schematic diagram of a coverage point provided by an embodiment of the present invention;

[0053] Fig.11 is a schematic diagram of a non-covered point after performing hanging point processing according to an embodiment of the present invention;

[0054] Fig.12 It is a partial schematic diagram of the spare mesh belt after hole removal and merging provided by an embodiment of the present invention;

[0055] Fig.13 It is an overall schematic diagram of a target road surface strip after removing holes and merging the spare mesh strips provided by an embodiment of the present invention;

[0056] Fig.14 is a schematic diagram of a target path of a road surface to be processed provided by an embodiment of the present invention;

[0057] Fig.15 It is a partial schematic diagram of retaining a spare mesh belt after deleting the mesh belt to be deleted provided by an embodiment of the present invention;

[0058] Fig.16 is a schematic diagram of one of the mesh surfaces to be merged in a spare mesh belt provided by an embodiment of the present invention;

[0059] Fig.17 is a schematic diagram of a plurality of mesh surfaces to be merged in a spare mesh belt provided by an embodiment of the present invention;

[0060] Fig.18 is a first partial schematic diagram of a non-covered point provided by an embodiment of the present invention;

[0061] Fig.19 is a first schematic diagram of a non-covered mesh surface provided by an embodiment of the present invention;

[0062] Fig. 20is a second partial schematic diagram of a non-covered point provided by an embodiment of the present invention;

[0063] Fig.21 is a first schematic diagram after performing erroneous hanging point processing on a non-covered point according to an embodiment of the present invention;

[0064] Fig. 22 is a first schematic diagram after correctly performing hanging point processing on a non-covered point according to an embodiment of the present invention;

[0065] Fig.23 is a third partial schematic diagram of a non-covered point provided by an embodiment of the present invention;

[0066] Fig.24 is a second schematic diagram after performing erroneous hanging point processing on a non-covered point according to an embodiment of the present invention;

[0067] Fig.25 is a second schematic diagram after correctly performing hanging point processing on a non-covered point according to an embodiment of the present invention;

[0068] Fig.26 is a structural diagram of an electronic device provided by another embodiment of the present invention;

[0069] Fig. 27 It is a structural diagram of a multi-target point path search system of Corner Ripple Thinking provided by another embodiment of the present invention. DETAILED DESCRIPTION

[0070] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0071] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0072] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0073] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0074] The multi-target reaching problem is one of the most common path problems in daily life. Due to the limited perception of organisms, it is impossible to search for the optimal path to reach the destination at one time. By exploring the current road network forward, gradually discovering the path that can reach the target point has become the most common solution. Academically, multi-target reaching belongs to the category of Hamiltonian path. Hamiltonian path is the path to reach all nodes, and TSP path, i.e., the solution to the traveler problem, is the optimal solution to this problem.

[0075] Hamiltonian path problem and TSP problem have not been perfectly solved by scholars from the theoretical and technical level in the past 100 years, and have become one of the classic problems in the fields of logistics, tourism, microelectronics design, etc. Solving Hamiltonian path under constraints, that is, finding a path to meet the needs according to a given route, is a special case of the traditional Hamiltonian path problem with comparable complexity. It is also affected by existing paths, and the existence of the solution is also uncertain. The difficulty of Hamiltonian path problem is mainly reflected in the diversity and uncertainty of path selection of points. Traditional scientific thinking believes that this problem is a permutation and combination in the field of mathematics, so the solution is also studied from the fields of mathematics, logic and traditional computer graphics.

[0076] The Hamiltonian path problem and the TSP path problem belong to the field of natural science and are spatial science problems. Therefore, the natural science principle of "the more constraints, the more likely the problem is to be solved" must be applied. Combined with the law of solving natural science problems, under the premise that it is difficult to find the necessary and sufficient conditions of natural science problems, the necessary conditions are often easier to discover. Therefore, the solution to this problem cannot be considered only from traditional scientific fields such as logical thinking and mathematics. It is necessary to find more constraints in combination with practical problems to solve the problem. The Hamiltonian path is a typical NP problem. Its essence is to traverse all nodes, and each node is only passed once, that is, one in and one out. It is reflected in the node as the connection in and out, which is called degree, that is, the number of node connection lines. A closed line with a degree of two is a Hamiltonian cycle, which is reflected in computer graphics as a simple closed polygon.

[0077] Therefore, it can be understood as the Hamiltonian path problem, which is essentially a point connection problem, but it is reflected in space as a closed surface. So far, the Hamiltonian path problem integrates points, lines and surfaces. Hamiltonian path is a line problem, but it involves two-dimensional space, that is, lines and surfaces are intertwined, which is the surface of line problems. The two-dimensionalization of one-dimensional problems, the extension of one-dimensional lines to two-dimensional surface space, and the dimension increase of solution space are infinite. This is the fundamental reason why this problem is difficult to solve due to compound exponential growth. Since the Hamiltonian problem is a typical NP problem, the problem of multiple points must be reached under existing road network conditions, that is, the solution of Hamiltonian paths under constraints, as a special case of this problem, also faces the problem of whether the solution exists and how to solve it, which has become one of the biggest obstacles to theoretical research in this field for decades.

[0078] To this end, the present invention proposes a multi-target point path search method, system and medium of corner ripple thinking.

[0079] The embodiment of the present invention provides a multi-target point path search method of corner ripple thinking: obtaining a target road network on a road surface to be processed, and performing line-surface conversion on the target road network to obtain multiple network surfaces to be processed;

[0080] The road surface to be processed has a plurality of target points, and the target road network is formed by connecting the plurality of target points;

[0081] Selecting one of the to-be-processed mesh surfaces from the edge position of the target road network as a starting mesh belt;

[0082] According to the preset first query operator, the remaining mesh surfaces to be processed are queried starting from the starting mesh belt, and each of the remaining mesh surfaces to be processed is attributed to the mesh belt to which it belongs; wherein each mesh belt includes a plurality of mesh surfaces to be processed, each of the mesh surfaces to be processed in the first mesh belt is adjacent to the starting mesh belt, and each of the mesh surfaces to be processed in the Nth mesh belt is adjacent to one of the mesh surfaces to be processed in the N-1th mesh belt; N is a positive integer greater than 1, that is, starting from the starting mesh belt, the adjacent mesh belts are queried in a ripple method until all mesh belts on the road surface to be processed are queried, and finally the sample space is striped to achieve a dimensionality reduction operation;

[0083] The starting mesh belt and each mesh belt are numbered to obtain the number values ​​of the starting mesh belt and each mesh belt; the mesh belt whose number value does not meet the preset retention rule is regarded as a mesh belt to be deleted, and the mesh belt to be deleted is deleted to reduce the complexity of the multi-target point path search of the corner ripple thinking;

[0084] The mesh belts whose number values ​​meet the retention rule and the starting mesh belt are used as spare mesh belts, and all the spare mesh belts are merged to remove holes to obtain a target road surface belt;

[0085] The target road strip is converted into a line-surface to obtain the target path of the road to be processed. The entire method can be executed in parallel and quickly, and the critical constraints of the mesh strip are used to achieve full sample coverage and simple graphics integration, thereby realizing the rapid solution of the path to multiple target points.

[0086] The control method of the embodiment of the present invention is further described below based on the accompanying drawings.

[0087] Reference Figure 1 , Figure 1 A flowchart of a multi-target point path search method of Corner Ripple Thinking provided by an embodiment of the present invention, the multi-target point path search method of Corner Ripple Thinking includes but is not limited to the following steps:

[0088] Step S100, obtaining a target road network on the road surface to be processed, and performing line-surface conversion on the target road network to obtain a plurality of network surfaces to be processed; the road surface to be processed has a plurality of target points, and the target road network is formed by connecting the plurality of target points;

[0089] Step S200, selecting one of the to-be-processed mesh surfaces from the edge position of the target road network as a starting mesh belt;

[0090] Step S300, according to a preset first query operator, query the remaining to-be-processed mesh surfaces starting from the starting mesh belt, and attribute each of the remaining to-be-processed mesh surfaces to the mesh belt to which it belongs; wherein each mesh belt includes a plurality of to-be-processed mesh surfaces, each to-be-processed mesh surface of the first mesh belt is adjacent to the starting mesh belt, and each to-be-processed mesh surface of the Nth mesh belt is adjacent to one of the to-be-processed mesh surfaces in the N-1th mesh belt; N is a positive integer greater than 1;

[0091] Step S400, labeling the starting mesh belt and each mesh belt to obtain the label value of the starting mesh belt and each mesh belt;

[0092] Step S500, taking the mesh bands whose label values ​​do not conform to the preset retention rule as mesh bands to be deleted, and deleting the mesh bands to be deleted;

[0093] Step S600, taking the mesh belts whose number values ​​meet the reservation rule and the starting mesh belt as spare mesh belts, and removing holes and merging all spare mesh belts to obtain the target road surface belt;

[0094] Step S700, converting the target road surface strip into a line-surface to obtain a target path of the road surface to be processed.

[0095] It should be noted that the target road network is the route that will be passed in actual application, and the target point is the path point that will be passed in actual application, that is, the point that the route will definitely pass through. Figure 2The road surface to be processed includes target points and target road networks. The target road network connects the target points. It can be seen that in the case of multiple target points and complex target road networks, the amount of calculation of the conventional multi-target point arrival path is very huge and the solution complexity is also very large. Therefore, reference Figure 3 , the target road network is constructed into a surface, and multiple to-be-processed surfaces are obtained. It is understood that the tool for constructing the target road network into a surface is not limited here, and a line-surface conversion tool such as ArcGIS and the like can be used. It is understood that a closed polygon surrounded by the target road network is a to-be-processed surface. In this way, the solution space where multiple target points are located is constrained, thereby improving the efficiency of the path solving of multiple target points and reducing the difficulty and complexity of the path solving of multiple target points.

[0096] It should be noted that the reference Figure 4 , select one of the to-be-processed meshes from the edge position of the target road network, the outermost edge position includes the corner, select the to-be-processed meshes at the corner as the starting mesh belt, and perform spatial query operation. Figure 4 As shown, a triangular-like mesh surface to be processed located at the outermost edge position is selected as the starting mesh surface.

[0097] It should be noted that according to the first query operator, wherein the first query operator includes a common point or a face intersection operator, reference Figure 5 , starting from the starting mesh belt, obtain the mesh surfaces to be processed adjacent to the starting mesh belt and assign them to the same mesh belt, refer to Figure 6 as well as Figure 7 , take the newly queried result, that is, the mesh belt adjacent to the starting mesh belt as the new start, continue to start the query according to the first query operator, obtain new adjacent mesh surfaces to be processed, and assign them to another mesh belt until the query results cover all the mesh surfaces to be processed.

[0098] It can be understood that each mesh belt includes multiple mesh surfaces to be processed, and each mesh surface to be processed of each mesh belt is adjacent to the starting mesh belt, and each mesh surface to be processed of the Nth mesh belt is adjacent to one of the mesh surfaces to be processed of the N-1th mesh belt, that is, ripples are formed visually, starting from the initial mesh belt and expanding outward layer by layer in a ring shape. The first ring is similar to the range seen from the starting point, and the second ring is similar to the direction to reach a certain target point, and it expands layer by layer until a path that can reach all target points is found. Through this gradual coverage of corner ripples, the entire complex target road network is summarized into a series of simpler mesh belts, achieving dimensionality reduction and simplification, thereby reducing the complexity and difficulty of the multi-target point path search of the corner ripple thinking, and further improving the efficiency of the multi-target point path search of the corner ripple thinking.

[0099] It should be noted that the starting mesh belt and each mesh belt are numbered, and then the number values ​​of the starting mesh belt and each mesh belt are obtained. For example, the starting mesh belt is numbered 1, and the mesh belt adjacent to the starting mesh belt is numbered 2, and the mesh belt adjacent to the mesh belt numbered 2 is numbered 3, and so on, until all mesh belts are numbered. Figure 8 , query the label value according to the preset retention rule, retain the mesh belt whose label value meets the retention rule as the retained mesh belt, and delete the mesh belt whose label value does not meet the retention rule as the mesh belt to be deleted.

[0100] It should be noted that the reference Fig.12 and Fig.13 , remove holes and merge the reserved spare mesh belts to simplify the complex graphics, while ensuring the continuity and integrity, and obtain the target road belt. If the holes are not removed and merged, the spare mesh belts will be broken and separated from each other, rather than existing as a whole. This will result in an incoherent route, and naturally it will be impossible to achieve the multi-target point path search problem of the corner ripple thinking. Therefore, it is necessary to remove holes and merge the spare mesh belts to ensure the continuity and integrity of the route. Fig.14 , and then the target road strip is subjected to a face-to-line operation, and the resulting mesh diagram is the Hamiltonian path result. It is understood that the face-to-line operation can be performed using a face-to-line conversion tool, which is not limited here. It is understood that when the target road strip is subjected to a face-to-line operation, not only the outer edge of the target road strip is converted into a line, but also the edges of each to-be-processed mesh surface in the target road strip are converted into a line. The to-be-processed mesh surface in the target road also includes multiple target road networks and multiple target points.

[0101] In the current road network environment, the point connection relationship of the multi-target point path search problem of the corner ripple thinking is constrained, but the road network will definitely cover the space. Therefore, through the dimensionality reduction thinking, the ripple coverage mode is adopted to efficiently query the entire space. Through the edge thinking, that is, all the to-be-processed mesh surfaces connected to the mesh belt are obtained as new mesh belts, and the problem is constrained by reducing the degree of the edge polygons, thereby reducing the connectivity of the target points, achieving the goal of reducing the dimension of the node degree by 2, completing the integration of simple polygons, and jointly achieving full sample coverage and simple integration of graphics through the critical constraints and node constraints of the polygons, thereby realizing the rapid solution of the Hamiltonian cycle. The present invention adopts the mutual constraints of lines and surfaces in two-dimensional space, guided by the thinking of dimensionality increase and dimensionality reduction, constructs strip range nodes through the ripple mode, utilizes the special proximity of adjacent polygons, and ensures that the connection topological relationship of the nodes remains unchanged through face adjacency, completes the path polygon merging goal, and finally achieves the goal of solving the path to multiple target points in the current road network environment by the corner edge polar coordinate ripple method.

[0102] In another embodiment, step S400, labeling the starting mesh belt and each mesh belt to obtain the label value of the starting mesh belt and each mesh belt, specifically also includes:

[0103] Get the mesh belt adjacent to the starting mesh belt, add 1 to the index value of the starting mesh belt, and use it as the index value of the mesh belt;

[0104] Starting from the mesh belt adjacent to the starting mesh belt, the adjacent mesh belts are numbered in sequence, wherein the number value of the Nth mesh belt is the number value of the Nth mesh belt plus 1, and N is a positive integer greater than 1.

[0105] It should be noted that, illustratively, the label value of the starting mesh belt is set to 1, the label value of the mesh belt adjacent to the starting mesh belt is set to 2, and the remaining mesh belts adjacent to the mesh belt are obtained in sequence, and their label values ​​are set to 2, 3, etc. in sequence until all mesh belts are set with label values. It can be understood that it is not limited to setting the starting mesh belt to 1, and the label value of the starting mesh belt can be set according to actual needs.

[0106] In another embodiment, step S500, taking the mesh band whose label value does not meet the preset retention rule as the mesh band to be deleted, and deleting the mesh band to be deleted, specifically also includes:

[0107] Query the mesh belts with even-numbered label values, and delete the mesh belts with even-numbered label values;

[0108] or,

[0109] Query the mesh belts with odd-numbered label values ​​and delete the mesh belts with odd-numbered label values.

[0110] It should be noted that, starting from obtaining the label value of the starting mesh band, the label values ​​of the mesh bands are obtained in sequence, and the mesh bands are retained or deleted according to the retention rules. The deleted mesh bands are used as mesh bands to be deleted, and the retained mesh bands are used as retained mesh bands. It can be understood that the retention rule can be to delete the mesh bands with even-numbered label values, or to delete the mesh bands with odd-numbered label values. This is selected according to actual needs. It can be understood that the mesh bands can also be numbered according to other preset rules. It should be noted that if the mesh bands are retained or deleted according to the retention rules, the starting mesh band needs to be retained, so the preset retention processing needs to be performed. For example, the starting mesh belt is labeled 1, the mesh belt connected to the starting mesh belt is labeled 2, the mesh belt connected to the mesh belt labeled 2 is labeled 3... and so on. Next time, query the mesh belts with odd-numbered values, such as 1, 3, 5... and delete the mesh belts with odd-numbered values. At this time, the starting mesh belt may be deleted. In order to avoid this situation, it is necessary to move the number back by one, that is, the starting mesh belt is labeled 2, the mesh belt connected to the starting mesh belt is labeled 3, and the mesh belt connected to the mesh belt labeled 3 is labeled 4... and so on. Next time, delete the mesh belts with odd-numbered values, and the starting mesh belt will not be deleted. This is because in the multi-target point path search process of Corner Ripple Thinking, it is necessary to start from the starting mesh belt, because the starting mesh belt cannot be deleted.

[0111] In another embodiment, step S600, taking the mesh belts whose number values ​​meet the reservation rule and the starting mesh belt as spare mesh belts, and removing holes and merging all spare mesh belts to obtain the target road surface belt, specifically also includes:

[0112] Selecting a to-be-processed mesh surface from each to-be-deleted mesh belt as the to-be-merged mesh surface; each to-be-deleted mesh belt has two adjacent spare mesh belts, and the to-be-merged mesh surface of each to-be-deleted mesh belt has two connecting edges connected to the two adjacent spare mesh belts, and each connecting edge has two target points;

[0113] Merge the mesh surface to be merged into the spare mesh belt to obtain the target pavement belt.

[0114] It should be noted that the reference Fig.16 and Fig.17Because after the mesh belts are deleted and retained according to the retention rules, the spare mesh belts are separated and have no connection relationship. Therefore, it is necessary to select suitable to-be-processed mesh surfaces from the to-be-deleted mesh belts as to-be-merged mesh surfaces to connect adjacent spare mesh belts. That is, if the hole removal and merging are not performed, the spare mesh belts are broken and separated from each other, rather than existing as a whole. This will result in the final route being incoherent, and naturally it will be impossible to achieve the multi-target point path search problem of the corner ripple thinking. Therefore, it is necessary to remove the holes and merge the spare mesh belts to ensure the continuity and integrity of the route.

[0115] It can be understood that the mesh belt to be deleted and the spare mesh belt are connected, that is, there is a mesh belt to be deleted in the middle of adjacent spare mesh belts. Therefore, in order to avoid selecting an inappropriate mesh surface to be merged, for example, in order to avoid selecting a mesh surface to be processed that is located in the middle of the mesh belt to be deleted, is not connected to the spare mesh belt, and cannot form a connecting bridge between adjacent spare mesh belts, it is necessary to limit the mesh surface to be merged: each mesh surface to be merged in the deleted mesh belt has two connecting edges, and these two connecting edges are respectively connected to the adjacent spare mesh belts, so as to ensure that the mesh surface to be merged will definitely be connected to the two adjacent spare mesh belts, and each connecting edge has two target points, this is to try not to destroy the relationship between the original target points, that is, assuming that there are three target points on a connecting edge, when the mesh surface to be merged is merged with the adjacent spare mesh belt to obtain the target road surface belt, one of the three target points will be located in the middle of the target road surface belt, that is, covered by the target road surface belt, rather than located at the edge of the target road surface belt. Therefore, when merging the meshes to be merged, each connecting edge has two target points.

[0116] In another embodiment, step S500, after taking the mesh bands whose label values ​​do not meet the preset retention rule as the mesh bands to be deleted and deleting the mesh bands to be deleted, further includes:

[0117] Query the target points in the backup mesh belt according to the preset second query operator, and obtain the target points covered by the backup mesh belt and not located at the edge of the backup mesh belt as the covered points;

[0118] Query the target point in the to-be-deleted mesh belt according to the preset third query operator, and obtain the target point that is located in the to-be-deleted mesh belt and does not intersect with the spare mesh belt as a non-covered point;

[0119] Perform hanging point processing on non-covered points and covered points.

[0120] It should be noted that the reference Fig.10, query the target point in the backup mesh belt according to the second query operator, the second query operator can be to set the query object as the backup mesh belt, and then obtain the target object contained in the query object, and there is no edge or point contact, so as to obtain the target point in the backup mesh belt that is not located on the edge as the coverage point; reference Fig. 9 The third query operator may be to set the query object as the spare mesh belt, and then obtain the target object separated from the query object, so as to obtain the target point in the mesh belt to be deleted that is not in contact with the spare mesh belt as the non-covering point.

[0121] refer to Fig.15 When deleting the mesh belt to be deleted, only the mesh surface to be processed is deleted, not the target point. After deleting the mesh belt to be deleted, there will be some isolated points in the mesh belt to be deleted, that is, non-covered points. These non-covered points need to be processed as hanging points so that the final path can pass through these non-covered points. Fig.11 Because these uncovered points may only be connected to the backup mesh belt by one edge, or completely suspended, this will cause the multi-target point arrival path obtained later to be unable to reach these suspended points, or to pass through the suspended points but need to retreat, causing the path to grow. To avoid this, the suspended points must be processed. This makes the final multi-target arrival path continuous and effective, and can improve the accuracy of the multi-target point path search of Corner Ripple Thinking.

[0122] In another embodiment, a method for performing hanging point processing on a non-covered point includes:

[0123] Obtain the to-be-processed mesh surface where the non-covered point is located as the non-covered mesh surface;

[0124] When the edge of the non-covered mesh surface is connected to the edge of the spare mesh belt, the non-covered mesh surface is merged into the spare mesh belt.

[0125] It should be noted that the to-be-processed mesh surface where the non-covered point is located is obtained as the non-covered mesh surface. Fig.18 , a target point can belong to multiple to-be-processed meshes at the same time, refer to Fig.19 , at this time, the to-be-processed mesh surface with the most non-covered points is selected as the non-covered mesh surface, that is, Fig.19 In the checkered polygon, the non-covered mesh must be connected to the backup mesh belt. Therefore, when the edge of the non-covered mesh is connected to the edge of the backup mesh belt, the non-covered mesh will be merged into the backup mesh belt.

[0126] In another embodiment, when the edge of the non-covered mesh surface is connected to the edge of the backup mesh belt, the non-covered mesh surface is merged into the backup mesh belt, including:

[0127] Obtaining the connection relationship between the non-covered mesh surface and the to-be-processed mesh surface in the adjacent spare mesh belt;

[0128] When the non-covered mesh surface has a common point connection with the mesh surface to be processed, and the edge where the common point is located in the non-covered mesh surface is not connected to the edge of the mesh surface to be processed, the non-covered mesh surface will be deleted.

[0129] It should be noted that when performing hanging point processing on non-covered points, it is necessary to avoid situations that may damage the original structure: Fig. 20 , there is a non-covered point in the figure, which needs to be processed. In the process of processing, it is necessary to avoid Fig.21 situation, because Fig.21 In the example above, after merging the checkered pattern polygon into the backup mesh belt, one of the points where the backup mesh belt connects to the checkered pattern rectangle will become an internal point, which will destroy the structure of the original backup mesh belt. Fig. 22 In this case, the checkered polygon is used as a non-covered mesh surface and merged into the spare mesh belt to obtain the target road surface belt. The target point in the spare mesh belt is still used as the target point on the edge of the target road surface belt, and the non-covered mesh surface does not destroy the structure of the original spare mesh belt.

[0130] Furthermore, a to-be-processed mesh surface is selected from the to-be-deleted mesh belt as a non-covered mesh surface, and the connection relationship of the non-covered mesh surface is obtained. The non-covered mesh surface cannot be connected to the adjacent spare mesh belt only by points but not by edges. For example, Fig.23 Select Non-covered Mesh in Fig.24 The checkered rectangle in the middle is a non-covered mesh surface and needs to be deleted. It cannot be merged into the backup mesh belt because one of the target points of the checkered polygon and one of the to-be-processed mesh surfaces in the backup mesh belt only have a common point connection at one common point, and the edge where this common point is located in the checkered rectangle is not connected to the backup mesh belt. Therefore, choose Fig.25 In the situation, Fig.25 Select the checkered polygon as the non-covered mesh, merge the non-covered mesh into the candidate mesh strip, and there is no situation where only points are connected.

[0131] This invention not only has the ability to solve the Hamiltonian path under constraints, but also has the ability to determine whether a solution exists. While processing hanging points, the adjacent edge search results will be optimized, and the local dead loop search has self-correction capabilities. When the program is implemented, these erroneous results can be filtered to reduce the complexity of the path search and greatly accelerate the purpose of problem solving. Furthermore, the processed hanging points will be recorded, such as labels, etc., until all the hanging points are processed. In this way, the omission of hanging points is avoided, which leads to inaccurate multi-target point path search of the final corner ripple thinking.

[0132] Because the essence of the path problem is the choice of route to reach the target point, it is a one-dimensional line problem in multi-dimensional space. Its ultimate goal is to select the line. The selection is logical, and the line is the connection relationship between points distributed in multi-dimensional space. At this point, the path problem has been theoretically unified in terms of points, lines and surfaces in thinking.

[0133] The embodiment of the present invention combines the thinking of dimensionality increase and dimensionality reduction. In order to reduce the dimensionality and simplify the problem solving, polar coordinates can be used to reduce the dimensionality of the two-dimensional space, that is, in the specific operation, constraints are set to strip the sample space. This scheme intends to start with the corner points of the sample space, first construct the road network topology, and then use ripple thinking to group the road network surfaces by proximity, and finally realize the striping of the sample space to achieve dimensionality reduction operation.

[0134] From the basic thinking of solving problems in natural sciences, we know that the discovery of necessary conditions in problem solving is often easy to discover necessary and sufficient conditions. Based on this, we can make the following analysis based on logical thinking: From the basic concept of graphics, if an adjacent edge has only two nodes, if the adjacent edge is removed, it will be represented by the merging of the adjacent edge graphics in graphics operations, and there will be no hanging points at both ends. In other words, the processing of adjacent edges will only reduce the node degree, and there will be no hanging point problem. Based on this analysis, if the above strips are connected through this thinking, the alternative polygons that meet the requirements will eventually be normalized into a simple polygon again, and its boundary is the desired Hamiltonian path solution.

[0135] Second, reference Fig. 27 , an embodiment of the present invention provides a multi-target point path search system of corner ripple thinking, including:

[0136] The first module 2710 is used to obtain a target road network on the road surface to be processed, and perform line-surface conversion on the target road network to obtain multiple network surfaces to be processed; the road surface to be processed has multiple target points, and the target road network is formed by connecting the multiple target points;

[0137] The second module 2720 is used to select one of the to-be-processed mesh surfaces from the edge position of the target road network as the starting mesh belt;

[0138] The third module 2730 is used to query the remaining to-be-processed mesh surfaces starting from the starting mesh belt according to the preset first query operator, and attribute each of the remaining to-be-processed mesh surfaces to the mesh belt to which it belongs; wherein each mesh belt includes a plurality of to-be-processed mesh surfaces, each to-be-processed mesh surface of the first mesh belt is adjacent to the starting mesh belt, and each to-be-processed mesh surface of the Nth mesh belt is adjacent to one of the to-be-processed mesh surfaces in the N-1th mesh belt; N is a positive integer greater than 1;

[0139] The fourth module 2740 is used to label the starting mesh belt and each mesh belt, and obtain the label value of the starting mesh belt and each mesh belt;

[0140] The fifth module 2750 is used to treat the mesh bands whose label values ​​do not meet the preset retention rule as mesh bands to be deleted, and delete the mesh bands to be deleted;

[0141] The sixth module 2760 is used to use the mesh belts whose number values ​​meet the reservation rule and the starting mesh belt as spare mesh belts, and remove holes and merge all spare mesh belts to obtain the target road surface belt;

[0142] The seventh module 2770 is used to perform line-to-surface conversion on the target road surface strip to obtain the target path of the road surface to be processed.

[0143] like Fig.26 As shown, Fig.26 is a structural diagram of an electronic device provided by an embodiment of the present invention. The present invention also provides an electronic device, including:

[0144] The processor 2610 may be implemented by a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0145] The memory 2620 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 2620 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 2620, and the processor 2610 calls and executes the multi-target point path search method of the corner ripple thinking of the embodiment of this application;

[0146] Input / output interface 2630, used to implement information input and output;

[0147] Communication interface 2640, used to realize communication interaction between the system and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0148] Bus 2650 , which transmits information between various components of the device (e.g., processor 2610 , memory 2620 , input / output interface 2630 , and communication interface 2640 );

[0149] The processor 2610 , the memory 2620 , the input / output interface 2630 , and the communication interface 2640 are connected to each other in communication within the device via the bus 2650 .

[0150] According to the electronic device provided by the embodiment of the present application, it is capable of acquiring a target road network on a road surface to be processed, and performing line-surface conversion on the target road network to obtain a plurality of network surfaces to be processed; there are a plurality of target points on the road surface to be processed, and the target road network is formed by connecting the plurality of target points; one of the network surfaces to be processed is selected from the edge position of the target road network as a starting mesh belt; according to a preset first query operator, the remaining network surfaces to be processed are queried starting from the starting mesh belt, and each of the remaining network surfaces to be processed is attributed to the mesh belt to which it belongs; wherein each mesh belt includes a plurality of network surfaces to be processed, each network surface to be processed of the first mesh belt is adjacent to the starting mesh belt, and each network surface to be processed of the Nth mesh belt is adjacent to one of the network surfaces to be processed in the N-1th mesh belt; N is a positive integer greater than 1, that is, starting from the starting mesh belt, query the adjacent mesh belts, query in the ripple method, until all the mesh belts on the road to be processed are queried, and finally the sample space is striped to achieve dimensionality reduction operation; the starting mesh belt and each mesh belt are numbered to obtain the number value of the starting mesh belt and each mesh belt; the mesh belt whose number value does not meet the preset retention rule is used as the mesh belt to be deleted, and the mesh belt to be deleted is deleted to reduce the complexity of the multi-target point path search of the corner ripple thinking; the mesh belt whose number value meets the retention rule and the starting mesh belt are used as spare mesh belts, and all spare mesh belts are removed and merged to obtain the target road belt; the target road belt is converted into a line-surface to obtain the target path of the road to be processed. The whole method can be executed in parallel and quickly, and the critical constraints of the mesh belt are used to achieve full sample coverage and simple integration of graphics, thereby realizing the rapid solution of the path to reach multiple target points.

[0151] An embodiment of the present application also provides a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, it implements the multi-target point path search method of the above-mentioned corner ripple thinking.

[0152] As a non-transient computer-readable storage medium, the memory can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and are implemented to be located in one place, or may also be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0153] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0154] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions under the shared conditions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A multi-target point path search method based on edge ripple thinking, characterized in that: include: Acquire a target road network on the road surface to be processed, and perform line-surface conversion on the target road network to obtain a plurality of network surfaces to be processed; The road surface to be processed has a plurality of target points, and the target road network is formed by connecting the plurality of target points; Selecting one of the to-be-processed mesh surfaces from the edge position of the target road network as a starting mesh belt; According to the preset first query operator, the remaining mesh surfaces to be processed are queried starting from the starting mesh belt, and each of the remaining mesh surfaces to be processed is attributed to the mesh belt to which it belongs; wherein each mesh belt includes a plurality of mesh surfaces to be processed, each of the mesh surfaces to be processed in the first mesh belt is adjacent to the starting mesh belt, and each of the mesh surfaces to be processed in the Nth mesh belt is adjacent to one of the mesh surfaces to be processed in the N-1th mesh belt; N is a positive integer greater than 1; Labeling the starting mesh belt and each mesh belt to obtain the label value of the starting mesh belt and each mesh belt; The mesh band whose label value does not meet the preset retention rule is regarded as a mesh band to be deleted, and the mesh band to be deleted is deleted; The mesh belts whose number values ​​meet the retention rule and the starting mesh belt are used as spare mesh belts, and all the spare mesh belts are removed and merged to obtain a target road surface belt; Performing line-to-surface conversion on the target road surface strip to obtain a target path of the road surface to be processed; The mesh band whose label value does not meet the preset retention rule is taken as a mesh band to be deleted, and after the mesh band to be deleted is deleted, it includes: querying the target point in the backup mesh band according to the preset second query operator, and obtaining the target point covered by the backup mesh band and not located at the edge of the backup mesh band as a covered point; querying the target point in the mesh band to be deleted according to the preset third query operator, and obtaining the target point located in the mesh band to be deleted and not intersecting with the backup mesh band as a non-covered point; performing hanging point processing on the non-covered point and the covered point; The method for performing hanging point processing on the non-covered point comprises: obtaining the to-be-processed mesh surface where the non-covered point is located as the non-covered mesh surface; when the edge of the non-covered mesh surface is connected to the edge of the spare mesh belt, merging the non-covered mesh surface into the spare mesh belt; When the edge of the non-covered mesh surface is connected to the edge of the backup mesh belt, the non-covered mesh surface is merged into the backup mesh belt, including: obtaining the connection relationship between the non-covered mesh surface and the mesh surface to be processed in the adjacent backup mesh belt; when the non-covered mesh surface and the mesh surface to be processed have a common point connection, and the edge of the non-covered mesh surface where the common point is located is not connected to the edge of the mesh surface to be processed, the non-covered mesh surface is deleted.

2. The multi-target point path search method of corner ripple thinking according to claim 1 is characterized in that: The step of labeling the starting mesh belt and each mesh belt to obtain the label value of the starting mesh belt and each mesh belt includes: Acquire the mesh belt adjacent to the starting mesh belt, and add 1 to the index value of the starting mesh belt to obtain the index value of the mesh belt; Starting from the mesh belt adjacent to the starting mesh belt, the adjacent mesh belts are numbered in sequence, wherein the number value of the Nth mesh belt is the number value of the Nth mesh belt plus 1, and N is a positive integer greater than 1.

3. The multi-target point path search method of corner ripple thinking according to claim 2 is characterized in that: The step of taking the mesh band whose label value does not conform to the preset retention rule as a mesh band to be deleted, and deleting the mesh band to be deleted includes: Query the mesh belts whose label values ​​are even numbers, and delete the mesh belts whose label values ​​are even numbers; or, The mesh belts whose label values ​​are odd numbers are searched, and the mesh belts whose label values ​​are odd numbers are deleted.

4. The multi-target point path search method of corner ripple thinking according to claim 3 is characterized in that: The method of using the mesh belts whose number values ​​meet the reservation rule and the starting mesh belt as spare mesh belts, and removing holes and merging all the spare mesh belts to obtain a target road surface belt includes: Selecting one of the to-be-processed meshes from each of the to-be-deleted mesh belts as the to-be-merged meshes; each of the to-be-deleted mesh belts has two adjacent spare mesh belts, and the to-be-merged meshes of each of the to-be-deleted mesh belts have two connecting edges connected to the two adjacent spare mesh belts, and each of the connecting edges has two target points; The mesh surface to be merged is merged into the spare mesh belt to obtain the target road surface belt.

5. A multi-target point path search system based on edge ripple thinking, characterized in that: include: The first module is used to obtain a target road network on the road surface to be processed, and perform line-surface conversion on the target road network to obtain multiple network surfaces to be processed; The road surface to be processed has a plurality of target points, and the target road network is formed by connecting the plurality of target points; The second module is used to select one of the to-be-processed mesh surfaces from the edge position of the target road network as a starting mesh belt; The third module is used to query the remaining mesh surfaces to be processed starting from the starting mesh belt according to the preset first query operator, and attribute each of the remaining mesh surfaces to be processed to the mesh belt to which it belongs; wherein each mesh belt includes a plurality of mesh surfaces to be processed, each of the mesh surfaces to be processed in the first mesh belt is adjacent to the starting mesh belt, and each of the mesh surfaces to be processed in the Nth mesh belt is adjacent to one of the mesh surfaces to be processed in the N-1th mesh belt; N is a positive integer greater than 1; The fourth module is used to label the starting mesh belt and each mesh belt to obtain the label value of the starting mesh belt and each mesh belt; A fifth module is used to treat the mesh band whose label value does not meet the preset retention rule as a mesh band to be deleted, and delete the mesh band to be deleted; The sixth module is used to use the mesh belts whose number values ​​meet the retention rule and the starting mesh belt as spare mesh belts, and remove holes and merge all the spare mesh belts to obtain a target road surface belt; The seventh module is used to perform line-to-surface conversion on the target road surface strip to obtain a target path of the road surface to be processed; The fifth module is further used to query the target point in the backup mesh belt according to the preset second query operator, and obtain the target point covered by the backup mesh belt and not located at the edge of the backup mesh belt as a covered point; query the target point in the to-be-deleted mesh belt according to the preset third query operator, and obtain the target point located in the to-be-deleted mesh belt and not intersecting with the backup mesh belt as a non-covered point; perform hanging point processing on the non-covered point and the covered point; The fifth module is also used to obtain the to-be-processed mesh surface where the non-covered point is located as a non-covered mesh surface; when the edge of the non-covered mesh surface is connected to the edge of the spare mesh belt, the non-covered mesh surface is merged into the spare mesh belt; The fifth module is also used to obtain the connection relationship between the non-covered mesh surface and the mesh surface to be processed in the adjacent spare mesh belt; when the non-covered mesh surface and the mesh surface to be processed have a common point connection, and the edge where the common point in the non-covered mesh surface is located is not connected to the edge of the mesh surface to be processed, the non-covered mesh surface is deleted.

6. An electronic device, characterized in that: It includes at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the multi-target point path search method of Corner Ripple Thinking as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the multi-target point path search method of Corner Ripple Thinking as described in any one of claims 1 to 4.

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