Low-cost multi-floor reverse navigation method, system equipment and medium

Abstract

The invention provides a low-cost multi-floor reverse navigation method which comprises the following steps: digitally processing a planar graph of multiple floors to form a two-dimensional array map; rasterizing the two-dimensional array map, determining point location information corresponding to a target grid and generating an information code, and constructing a spatial information aggregate based on the information code and the point location information; first point location information and second point location information of the user are obtained based on the fact that the user scans the two information codes in the multi-floor building; constructing a path matrix based on the spatial positions of the first point location information and the second point location information in the spatial information aggregate, and calculating the shortest path in the path matrix as a navigation path, the problems that signal equipment needs to be additionally arranged for providing navigation in the environment with weak radio signals or strong electromagnetic interference, and redesign needs to be carried out in different application places are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of urban traffic management, and in particular to a low-cost multi-floor reverse navigation method, system, equipment and medium. Background Art

[0002] In recent years, navigation, as an emerging field, has gradually become a research hotspot. However, in environments where radio signals are weak or electromagnetic interference is strong, such as indoors and in underground parking lots, the accuracy and real-time nature of navigation information will be affected, resulting in inaccurate navigation and causing troubles for users' travel.

[0003] At present, indoor reverse navigation systems are often implemented based on technical means such as RFID cards, indoor navigation, WIFI probes, video photography, and indoor two-dimensional array maps, which require high equipment costs, construction costs, and maintenance costs. For example, RFID card technology requires the operator to produce and issue RFID cards, install a full-path RFID sensing system, and a background FRID path generation and query software system; the indoor navigation system requires the installation of an indoor WIFI system and the development of a special indoor electronic two-dimensional array map to achieve indoor space location positioning; WIFI probe technology requires the installation of WIFI sensing equipment in all directions and the development of a WIFI sensing system; video photography requires the installation of a full-channel closed-circuit video system, all of which require the installation of hardware equipment to achieve navigation, still relying on signal equipment, and requiring hardware equipment design for different venues, which is expensive and imposes a huge cost burden on the operator.

[0004] Therefore, there is an urgent need to propose a low-cost multi-floor reverse navigation method to solve the technical problems that providing navigation in an environment with weak radio signals or strong electromagnetic interference requires the installation of signal equipment and the need to redesign different application sites. Summary of the invention

[0005] In order to overcome the problems existing in the related art, the present disclosure provides a low-cost multi-floor reverse navigation method and system to solve the technical problems in the related art that providing navigation in an environment with weak radio signals or strong electromagnetic interference requires the installation of signal equipment and different application sites need to be redesigned.

[0006] One or more embodiments of this specification provide a low-cost multi-floor reverse navigation method, including the following steps:

[0007] Digitally process the floor plans of multiple floors to form a two-dimensional array map;

[0008] rasterizing the two-dimensional array map, determining point information corresponding to the target grid and generating an information code, and constructing a spatial information aggregate based on the information code and the point information;

[0009] Acquiring the user's first point information and second point information based on the user scanning two information codes inside the multi-story building respectively;

[0010] A path matrix is ​​constructed at the spatial position of the spatial information aggregate based on the first point information and the second point information, and the shortest path in the path matrix is ​​calculated as a navigation path.

[0011] Preferably, the calculating the shortest path in the path matrix as the navigation path comprises the following steps:

[0012] The A* algorithm is used to calculate the shortest path in the path matrix, and the calculation nodes in the A* algorithm are reduced through an evaluation function, and the shortest path is presented to the user for navigation.

[0013] Preferably, the method of using an A* algorithm to calculate the shortest path in the path matrix, reducing the calculation nodes in the A* algorithm by using an evaluation function, presenting the shortest path to the user and navigating the user comprises the following steps:

[0014] When it is determined according to the first point information and the second point information that the two point information are not on the same floor, guiding the user to the floor of the second point information;

[0015] The step length set by the A* algorithm calculates the number of steps the user needs to walk for distance navigation, and the direction of the user's movement is determined according to the location of the information code scanned by the user for directional navigation.

[0016] Preferably, the method of obtaining the first point information and the second point information of the user based on the user scanning two information codes inside the multi-story building respectively includes the following steps:

[0017] Based on the user's first scan of the information code, a unique identity of the user is generated, and the first point information corresponding to the information code is associated with the unique identity of the user and then stored;

[0018] Based on the user's second scan information code, the user's unique identity and second location information are obtained, and the corresponding first location information is retrieved according to the user's unique identity.

[0019] One or more embodiments of this specification provide a low-cost multi-floor reverse navigation system, including an image processing module, an information code generation module, a positioning module, and a path planning module;

[0020] The image processing module is used to digitize the floor plans of multiple floors to form a two-dimensional array map;

[0021] The information generation module is used to rasterize the two-dimensional array map, determine the point information corresponding to the target grid and generate an information code, and construct a spatial information aggregate based on the information code and the point information;

[0022] The positioning module is used to obtain the first point location information and the second point location information of the user based on the user scanning two information codes inside the multi-story building respectively;

[0023] The path planning module is used to construct a path matrix at the spatial position of the spatial information aggregate based on the first point information and the second point information, and calculate the shortest path in the path matrix as a navigation path.

[0024] Preferably, the path planning module further includes a path matrix construction unit and a shortest path generation unit;

[0025] The path matrix construction unit is used to construct a path matrix between the spatial points of the spatial information aggregate based on the first point information and the second point information;

[0026] The shortest path generation unit is used to calculate the shortest path in the path matrix using the A* algorithm, reduce the calculation nodes in the A* algorithm through the evaluation function, present the shortest path to the user and perform navigation.

[0027] Preferably, the shortest path generation unit further includes a judgment component and a navigation component;

[0028] The judging component is used to guide the user to the floor of the second point information when judging that the two point information are not on the same floor according to the first point information and the second point information;

[0029] The navigation component is used to calculate the number of steps the user needs to walk according to the step length set by the A* algorithm for distance navigation, and to determine the user's forward direction according to the position of the information code scanned by the user for direction navigation.

[0030] Preferably, the positioning module includes a first positioning unit and a second positioning unit;

[0031] The first positioning unit is used to generate a unique identity of the user based on the user's first scanning of the information code, and associate the first point information corresponding to the information code with the unique identity of the user and store them;

[0032] The second positioning unit is used to obtain the user's unique identity and second point information based on the user's second scanning information code, and retrieve the corresponding first point information according to the user's unique identity.

[0033] One or more embodiments of the present specification provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the low-cost multi-floor reverse navigation method as described above when executing the computer program.

[0034] One or more embodiments of the present specification provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-mentioned low-cost multi-floor reverse navigation method.

[0035] The present disclosure provides a low-cost multi-floor reverse navigation method, system, device and medium, which have the advantages of forming a two-dimensional array map by digitally processing the floor plans of multiple floors, processing the floor plans of buildings into two-dimensional array maps, and thus performing navigation path planning; rasterizing the two-dimensional array map, determining the point information corresponding to the target grid and generating an information code, constructing a spatial information aggregate based on the information code and the point information, and giving the location information of the building space through the information code, without adding signal enhancement equipment, thus saving costs; obtaining the first point information and the second point information of the user based on the two information codes inside the multi-floor building respectively scanned by the user, the user's location acquisition relies on the information code and does not require the support of the signal equipment, constructing a path matrix at the spatial position of the spatial information aggregate based on the first point information and the second point information, calculating the shortest path in the path matrix as the navigation path, and using a path optimization algorithm to obtain the shortest path, which can be applied to parking lots of various types of facilities, such as shopping malls, gymnasiums, office buildings, etc., and only needs to replace the floor plan of the building, thus improving the convenience of use and reducing the cost of navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate one or more embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0037] Figure 1 A schematic flow chart of a low-cost multi-floor reverse navigation method provided for one or more embodiments of this specification;

[0038] Figure 2 A comparison diagram of the underground parking lot plan before and after digitization provided by one or more embodiments of the present invention. Figure 2 (a) is the plan view before digitization. Figure 2(b) is the two-dimensional array map after digitization;

[0039] Figure 3 A schematic diagram of a spatial information assembly provided for one or more embodiments of this specification;

[0040] Figure 4 A schematic diagram of calculating the shortest path using the A* algorithm provided in one or more embodiments of this specification;

[0041] Figure 5 A schematic diagram of matching point information according to a user's unique identity identifier provided in one or more embodiments of this specification, Figure 5 (a) is a schematic diagram of the first point information matching for the first scan. Figure 5 (b) is a schematic diagram of searching based on the user's unique identity. Figure 5 (c) is a schematic diagram of the second point information matching of the second code scanning;

[0042] Figure 6 A structural diagram of a low-cost multi-floor reverse navigation system provided for one or more embodiments of this specification;

[0043] Figure 7 A basic system architecture diagram of a low-cost multi-floor reverse navigation system provided for one or more embodiments of this specification;

[0044] Figure 8 A schematic diagram of the structure of a computer device provided for one or more embodiments of this specification. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below in conjunction with the drawings in one or more embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the protection scope of the present invention.

[0046] The present invention is described in detail below in conjunction with specific implementation methods and the accompanying drawings.

[0047] Method Embodiment

[0048] According to an embodiment of the present invention, a low-cost multi-floor reverse navigation method is provided. Figure 1 As shown, it is a schematic diagram of the process of the low-cost multi-floor reverse navigation method provided by this embodiment. The low-cost multi-floor reverse navigation method according to the embodiment of the present invention includes:

[0049] S110. Use computer vision technology to digitize the floor plan of multiple floors to form a two-dimensional array map including passable areas and inpassable areas. Specifically, the floor plan of multiple floors is read and cached, and the color of each pixel in the floor plan image is read through an image processing API. White pixels are represented by 1 and black pixels are represented by 0, and stored in a two-dimensional array. The two-dimensional array here is equivalent to an X×Y matrix, and the elements are filled with 0 / 1 to form a two-dimensional array map.

[0050] like Figure 2 As shown in FIG. 1 , it is a comparison diagram of the underground parking lot plan provided in this embodiment before and after digital processing. Figure 2 (a) is the plan view before treatment. Figure 2 (b) is the processed two-dimensional array map. The floor plan of the ground floor or other floors is processed in the same way. The passable area of ​​the parking lot is generally the vehicle driving area and some entrances and exits, while on the non-parking lot floors, the passable area is generally the pedestrian flow area, and the inaccessible area should be fixed buildings or store spaces, etc.

[0051] S120, rasterize the two-dimensional array map, each grid is a square with an actual distance of 0.5m, determine the point information corresponding to the target grid and generate an information code, combine the information code with the point information, that is, each grid has an information code to represent its location information, including its floor information (such as the floor it is on), the plane point of the floor, etc., and construct a spatial information aggregate based on the information code and the point information to facilitate path generation calculation, so as to overcome the problem of weak GPS satellite positioning signals, such as Figure 3 The figure is a schematic diagram of the spatial information aggregate provided by this embodiment.

[0052] S130, obtaining the user's first point information and second point information based on the user scanning two information codes inside the multi-story building respectively.

[0053] S140: construct a path matrix at the spatial position of the spatial information aggregate based on the first point information and the second point information, and calculate the shortest path in the path matrix as a navigation path.

[0054] The method provided in this embodiment forms a two-dimensional array map by digitally processing the floor plan of multiple floors, and processes the floor plan of the building into a two-dimensional array map, so as to plan the navigation path; the two-dimensional array map is rasterized, the point information corresponding to the target grid is determined and an information code is generated, a spatial information aggregate is constructed based on the information code and the point information, and the location information of the building space is given by the information code, without the need to add signal enhancement equipment, thereby saving costs; based on the user scanning two information codes inside the multi-story building respectively, the user's first point information and the second point information are obtained, the user's location acquisition relies on the information code but does not require the support of the signal equipment, a path matrix is ​​constructed at the spatial position of the spatial information aggregate based on the first point information and the second point information, the shortest path in the path matrix is ​​calculated as the navigation path, and the shortest path is obtained by using a path optimization algorithm, which can be applied to parking lots of various types of facilities, such as shopping malls, gymnasiums, office buildings, etc., and only the floor plan of the building needs to be replaced, thereby improving the convenience of use and reducing the cost of navigation.

[0055] In one embodiment, calculating the shortest path in the path matrix as the navigation path comprises the following steps:

[0056] The A* algorithm is used to calculate the shortest path in the path matrix, and the calculation nodes in the A* algorithm are reduced through an evaluation function, and the shortest path is presented to the user for navigation.

[0057] The A* algorithm is the most effective method for solving paths in a static road network. Compared with the Dijkstra algorithm and the ant colony algorithm, the A* algorithm can only find a better solution, not the optimal solution. However, due to its high efficiency, it is the fastest algorithm for calculating the shortest path so far. Therefore, in practical applications, choosing the A* algorithm to calculate the shortest path is the best choice.

[0058] After obtaining the user's first point information and second point information, the A* algorithm is used to calculate the path between the two point information in the spatial information collection. Specifically, the starting point and end point coordinates are automatically set on the two-dimensional array map according to the first point information and the second point information with the same user identification point, and the A* algorithm is called to calculate the shortest path in the spatial information collection. The evaluation function is the heuristic search core of the A* algorithm. Selecting a suitable evaluation function during path search will reduce the number of search nodes, save search time, and speed up the acquisition of the optimal path. The A* algorithm needs to select one node for expansion in each main loop iteration. This approach is based on the evaluation of the node cost until the target node, that is, the shortest path, is found.

[0059] like Figure 4 FIG. 1 is a schematic diagram of the A* algorithm provided in this embodiment for calculating the shortest path.

[0060] The method provided in this embodiment calculates the shortest path through the A* algorithm, and can efficiently generate the optimal path between two points on a multi-floor plane.

[0061] In one embodiment, presenting the shortest path to the user and navigating the shortest path comprises the following steps:

[0062] When it is determined based on the first point information and the second point information that the two point information are not on the same floor, the user is guided to the floor of the second point information, and then the shortest path for finding the car is replanned with the lifting passage of the target floor as the starting point.

[0063] The step length set by the A* algorithm (each step length is set to 0.5m) is used to calculate the number of steps the user needs to walk for distance navigation, and the direction of the user's movement is determined according to the location of the information code scanned by the user for directional navigation.

[0064] For example, "You are currently at X01. We recommend that you take Elevator No. 2 to the basement level, then walk straight for about 10 steps, walk right for about 40 steps, walk left for about 24 steps, and finally walk right for about 8 steps. You will find your vehicle at E12. Alternatively, you can go to the basement level and search again."

[0065] If they are on the same layer, the cloud server will directly call the A* algorithm to plan the shortest path and present it, for example, "You are currently at X01. Please face the QR code and walk about 10 steps to the left, about 40 steps to the right, about 24 steps to the left, and finally about 8 steps to the right. You will find your vehicle, which is located at E12."

[0066] The method provided in this embodiment determines the floor relationship between the user's current location and the target location based on the information of two points, and then guides the user to navigate. It can calculate the number of steps the user needs to take and determine the user's direction of travel based on the information code, thereby navigating the user in the absence of a GPS signal. The operation is extremely simple and easy to understand, which saves the user's travel time and provides the user with a better travel experience.

[0067] In one embodiment, the method of obtaining the first location information and the second location information of the user based on the user scanning two information codes inside the multi-story building respectively includes the following steps:

[0068] Based on the user's first scan of the information code, the user's current location is recorded, and the user's unique identity is generated. The first point information corresponding to the information code is associated with the user's unique identity and stored to ensure that the user's location and identity are associated.

[0069] Based on the user's second scan information code, the user's unique identity and second point information are obtained, and the corresponding first point information is retrieved according to the user's unique identity, so that two points with the same user identity are generated in the parking space, providing necessary data support for subsequent path generation. Figure 5 FIG. 1 is a schematic diagram of matching point information according to a user's unique identity identifier provided in this embodiment. Figure 5 (a) is a schematic diagram of the first point information matching for the first scan. Figure 5 (b) is a schematic diagram of searching based on the user's unique identity. Figure 5 (c) is a schematic diagram of the second point information matching after the second code scanning.

[0070] The method provided in this embodiment generates a unique identity for the user based on the information code scanned by the user, and matches the point information corresponding to the unique identity when scanning again, thereby obtaining two points with the same user identity, providing necessary data support for subsequent path generation, without adding additional staff and electronic equipment, and having low subsequent update costs, which greatly reduces cost expenditures and saves manpower and material resources.

[0071] The following is a specific example:

[0072] Reverse car search in the parking lot: The specific implementation process is as follows:

[0073] (1) When the driver scans the information code to log in for the first time, the system will automatically generate a unique identification information to determine the parking location number; if the user already has the applet, the driver can enter the system first and then select the two functions "I want to park" and "I want to find a car". The driver can click "I want to park" to scan the information code next to him;

[0074] (2) When the user can directly scan the information code around him, if the user already has parking information, the system will identify the current location and parking location, and directly generate a car search path and car search instructions. If not, it will return "You have no parking record"; if the user already has this applet, he can enter the system first, and then the driver clicks "I want to find the car" and then scans the information code around him. The system will match the stored parking space location number and the car search location number in the cloud based on the unique identity information to generate a car search path.

[0075] System Example

[0076] According to an embodiment of the present invention, a low-cost multi-floor reverse navigation system is provided. Figure 6 As shown, it is a structural diagram of a low-cost multi-floor reverse navigation system provided in this embodiment. The low-cost multi-floor reverse navigation system according to an embodiment of the present invention comprises:

[0077] The image processing module 610 is used to digitize the floor plans of multiple floors to form a two-dimensional array map.

[0078] The information code generation module 620 is used to rasterize the two-dimensional array map, determine the point information corresponding to the target grid and generate an information code, and construct a spatial information aggregate based on the information code and the point information.

[0079] The positioning module 630 is used to obtain the first point location information and the second point location information of the user based on the user scanning two information codes inside the multi-story building respectively.

[0080] The path planning module 640 is used to construct a path matrix at the spatial position of the spatial information aggregate based on the first point information and the second point information, and calculate the shortest path in the path matrix as a navigation path.

[0081] like Figure 7 The figure shows the basic architecture of the system provided in this embodiment.

[0082] The system provided in this embodiment uses an image processing module 610 to digitize the floor plan of multiple floors to form a two-dimensional array map, and processes the floor plan of the building into a two-dimensional array map, so as to plan the navigation path; the information code generation module 620 rasterizes the two-dimensional array map, determines the point information corresponding to the target grid and generates an information code, and constructs a spatial information aggregate based on the information code and the point information, and gives the location information of the building space through the information code, without adding signal enhancement equipment, saving costs; the positioning module 630 obtains the user's first point information and second point information based on the user scanning two information codes inside the multi-story building respectively, and the user's location acquisition depends on the information code and does not require the support of signal equipment. The path planning module 640 constructs a path matrix at the spatial position of the spatial information aggregate based on the first point information and the second point information, calculates the shortest path in the path matrix as the navigation path, and adopts a path optimization algorithm to obtain the shortest path. It can be applied to parking lots of various types of facilities, such as shopping malls, gymnasiums, office buildings, etc., and only needs to replace the floor plan of the building, which improves the convenience of use and reduces the cost of navigation.

[0083] In one embodiment, the path planning module 640 further includes a path matrix construction unit 641 and a shortest path generation unit 642 .

[0084] The path matrix construction unit 641 is used to construct a path matrix between the spatial points of the spatial information aggregate based on the first point information and the second point information.

[0085] The shortest path generation unit 642 is used to calculate the shortest path in the path matrix using the A* algorithm, reduce the calculation nodes in the A* algorithm through the evaluation function, and present the shortest path to the user for navigation.

[0086] The system provided in this embodiment calculates the shortest path through the A* algorithm, and can efficiently generate the optimal path between two points on multiple floor planes.

[0087] In one embodiment, the shortest path generating unit 642 includes a determining component 6421 and a navigating component 6422 .

[0088] The judging component 6421 is used to guide the user to the floor of the second point information when it is judged that the two point information are not on the same floor according to the first point information and the second point information.

[0089] The navigation component 6422 is used to calculate the number of steps the user needs to walk for distance navigation according to the step length set by the A* algorithm, and to determine the user's forward direction for direction navigation according to the position of the information code scanned by the user.

[0090] The system provided in this embodiment determines the floor relationship between the user's current location and the target location based on the information of the two points, and then guides the user to navigate. It can calculate the number of steps the user needs to take and determine the user's direction of travel based on the information code, thereby navigating the user in the absence of a GPS signal. The operation is extremely simple and easy to understand, which saves the user's travel time and provides the user with a better travel experience.

[0091] In one embodiment, the positioning module 630 includes a first positioning unit 631 and a second positioning unit 632 .

[0092] The first positioning unit 631 is used to generate a unique identity of the user based on the user's first scan of the information code, and associate the first point information corresponding to the information code with the unique identity of the user and store them.

[0093] The second positioning unit 632 is used to obtain the user's unique identity and second point information based on the user's second scanning information code, and retrieve the corresponding first point information according to the user's unique identity.

[0094] The system provided in this embodiment generates a unique identity for the user based on the information code scanned by the user, and matches the point information corresponding to the unique identity when scanning again, thereby obtaining two points with the same user identity, providing necessary data support for subsequent path generation, without adding additional staff and electronic equipment, and having low subsequent update costs, which greatly reduces cost expenditures and saves manpower and material resources.

[0095] The embodiment of the present invention is a system embodiment corresponding to the above-mentioned method embodiment. The specific operations of the processing steps of each module can be understood by referring to the description of the method embodiment, which will not be repeated here.

[0096] like Figure 8 As shown, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the low-cost multi-floor reverse navigation method in the above-mentioned embodiment, or, when executed by a processor, implements the low-cost multi-floor reverse navigation method in the above-mentioned embodiment.

[0097] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0098] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and the contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A low-cost multi-floor reverse navigation method, characterized in that: The following steps are involved: Digitally process the floor plans of multiple floors to form a two-dimensional array map; rasterizing the two-dimensional array map, determining point information corresponding to the target grid and generating an information code, and constructing a spatial information aggregate based on the information code and the point information; Acquiring the first point information and the second point information of the user based on the user scanning two information codes inside the multi-story building respectively, wherein the information codes are set at the corresponding positions of the target grid in the multi-story building; A path matrix is ​​constructed at the spatial position of the spatial information aggregate based on the first point information and the second point information, and the shortest path in the path matrix is ​​calculated as a navigation path.

2. The low-cost multi-floor reverse navigation method as claimed in claim 1, characterized in that: The step of calculating the shortest path in the path matrix as the navigation path comprises the following steps: The A* algorithm is used to calculate the shortest path in the path matrix, and the calculation nodes in the A* algorithm are reduced through an evaluation function, and the shortest path is presented to the user for navigation.

3. The low-cost multi-floor reverse navigation method as claimed in claim 2, characterized in that: The presenting the shortest path to the user and navigating the user further comprises the following steps: When it is determined according to the first point information and the second point information that the two point information are not on the same floor, guiding the user to the floor of the second point information; The step length set by the A* algorithm calculates the number of steps the user needs to walk for distance navigation, and the direction of the user's movement is determined according to the location of the information code scanned by the user for directional navigation.

4. The low-cost multi-floor reverse navigation method as claimed in claim 1, characterized in that: The method of obtaining the first point information and the second point information of the user based on the user scanning two information codes inside the multi-story building respectively includes the following steps: Based on the user's first scan of the information code, a unique identity of the user is generated, and the first point information corresponding to the information code is associated with the unique identity of the user and then stored; Based on the user's second scan information code, the user's unique identity and second location information are obtained, and the corresponding first location information is retrieved according to the user's unique identity.

5. A low-cost multi-floor reverse navigation system, characterized in that: It includes image processing module, information code generation module, positioning module and path planning module; The image processing module is used to digitize the floor plans of multiple floors to form a two-dimensional array map; The information generation module is used to rasterize the two-dimensional array map, determine the point information corresponding to the target grid and generate an information code, and construct a spatial information aggregate based on the information code and the point information; The positioning module is used to obtain the first point location information and the second point location information of the user based on the user scanning two information codes inside the multi-story building respectively; The path planning module is used to construct a path matrix at the spatial position of the spatial information aggregate based on the first point information and the second point information, and calculate the shortest path in the path matrix as a navigation path.

6. The multi-floor reverse navigation system as claimed in claim 5, characterized in that: The path planning module also includes a path matrix construction unit and a shortest path generation unit; The path matrix construction unit is used to construct a path matrix between the spatial points of the spatial information aggregate based on the first point information and the second point information; The shortest path generation unit is used to calculate the shortest path in the path matrix using the A* algorithm, reduce the calculation nodes in the A* algorithm through the evaluation function, present the shortest path to the user and perform navigation.

7. The multi-floor reverse navigation system according to claim 6, characterized in that: The shortest path generation unit also includes a judgment component and a navigation component; The judging component is used to guide the user to the floor of the second point information when judging that the two point information are not on the same floor according to the first point information and the second point information; The navigation component is used to calculate the number of steps the user needs to walk according to the step length set by the A* algorithm for distance navigation, and to determine the user's forward direction according to the position of the information code scanned by the user for direction navigation.

8. The multi-floor reverse navigation system as claimed in claim 5, characterized in that: The positioning module includes a first positioning unit and a second positioning unit; The first positioning unit is used to generate a unique identity of the user based on the user's first scanning of the information code, and associate the first point information corresponding to the information code with the unique identity of the user and store them; The second positioning unit is used to obtain the user's unique identity and second point information based on the user's second scanning information code, and retrieve the corresponding first point information according to the user's unique identity.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the low-cost multi-floor reverse navigation method as claimed in any one of claims 1 to 4 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the low-cost multi-floor reverse navigation method according to any one of claims 1 to 4 are implemented.

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