Moving path calculation method and device and terminal

Abstract

The invention discloses a moving path calculation method, a moving path calculation device and a terminal. Road network data of road network lines formed by all travelable roads in the target scene area are obtained, a plurality of vertexes exist in the road network lines, and the road network data comprise two-dimensional geographic coordinates of the vertexes; determining an advancing starting vertex and an advancing ending vertex of the target person in the road network line, and determining a two-dimensional moving path of the target person in the target scene area according to the advancing starting vertex, the advancing ending vertex and the road network data; and converting the two-dimensional geographic coordinates of all the vertexes in the two-dimensional moving path into three-dimensional geographic coordinates, and obtaining a three-dimensional moving path of the target person in the target scene area based on the three-dimensional geographic coordinates of all the vertexes. Due to the fact that the road network formed by the real walking roads is beneficial to obtaining the two-dimensional moving path of the person conforming to the real walking route, the two-dimensional moving path is converted into the three-dimensional moving path, and the three-dimensional coordinate change conforming to the real three-dimensional environment is obtained.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a mobile path calculation method, device and terminal. Background Art

[0002] At present, camera monitoring systems have been widely used in various scenarios to ensure the safety of people in the scene and the ability to trace back events. For example, on campus, multiple cameras are often deployed to capture the location of people in real time to effectively prevent and quickly respond to various emergencies, and after the incident occurs, the incident can be accurately and objectively traced back based on the camera's recording content. The results of security maintenance and event traceback are closely related to the route of people in the scene. Therefore, a calculation method that can accurately analyze the movable path of people is needed to provide effective support for the management of the scene. Summary of the invention

[0003] The present application provides a mobile path calculation method, device and terminal, which can solve the technical problem in the related art that the movement trajectory of personnel is inaccurate and does not conform to the actual situation.

[0004] In a first aspect, an embodiment of the present application provides a moving path calculation method, the method comprising:

[0005] Acquire road network data of a road network line composed of all traversable roads in the target scene area, wherein the road network line has multiple vertices, and the road network data includes the two-dimensional geographic coordinates of each vertex;

[0006] In response to a path acquisition request for a target person, determine the starting vertex and the ending vertex of the target person in the road network line, and determine the two-dimensional moving path of the target person in the target scene area according to the starting vertex, the ending vertex and the road network data;

[0007] The two-dimensional geographic coordinates of all vertices in the two-dimensional moving path are converted into three-dimensional geographic coordinates, and the three-dimensional moving path of the target person in the target scene area is obtained based on the three-dimensional geographic coordinates of each vertex.

[0008] The beneficial effects brought about by the technical solution of the first aspect include at least: since the road network is composed of traversable roads in the real scene, the two-dimensional movement path of the personnel that is consistent with the traversable route in the real scene can be obtained based on the road network data, and then the two-dimensional movement path is converted into a three-dimensional movement path, which can further reflect the three-dimensional coordinate changes of the personnel that conform to the real three-dimensional environment, so as to finally analyze and obtain an accurate personnel movement path that conforms to the actual situation.

[0009] In some possible implementations, the above-mentioned converting the two-dimensional geographic coordinates of all vertices in the above-mentioned two-dimensional moving path into three-dimensional geographic coordinates includes: obtaining a three-dimensional scene model of the above-mentioned target scene area; on the above-mentioned three-dimensional scene model, taking each vertex in the above-mentioned two-dimensional moving path as a ray endpoint and creating a ray perpendicular to the ground surface in the above-mentioned three-dimensional scene model, to obtain the intersection point of each ray with the above-mentioned three-dimensional scene model, and the height of each vertex is the height of the corresponding intersection point in the above-mentioned three-dimensional scene model; obtaining the three-dimensional geographic coordinates of each vertex according to the two-dimensional geographic coordinates and height of each vertex.

[0010] Through the technical solutions in the above possible implementation methods, in the three-dimensional scene model corresponding to the scene, rays are created perpendicular to the ground by taking the vertices as the ray endpoints. The height of the intersection of the ray and the three-dimensional model is the altitude of each vertex itself. Combined with the longitude and latitude in the two-dimensional geographic coordinates of each vertex and the altitude of each vertex, the three-dimensional geographic coordinates of each vertex are obtained.

[0011] In some possible implementations, the three-dimensional moving path of the target person in the target scene area is obtained based on the three-dimensional geographic coordinates of each vertex, including: adding the altitude of each vertex and the height of the target person to obtain the altitude of the target person at each vertex; and obtaining the three-dimensional moving path of the target person in the target scene area based on the altitude of the target person at each vertex and the two-dimensional geographic coordinates of each vertex.

[0012] Through the technical solutions in the above possible implementation methods, the height of each vertex on the path is the height of the ground, and the height of the person is added to the height of the vertex to obtain a more accurate height of the person when traveling in the scene.

[0013] In some possible implementations, before obtaining the three-dimensional moving path of the target person in the target scene area based on the three-dimensional geographic coordinates of each vertex, it also includes: screening out abnormal vertices with abnormal heights among all vertices, and updating the height of each abnormal vertex to the average height of the previous vertex and the next vertex of each abnormal vertex.

[0014] Through the technical solutions in the above possible implementation methods, all vertices with abnormal height values ​​are screened, and the heights of the abnormal vertices are recalculated. Specifically, the average height of the vertices before and after each abnormal vertex is used as the new height value of the abnormal vertex, and the height of the abnormal vertex is effectively smoothed.

[0015] In some possible implementations, the above-mentioned acquisition of road network data of the road network lines consisting of all traversable roads in the target scene area includes: drawing the road network lines consisting of all traversable roads in the target scene area based on the orthophoto of the target scene area; dividing the road network lines into multiple line segments according to a preset distance threshold, and taking the endpoints of each line segment as vertices in the road network lines; deriving the identifiers and two-dimensional geographic coordinates of all line segments and vertices in the road network to obtain the road network data of the road network lines.

[0016] Through the technical solutions in the above possible implementation methods, orthophotos are remote sensing images with orthophoto projection properties. Using them as a base map to construct the road network of the target scene area can make the road network conform to the actual scene situation. Dividing multiple line segments on the road network allows people to be more accurately located through dense vertices on the road network.

[0017] In some possible implementations, the above-mentioned traversable road is a road on which people can walk and there is no fork in the middle. The above-mentioned acquisition of road network data of the road network line composed of all traversable roads in the target scene area includes: setting a weight value of each traversable road according to the road length of each traversable road in the above-mentioned road network line, and deriving the weight value of each traversable road to obtain the road network data of the above-mentioned road network line, and the weight value of each traversable road is positively correlated with the road length; the above-mentioned determination of the two-dimensional moving path of the above-mentioned target person in the above-mentioned target scene area based on the above-mentioned travel starting vertex, the above-mentioned travel ending vertex and the above-mentioned road network data includes: traversing all routes in the above-mentioned road network line from the above-mentioned travel starting vertex to the above-mentioned travel ending vertex, and calculating the total weight value of the traversable roads passed by each route based on the above-mentioned road network data; determining the route with the smallest total weight value as the two-dimensional moving path of the above-mentioned target person in the above-mentioned target scene area.

[0018] Through the technical solutions in the above possible implementation methods, different weight values ​​are set for each traversable road according to the length of the road, that is, longer roads have higher weight values, and shorter roads have lower weight values. After determining the starting point and end point of the person, each route between the starting point and the end point is traversed based on the road network. The route with the smallest total weight value is the path with the shortest road length, and it is determined as the two-dimensional movement path of the person, which can make the path more reasonable while conforming to the real scene.

[0019] In some possible implementations, the above-mentioned determining the starting vertex and the ending vertex of the target person in the above-mentioned road network line, and determining the two-dimensional moving path of the target person in the above-mentioned target scene area according to the above-mentioned starting vertex, the above-mentioned ending vertex and the above-mentioned road network data, includes: obtaining the travel data of the target person collected by multiple cameras in the above-mentioned target scene area, and determining the starting vertex, the ending vertex and at least one necessary vertex of the target person in the above-mentioned road network line according to the above-mentioned travel data; and determining the two-dimensional moving path of the target person from the above-mentioned starting vertex to the above-mentioned ending vertex and passing through all necessary vertices according to the above-mentioned starting vertex, the above-mentioned ending vertex, each necessary vertices and the above-mentioned road network data.

[0020] Through the technical solutions in the above possible implementation methods, when there are multiple cameras in the target scene area, in addition to collecting the starting point and end point of the target person, as many places as possible that the target person passes through during the movement can be collected. Combined with the starting vertex, the ending vertex, and all the necessary vertices, a two-dimensional moving path passing through all the necessary vertices that is more in line with the user's actual walking behavior can be determined on the road network.

[0021] In some possible implementations, after obtaining the three-dimensional moving path of the target person in the target scene area based on the three-dimensional geographic coordinates of each vertex, it also includes: displaying the three-dimensional moving path in the three-dimensional scene model in a preset line shape with a three-dimensional effect.

[0022] Through the technical solutions in the above-mentioned possible implementation methods, in order to enable users to intuitively view the movement path of people, it can be displayed in a three-dimensional scene model, and the visualization effect of the movement path can be line segments or curves with a sense of depth and three-dimensional effects (such as adding materials, lighting, shadows, etc.) to enhance the visualization effect of the path.

[0023] In a second aspect, an embodiment of the present application provides a mobile path calculation device, the device comprising:

[0024] A road network production module is used to obtain road network data of a road network line composed of all traversable roads in the target scene area, wherein the road network line has multiple vertices, and the road network data includes two-dimensional geographic coordinates of each vertex;

[0025] A path calculation module, for responding to a path acquisition request for a target person, determining a starting vertex and an ending vertex of the target person in the road network, and determining a two-dimensional moving path of the target person in the target scene area according to the starting vertex, the ending vertex and the road network data;

[0026] The three-dimensional conversion module is used to convert the two-dimensional geographic coordinates of all vertices in the above two-dimensional moving path into three-dimensional geographic coordinates, and obtain the three-dimensional moving path of the above target person in the above target scene area based on the three-dimensional geographic coordinates of each vertex.

[0027] In a third aspect, an embodiment of the present application provides a computer storage medium, wherein the computer storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the steps of the method.

[0028] In a fourth aspect, an embodiment of the present application provides a terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is suitable for being loaded by the processor and executing the steps of the method.

[0029] In a fifth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application 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 of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 An exemplary system architecture diagram of a mobile path calculation method provided in an embodiment of the present application;

[0032] Figure 2 A flow chart of a mobile path calculation method provided in an embodiment of the present application;

[0033] Figure 3 A flow chart of a mobile path calculation method provided in an embodiment of the present application;

[0034] Figure 4 A schematic diagram of a road network drawing effect provided in an embodiment of the present application;

[0035] Figure 5 A schematic diagram of the effects of line segments and vertices in a road network provided in an embodiment of the present application;

[0036] Figure 6 A schematic diagram of the effect of corresponding weights of a traversable road provided in an embodiment of the present application;

[0037] Figure 7A schematic diagram of the effect of a ray created with a vertex as an endpoint provided in an embodiment of the present application;

[0038] Figure 8 A structural block diagram of a mobile path calculation device provided in an embodiment of the present application;

[0039] Fig. 9 A schematic diagram of the structure of a terminal provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0041] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims. And in the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that three relationships can exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" refers to two or more than two.

[0042] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0043] At present, camera monitoring systems have been widely used in various scenarios. For example, in campus areas, multiple cameras are often deployed to comprehensively cover the main passages, key areas and potential risk points in the campus, and to capture the location of personnel in real time to effectively prevent and quickly respond to various emergencies, such as accidental falls, emergency medical conditions or potential dangerous behaviors, thereby maximizing the protection of life and property of personnel on campus; on the other hand, the camera's recording content can also provide objective and clear video evidence after the incident occurs, helping the management department to accurately and objectively trace the incident. The results of security maintenance and event tracing are closely related to the route of personnel in the scene. Therefore, it is very necessary to accurately analyze the route of personnel.

[0044] When obtaining the route of a person, the location where the person appears is generally obtained through a camera, and then the trajectory route of the person is generated based on the connection between the locations. That is, the trajectory route of the person often takes multiple locations as endpoints, and connects each two adjacent endpoints with a line segment, and the resulting connection line is determined as the route of the person. However, the straight line connection method that directly connects two-dimensional straight lines ignores the complex terrain and possible obstacles in three-dimensional space, which means that the path of the person will pass through various buildings or obstacles instead of walking along roads or paths that conform to the actual situation. Especially when the path needs to be reflected in the three-dimensional model of the scene, this processing method causes the trajectory of the person to appear stiff and unrealistic in the three-dimensional model. For example, in the three-dimensional digital twin campus scene, when a student walks on campus, his trajectory should follow a winding path, bypass the woods, and pass through the gaps between buildings, but in the three-dimensional campus model, the student's trajectory directly passes through physical models such as buildings and trees, seriously deviating from the path he actually walked, and the entire path is unrealistic and inaccurate.

[0045] In addition, the trajectory of people in real situations should be able to change flexibly with the ups and downs of the terrain and the twists and turns of the road, and fit the actual walking path in the form of a three-dimensional curve. However, the calculated trajectory of people can only have two-dimensional coordinate information, and cannot display the three-dimensional coordinate changes of the people according to the terrain and altitude in the actual scene, making it impossible to clearly express the actual direction and height changes of the person in the three-dimensional space, that is, it is impossible to fully and accurately reflect the actual movement of the people in the scene.

[0046] Therefore, an embodiment of the present application provides a moving path calculation method to solve the above-mentioned technical problem that the movement trajectory of personnel is inaccurate and does not conform to the actual situation.

[0047] See also Figure 1 , Figure 1 An exemplary system architecture diagram of a mobile path calculation method provided in an embodiment of the present application.

[0048] like Figure 1 As shown, the system architecture may include a terminal 101, a network 102, and a server 103. The network 102 is used to provide a medium for a communication link between the terminal 101 and the server 103. The network 102 may include various types of wired communication links or wireless communication links, for example, the wired communication link includes an optical fiber, a twisted pair, or a coaxial cable, and the wireless communication link includes a Bluetooth communication link, a Wireless-Fidelity (Wi-Fi) communication link, or a microwave communication link.

[0049] The terminal 101 can interact with the server 103 through the network 102 to receive messages from the server 103 or send messages to the server 103, or the terminal 101 can interact with the server 103 through the network 102 to receive messages or data sent by other users to the server 103. The terminal 101 can be hardware or software. When the terminal 101 is hardware, it can be various electronic devices, including but not limited to smart watches, smart phones, tablet computers, laptop portable computers and desktop computers. When the terminal 101 is software, it can be installed in the electronic devices listed above, which can be implemented as multiple software or software modules (for example: used to provide distributed services), or it can be implemented as a single software or software module, which is not specifically limited here.

[0050] Server 103 can be a business server that provides various services. It should be noted that server 103 can be hardware or software. When server 103 is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or it can be implemented as a single server. When server 103 is software, it can be implemented as multiple software or software modules (for example, used to provide distributed services), or it can be implemented as a single software or software module, which is not specifically limited here. Alternatively, the system architecture may also not include server 103. In other words, server 103 may be an optional device in the embodiments of this specification, that is, the method provided in the embodiments of this specification can be applied to a system structure that only includes terminal 101, which is not limited in the embodiments of the present application.

[0051] In an embodiment of the present application, the terminal 101 first draws a road network corresponding to the scene, that is, obtains road network data of a road network line composed of all traversable roads in the target scene area, wherein there are multiple vertices in the road network line, and the road network data includes two-dimensional geographic coordinates of each vertex; then, when the terminal 101 receives a path acquisition request, it responds to the path acquisition request for the target person, determines the starting vertex and the ending vertex of the target person in the road network line, and determines the two-dimensional moving path of the target person in the target scene area according to the starting vertex, the ending vertex and the road network data; on the basis of the two-dimensional moving path, the terminal 101 further converts the two-dimensional geographic coordinates of all vertices in the two-dimensional moving path into three-dimensional geographic coordinates, and obtains the three-dimensional moving path of the target person in the target scene area based on the three-dimensional geographic coordinates of each vertex.

[0052] It should be understood that Figure 1 The number of terminals, networks and servers in the figure is only for illustration and any number of terminals, networks and servers may be used according to implementation requirements.

[0053] See also Figure 2 , Figure 2 A flow chart of a mobile path calculation method provided in an embodiment of the present application. The execution subject of the embodiment of the present application can be a terminal that executes the mobile path calculation, or a processor in the terminal that executes the mobile path calculation method, or a mobile path calculation service in the terminal that executes the mobile path calculation method. For the convenience of description, the specific execution process of the mobile path calculation method is introduced below by taking the execution subject as the processor in the terminal as an example.

[0054] like Figure 2 As shown, the mobile path calculation method may at least include:

[0055] S202, obtaining road network data of a road network line composed of all traversable roads in the target scene area, wherein there are multiple vertices in the road network line, and the road network data includes the two-dimensional geographic coordinates of each vertex.

[0056] Alternatively, in some large-scale parks and areas, such as campuses, amusement parks, and parks, due to the large geographical scope of the park and the various types of buildings and roads arranged in a staggered manner, it is difficult to monitor the internal events in an all-round, all-time, and without blind spots by relying solely on manpower, resulting in extremely low park management efficiency. With the changes and development of modeling technology, in order to better manage and ensure the order and safety in specific scene areas, three-dimensional modeling is used in various scene areas to achieve effective supervision. Specifically, the actual environment is converted into a high-precision three-dimensional model through sensors and computer vision algorithms. When the camera installed in the actual environment collects data, the manager can directly view the situation captured by the camera in the scene in real time in the three-dimensional model. For example, on campus, by constructing a three-dimensional digital twin scene model based on the building layout in the actual campus scene, the model can also be linked with the equipment in the actual scene, receive and respond to the data and information sent back by the equipment, so that the manager can manage the campus more carefully through the digital twin model.

[0057] Alternatively, in the management process, there is often a need to analyze the movement paths of personnel in the scene area. When analyzing the movement paths of personnel, generally, the various locations where personnel appear in the actual scene are directly connected in straight lines, and the final connection line is used as the movement path of the personnel. This may result in the movement path passing through the physical buildings, flower beds, etc. in the model, but people cannot directly pass through the buildings when walking in the actual scene, but can only move along the walkable route. Therefore, the movement path obtained in this way does not conform to the actual situation. Moreover, since the three-dimensional model will also reflect the terrain conditions consistent with the real environment, the two-dimensional path connected by straight lines cannot fit the undulating terrain in the three-dimensional model, resulting in the inability to directly use the three-dimensional model of the scene area to visualize the personnel path, making it impossible for managers to intuitively view the movement paths of personnel that need attention.

[0058] Optionally, considering that people can only walk along the traversable roads in the scene area, a road network consisting of all traversable roads, i.e., a road network, can be constructed first. The roads in the road network are the roads that people in the target scene area can pass by walking, driving, riding a bicycle, etc. Therefore, for the target scene area where the movement path of the people needs to be analyzed, a road network line consisting of all traversable roads in the target scene area is first made, and multiple vertices are marked on the road network line based on the locations that can be monitored by the camera in the real scene. At the locations corresponding to these vertices, the appearance, passing and disappearance of people can be monitored, so that the coordinates of these locations are conducive to the subsequent analysis of the movement lines of people. Based on this, after the road network line of the target scene area is made, it is necessary to further export and store the road network data of the road network line to facilitate a series of calculations based on the road network data in the future. The road network line is expressed in the form of a two-dimensional line, so the road network data at least includes the two-dimensional geographic coordinates of each vertex, i.e., longitude and latitude.

[0059] S204, in response to a path acquisition request for the target person, determine the target person's starting vertex and ending vertex in the road network, and determine the target person's two-dimensional moving path in the target scene area based on the starting vertex, the ending vertex and the road network data.

[0060] Optionally, when it is necessary to analyze the movement line of the target person in the target scene area, in response to the received path acquisition request for the target person, the starting vertex and the ending vertex of the monitored target person are determined by the camera deployed in the real environment. According to the starting vertex, the ending vertex and the layout of each traversable road in the road network data and the two-dimensional geographic coordinates of each vertex, the path from the starting vertex to the ending vertex can be obtained according to the traversable road. The path is the two-dimensional movement path of the target person in the target scene area.

[0061] Furthermore, there may be multiple possible routes between the starting vertex and the ending vertex. In this embodiment of the present application, a preset path algorithm can be used to finally determine a preferred path as the two-dimensional moving path of the target person. The calculation target of the preset path algorithm can be to select the path with the shortest road length as the preferred path, or to select the path with the shortest walking time as the preferred path, or to select the path with the least turning corners as the preferred path. The embodiment of the present application does not limit the selection method of the preferred path.

[0062] S206: Convert the two-dimensional geographic coordinates of all vertices in the two-dimensional moving path into three-dimensional geographic coordinates, and obtain the three-dimensional moving path of the target person in the target scene area based on the three-dimensional geographic coordinates of each vertex.

[0063] Optionally, the two-dimensional moving path can only be displayed in a two-dimensional layer, and cannot be directly displayed in the three-dimensional model corresponding to the target scene area. Therefore, in order to intuitively visualize the moving path of the target person in the three-dimensional model, it is necessary to convert the two-dimensional moving path into a three-dimensional moving path. Specifically, the two-dimensional geographic coordinates of all vertices in the two-dimensional moving path are converted into three-dimensional geographic coordinates, that is, the vertex coordinates with only longitude and latitude information are converted into vertex coordinates including longitude and latitude and altitude. Then, it is necessary to determine the altitude of the ground where all vertices are located, so that the three-dimensional moving path can fit the surface undulations in the three-dimensional model, so as to perform a more accurate moving path display in the three-dimensional model. In the embodiment of the present application, the two-dimensional moving path that conforms to the traversable road line in the real environment is first obtained, and then the two-dimensional moving path is further converted into a three-dimensional moving path, and a path that is more in line with the undulations of the road in the actual three-dimensional scene is obtained, and the three-dimensional moving path is conducive to being directly displayed in the three-dimensional model corresponding to the scene, which provides effective assistance for the management within the scene.

[0064] In an embodiment of the present application, a mobile path calculation method is provided, which obtains the road network data of the road network line composed of all traversable roads in the target scene area, wherein there are multiple vertices in the road network line, and the road network data includes the two-dimensional geographic coordinates of each vertex; in response to a path acquisition request for a target person, the starting vertex and the ending vertex of the target person in the road network line are determined, and the two-dimensional moving path of the target person in the target scene area is determined according to the starting vertex, the ending vertex and the road network data; the two-dimensional geographic coordinates of all vertices in the two-dimensional moving path are converted into three-dimensional geographic coordinates, and the three-dimensional moving path of the target person in the target scene area is obtained based on the three-dimensional geographic coordinates of each vertex. Since the road network is composed of traversable roads in the real scene, the two-dimensional moving path of the person that is consistent with the traversable route in the real scene can be obtained based on the road network data, and then the two-dimensional moving path is converted into a three-dimensional moving path, which can further reflect the three-dimensional coordinate changes of the person that conforms to the real three-dimensional environment, so as to finally analyze and obtain an accurate moving path of the person that conforms to the real situation.

[0065] See also Figure 3 , Figure 3 A flow chart of a mobile path calculation method provided in an embodiment of the present application.

[0066] like Figure 3 As shown, the mobile path calculation method may at least include:

[0067] S302: Draw a road network consisting of all drivable roads in the target scene area based on the orthophoto of the target scene area.

[0068] Optionally, when obtaining the road network line and road network data of the target scene area, it is first necessary to draw the road network line map of the target scene area. When drawing, the image of the traversable road in the target scene area can be collected first, and the road network line map can be drawn according to the image. The routes in the road network line map need to be consistent with the scale data in the real scene to ensure the accuracy of the subsequent path calculation. Then in a preferred embodiment, the orthophoto of the target scene area is selected to be collected in advance, and the orthophoto is used as the reference layer. A new layer is created on it and the road network line is directly drawn according to the traversable road in the orthophoto. The accuracy of the road network is limited by the accuracy of the data. The traditional image acquisition method may have the problem that the scale parameters of each road in the road network are not completely matched with the actual environment. Based on this, the orthophoto collected by the drone can be used as the base map to solve the accuracy problem. The orthophoto is a remote sensing image with the property of orthophoto projection, which is usually obtained by taking pictures with a drone. The orthophoto map is an image with both map geometric accuracy and image characteristics, and has the advantages of high accuracy, rich information, intuitive and realistic, and quick acquisition. Orthophoto production is carried out using special equipment, such as flat ground center projection aerial photographs, which can be corrected using optical mechanical devices.

[0069] Please refer to Figure 4 , Figure 4 This is a schematic diagram of the effect of drawing a road network line provided in an embodiment of the present application. Figure 4 As shown, in the embodiment of the present application, taking the target scene area as a campus as an example, an orthophoto image of the campus is first collected, in which the proportions of each building and road are consistent with the proportion parameters in reality. On the basis of the orthophoto image, each drivable road can be clearly seen, and these roads are drawn in a separate layer above the orthophoto layer (pink lines), so that all lines constitute the road network lines corresponding to the target scene area.

[0070] S304: Divide the road network line into multiple line segments according to a preset distance threshold, and use the endpoints of each line segment as vertices in the road network line.

[0071] Optionally, when analyzing the movement path of the target person, it is necessary not only to calculate the movement line of the target person, but also to accurately locate the two-dimensional geographic coordinates of the target person when the target person appears at a certain place on a certain route. For details, please refer to Figure 5 , Figure 5 This is a schematic diagram of the effect of line segments and vertices in a road network provided by an embodiment of the present application. Figure 5As shown, in order to locate the location information and travel route of the target person based on the road network line, the road network line (pink line) can be divided into multiple line segments according to a preset distance threshold, and the endpoints of each line segment are used as vertices (red dots) in the road network line. These vertices and line segments have two-dimensional geographic coordinates. When the target person appears on a traversable road, the two-dimensional geographic coordinates of the target person can be determined based on the vertices and line segments where he is located.

[0072] Specifically, the smaller the preset distance threshold is set, the more vertices and line segments on the road network line, the more coordinate information contained in the target person's path, and the more accurate and detailed the target person's path obtained by analysis is; conversely, the larger the preset distance threshold is set, the fewer vertices and line segments on the road network line, and the less coordinate information contained in the target person's path, but this can save the computing resources consumed in the coordinate calculation process. In a feasible implementation, the preset distance threshold can be set to 0.0001 degrees longitude and 0.0001 degrees latitude, and the length distance of 0.0001 degrees longitude and 0.0001 degrees latitude is about 11 meters (because the earth is not a perfect sphere, the specific length will vary slightly with the specific orientation of the location), and this accuracy is suitable for meeting the precision requirements for personnel positioning.

[0073] S306: Export the identifiers and two-dimensional geographic coordinates of all line segments and vertices in the road network to obtain road network data of the road network lines.

[0074] Optionally, after dividing the line segments and vertices in the road network line, the identifiers of all line segments and vertices in the road network line and the data of the two-dimensional geographic coordinates are exported to obtain the road network data of the road network line. Specifically, the road network data can be exported as data in GeoJSON format. GeoJSON is a format for encoding various geographic data structures, and is a geographic spatial information data exchange format based on JavaScript Object Notation (JSON for short). GeoJSON objects can represent geometry, features, or feature collections. GeoJSON supports multiple geometry types, including: points, lines, faces, multi-points, multi-lines, multi-faces, and geometric collections. Features in GeoJSON contain a geometric object and other attributes, and feature collections represent a series of features. Therefore, data in GeoJSON format is very suitable for reflecting the road network data of road networks.

[0075] S308. In response to a path acquisition request for a target person, determine the target person's starting and ending vertices in the road network, and determine the target person's two-dimensional moving path in the target scene area based on the starting and ending vertices and the road network data.

[0076] Optionally, when the moving path of the target person needs to be calculated, the starting point and the ending point of the target person in the road network corresponding to the starting point and the ending point corresponding to the ending point are determined by the starting point and the ending point of the target person in the road network. Then, according to the starting point, the ending point and the road network data, the two-dimensional moving path of the target person in the target scene area is determined from a variety of feasible routes by a preset path algorithm.

[0077] Specifically, in a feasible implementation, taking into account that people are more inclined to choose routes that are shorter in distance and take less time when moving, in an embodiment of the present application, the shortest path for moving the target person from the starting vertex to the ending vertex is the two-dimensional moving path of the target person. Then, to determine the two-dimensional moving path of the target person, it is necessary to calculate the shortest path from the starting point to the end point.

[0078] Furthermore, in order to accurately calculate the path length of a person, a single road that a person can pass through but does not have a fork in the middle can be regarded as a traversable road, which means that when a person enters the road, he can only pass through the road completely before entering the next road. In this way, the length of each road is equal to the distance the person travels on the road section. Then the total length of all traversable roads that a person passes through from the starting vertex to the ending vertex is the length of the person's moving path.

[0079] Furthermore, for the convenience of calculation, the weight value of each traversable road can be set according to the length of each traversable road in the road network line, and the weight value of each traversable road can be derived to obtain the road network data of the road network line. The weight value of each traversable road is positively correlated with the road length. For details, please refer to Figure 6 , Figure 6 This is a schematic diagram of the effect of corresponding weights of a traversable road provided in an embodiment of the present application. Figure 6 As shown, each road has a different weight value based on its actual length. In this way, a different weight value is set for each traversable road according to the length of the road, so that longer roads have higher weight values ​​and shorter roads have lower weight values. Figure 6 The lengths of the roads shown in the figure are only for reference, where the winding and curved roads are represented by straight lines. Therefore, the specific length of each road is associated with its weight value, and the lengths and sizes shown in the figure do not represent the actual proportions of the roads. When calculating the length of a path, the total weight value of all roads included in the path can be directly calculated.

[0080] Optionally, when calculating the shortest path, all feasible moving routes can be found first, and then all routes from the starting vertex to the ending vertex in the road network can be traversed, and the total weight value of the traversable roads passed by each route can be calculated based on the road network data; the route with the smallest total weight value is determined as the two-dimensional moving path of the target person in the target scene area. In another method, you can also choose to use the shortest path algorithm, that is, the Dijkstra algorithm (DIJKSTRA), which is the shortest path algorithm from one vertex to the remaining vertices. It solves the shortest path problem in the weighted graph. The specific calculation method is to start from the starting point and use the greedy algorithm strategy to traverse to the adjacent nodes of the vertex that is closest to the starting point and has not been visited each time until it is expanded to the end point.

[0081] In another feasible implementation, in order to monitor the behavior and safety of personnel in real time in the target scene area, multiple cameras are deployed at various locations in the target scene area. These cameras collect image data and / or video data of personnel appearing in the camera range, and the image data and / or video data can reflect the movement route, movement mode, movement direction and other aspects of the movement information of the personnel. Therefore, by obtaining the movement data of the target personnel collected by multiple cameras in the target scene area, the starting vertex, the ending vertex and at least one necessary vertex of the target personnel in the road network line can be determined.

[0082] Furthermore, according to the starting vertex, the ending vertex, the necessary vertices and the road network data, the two-dimensional moving path of the target person moving from the starting vertex to the ending vertex and passing through all the necessary vertices can be determined. Specifically, when obtaining the two-dimensional moving path, each traversable road can also be assigned a corresponding weight value according to the road length. In the road network where each road has its own weight value, the shortest two-dimensional moving path of the target person from the starting vertex through each necessary vertex and finally moving to the ending vertex can be fitted. The two-dimensional moving path includes the places passed by the actual walking behavior of the target person, and between each vertex, a feasible moving line is calculated by a reasonable algorithm. In this way, the real data is collected by the camera equipment, and the moving trajectory of the target person is more reasonably and accurately inferred. And if there are more cameras and more travel data of the target person collected, the obtained two-dimensional moving path will be more accurate.

[0083] S310: Acquire a three-dimensional scene model of the target scene area.

[0084] Optionally, in order to convert the two-dimensional movement path of the target person into a three-dimensional movement path that better fits the undulating terrain in the real environment, the three-dimensional scene model of the target scene area can be selected as a benchmark. The three-dimensional scene model is constructed using the terrain height in the real environment as a parameter. Therefore, after obtaining the three-dimensional scene model of the target scene area, the terrain height of the corresponding location of each vertex can be obtained on the three-dimensional scene model, thereby supplementing the corresponding altitude for the two-dimensional geographic coordinates of each vertex.

[0085] S312. On the three-dimensional scene model, each vertex in the two-dimensional moving path is used as a ray endpoint and a ray perpendicular to the ground surface in the three-dimensional scene model is created to obtain the intersection point of each ray with the three-dimensional scene model. The height of each vertex is the height of the corresponding intersection point in the three-dimensional scene model.

[0086] Optionally, on the 3D scene model, use the ray detection method to obtain the height of each vertex. The specific operation is to first find the corresponding location of each vertex in the 3D scene model, and then create a ray perpendicular to the ground surface in the 3D scene model at the location with the vertex as the ray endpoint. For details, please refer to Figure 7 , Figure 7 A schematic diagram of the effect of creating a ray with a vertex as the endpoint provided in an embodiment of the present application. The ground in the three-dimensional scene model will have terrain height data, and the road tracks therein are also drawn according to a certain height on the real ground, such as Figure 7 As shown, Figure 7 A schematic diagram of a cross section of a slope b on a surface a is given in the figure. The perspective of the schematic diagram is perpendicular to the side of the surface a. Then Figure 7 Take the vertex c on slope b as an example. When vertex c only has longitude and latitude in the two-dimensional moving path, its height is 0, that is, close to the ground surface. Then, using it as the endpoint of the ray, create a ray d perpendicular to the ground surface. Then, the intersection of ray d and the ground above the vertex c is at point e, that is, the terrain height at the vertex c is the height of point e. At this time, the height of point e, where the ray corresponding to vertex c intersects with the three-dimensional scene model, can be determined as the height of vertex c itself. Similarly, for each vertex in the two-dimensional moving path, this calculation method is used to obtain the terrain height corresponding to its own location.

[0087] S314. Obtain the three-dimensional geographic coordinates of each vertex according to the two-dimensional geographic coordinates and height of each vertex.

[0088] Optionally, after obtaining the height of each vertex, the longitude and latitude in the two-dimensional geographic coordinates of each vertex can be combined to obtain the three-dimensional geographic coordinates of each vertex, and further the three-dimensional movement path of the target person can be obtained based on the three-dimensional geographic coordinates of each vertex.

[0089] S316. Filter out abnormal vertices with abnormal heights from all vertices, and update the height of each abnormal vertex to the average height of the previous vertex and the next vertex of each abnormal vertex.

[0090] Optionally, the target person may pass through areas where there are obstructions on the ground, such as the woods, during the process of moving. At this time, the height of the vertex where the target person is located will be mistakenly identified as the height of the obstruction above the ground. For example, when the target person walks under a tree, the ground height of the location is originally 0, and because there are branches and leaves above the location, when a ray is made from the vertex to the direction perpendicular to the ground, its highest intersection point is at the highest position of the branches above, then the height of the highest point will be used as the height of the current vertex, but in actual situations, this height is an outlier rather than a correct height. In order to prevent abnormal height values ​​from affecting the accuracy of the target person's path, abnormal vertices with abnormal heights can be screened out from all vertices, including vertices with height values ​​that suddenly change significantly and obviously exceed the normal range, and the height of each abnormal vertex is recalculated as the average height of its previous vertex and the next vertex, thereby obtaining the corrected three-dimensional geographic coordinates of each abnormal vertex. In this way, the vertices with abnormal height values ​​among all vertices are screened, and the heights of the abnormal vertices are recalculated, thereby achieving effective smoothing of the abnormal values.

[0091] S318. Add the height of each vertex to the height of the target person to obtain the height of the target person at each vertex; and obtain the three-dimensional moving path of the target person in the target scene area based on the height of the target person at each vertex and the two-dimensional geographic coordinates of each vertex.

[0092] Optionally, the height of each vertex calculated above is the surface altitude of the place on the ground, and when the target person is traveling on the road, the height at which he is located is generally considered to be the surface altitude of his location plus his own height, so further the height of each vertex and the height of the target person can be added to obtain the actual height of the target person on each vertex. Based on the height of the target person on each vertex and the two-dimensional geographic coordinates of each vertex, the three-dimensional moving path of the target person in the target scene area is obtained. In this way, the height of the personnel is added on the basis of the vertex height to obtain a more accurate height of the personnel when traveling in the scene.

[0093] S320: Displaying the three-dimensional moving path in a three-dimensional scene model in a preset linear shape with a three-dimensional effect.

[0094] Optionally, when displaying the three-dimensional movement path of the target person in the three-dimensional scene model of the target scene area, the three-dimensional movement path can have a three-dimensional display effect, specifically, it can be a line segment or curve with a sense of depth and three-dimensional effect (for example, adding material, lighting, shadow and other effects) to enhance the visualization effect of the three-dimensional path.

[0095] In an embodiment of the present application, a mobile path calculation method is provided. An orthophoto is a remote sensing image with orthophoto projection properties. Using it as a base map to construct a road network line of a target scene area can make the road network line conform to the real scene situation. Multiple line segments are divided on the road network line, so that the personnel can be more accurately located through dense vertices on the road network line. Different weight values ​​are set for each traversable road according to the length of the road, that is, longer roads have higher weight values, and shorter roads have lower weight values. Based on each route between the starting point and the end point of the road network traversal, the route with the smallest total weight value is the path with the shortest road length, so it is determined as the two-dimensional moving path of the personnel, which can make the path more reasonable while conforming to the real scene. In the three-dimensional scene model corresponding to the scene, by taking the vertex as the ray endpoint, creating a ray perpendicular to the ground, the height at the intersection of the ray and the three-dimensional model is the altitude of each vertex itself, and then combining the longitude and latitude in the two-dimensional geographic coordinates of each vertex and the altitude of each vertex, the three-dimensional geographic coordinates of each vertex are obtained. The height of the vertices with abnormal height values ​​in all vertices is recalculated to achieve effective smoothing. The 3D moving path is displayed in the 3D scene model to enhance the visualization effect of the path.

[0096] See also Figure 8 , Figure 8 This is a structural block diagram of a mobile path calculation device provided in an embodiment of the present application. Figure 8 As shown, the mobile path calculation device 800 includes:

[0097] The road network making module 810 is used to obtain the road network data of the road network line composed of all traversable roads in the target scene area, where there are multiple vertices in the road network line, and the road network data includes the two-dimensional geographic coordinates of each vertex;

[0098] The path calculation module 820 is used to determine the starting vertex and the ending vertex of the target person in the road network in response to the path acquisition request for the target person, and determine the two-dimensional moving path of the target person in the target scene area according to the starting vertex, the ending vertex and the road network data;

[0099] The three-dimensional conversion module 830 is used to convert the two-dimensional geographic coordinates of all vertices in the two-dimensional moving path into three-dimensional geographic coordinates, and obtain the three-dimensional moving path of the target person in the target scene area based on the three-dimensional geographic coordinates of each vertex.

[0100] Optionally, the three-dimensional conversion module 830 is also used to obtain a three-dimensional scene model of the target scene area; on the three-dimensional scene model, each vertex in the two-dimensional moving path is used as a ray endpoint and a ray perpendicular to the ground surface in the three-dimensional scene model is created to obtain the intersection point of each ray with the three-dimensional scene model, and the height of each vertex is the height of the corresponding intersection point in the three-dimensional scene model; the three-dimensional geographic coordinates of each vertex are obtained according to the two-dimensional geographic coordinates and height of each vertex.

[0101] Optionally, the three-dimensional conversion module 830 is also used to add the height of each vertex to the height of the target person to obtain the height of the target person at each vertex; based on the height of the target person at each vertex and the two-dimensional geographic coordinates of each vertex, obtain the three-dimensional movement path of the target person in the target scene area.

[0102] Optionally, the moving path calculation device 800 further includes: an outlier elimination module, which is used to screen out abnormal vertices with abnormal heights from all vertices, and update the height of each abnormal vertex to the average height of the previous vertex and the next vertex of each abnormal vertex.

[0103] Optionally, the road network production module 810 is also used to draw a road network line consisting of all traversable roads in the target scene area based on the orthophoto of the target scene area; divide the road network line into multiple line segments according to a preset distance threshold, and use the endpoints of each line segment as vertices in the road network line; export the identifiers and two-dimensional geographic coordinates of all line segments and vertices in the road network to obtain road network data of the road network line.

[0104] Optionally, a traversable road is a road on which people can walk and which does not have a fork in the middle. The road network production module 810 is also used to set a weight value for each traversable road according to the road length of each traversable road in the road network line, and derive the weight value of each traversable road to obtain the road network data of the road network line, and the weight value of each traversable road is positively correlated with the road length; the path calculation module 820 is also used to traverse all routes in the road network line from the starting vertex to the ending vertex, and calculate the total weight value of the traversable roads passed by each route based on the road network data; determine the route with the smallest total weight value as the two-dimensional moving path of the target person in the target scene area.

[0105] Optionally, the path calculation module 820 is also used to obtain the travel data of the target person collected by multiple cameras in the target scene area, and determine the target person's starting vertex, ending vertex and at least one necessary vertex in the road network line based on the travel data; based on the starting vertex, ending vertex, each necessary vertex and road network data, determine the two-dimensional moving path of the target person moving from the starting vertex to the ending vertex and passing through all necessary vertices.

[0106] Optionally, the moving path calculation device 800 further includes: a display module, configured to display the three-dimensional moving path in a preset linear shape with a stereoscopic effect in the three-dimensional scene model.

[0107] In an embodiment of the present application, a mobile path calculation device is provided, wherein a road network production module is used to obtain the road network data of the road network line composed of all traversable roads in the target scene area, there are multiple vertices in the road network line, and the road network data includes the two-dimensional geographic coordinates of each vertex; a path calculation module is used to respond to the path acquisition request for the target person, determine the starting vertex and the ending vertex of the target person in the road network line, and determine the two-dimensional moving path of the target person in the target scene area according to the starting vertex, the ending vertex and the road network data; a three-dimensional conversion module is used to convert the two-dimensional geographic coordinates of all vertices in the two-dimensional moving path into three-dimensional geographic coordinates, and obtain the three-dimensional moving path of the target person in the target scene area based on the three-dimensional geographic coordinates of each vertex. Since the road network is composed of traversable roads in the real scene, the two-dimensional moving path of the person that is consistent with the traversable route in the real scene can be obtained based on the road network data, and then the two-dimensional moving path is converted into a three-dimensional moving path, which can further reflect the three-dimensional coordinate changes of the person that conforms to the real three-dimensional environment, so as to finally analyze and obtain an accurate moving path of the person that conforms to the real situation.

[0108] An embodiment of the present application further provides a computer storage medium, which can store multiple instructions, and the instructions are suitable for being loaded by a processor and executing the steps of any method in the above embodiments.

[0109] See also Fig. 9 , Fig. 9 A schematic diagram of the structure of a terminal provided in an embodiment of the present application. Fig. 9 As shown, the terminal 900 may include: at least one terminal processor 901 , at least one network interface 904 , a user interface 903 , a memory 905 , and at least one communication bus 902 .

[0110] The communication bus 902 is used to realize the connection and communication between these components.

[0111] The user interface 903 may include a display screen (Display) and a camera (Camera), and the optional user interface 903 may also include a standard wired interface and a wireless interface.

[0112] The network interface 904 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0113] Among them, the terminal processor 901 may include one or more processing cores. The terminal processor 901 uses various interfaces and lines to connect various parts within the entire terminal 900, and executes various functions and processes data of the terminal 900 by running or executing instructions, programs, code sets or instruction sets stored in the memory 905, and calling data stored in the memory 905. Optionally, the terminal processor 901 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The terminal processor 901 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the terminal processor 901, and it can be implemented separately through a chip.

[0114] Among them, the memory 905 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory, ROM). Optionally, the memory 905 includes a non-transitory computer-readable storage medium. The memory 905 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 905 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 905 may also be optionally at least one storage device located away from the aforementioned terminal processor 901. As Fig. 9 As shown, the memory 905 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a moving path calculation program.

[0115] exist Fig. 9In the terminal 900 shown, the user interface 903 is mainly used to provide an input interface for the user and obtain data input by the user; and the terminal processor 901 can be used to call the mobile path calculation program stored in the memory 905 and specifically perform the following operations:

[0116] Obtaining the road network data of the road network composed of all traversable roads in the target scene area, wherein there are multiple vertices in the road network, and the road network data includes the two-dimensional geographic coordinates of each vertex;

[0117] In response to a path acquisition request for a target person, determine the starting vertex and the ending vertex of the target person in the road network line, and determine the two-dimensional moving path of the target person in the target scene area according to the starting vertex, the ending vertex and the road network data;

[0118] The two-dimensional geographic coordinates of all vertices in the two-dimensional moving path are converted into three-dimensional geographic coordinates, and the three-dimensional moving path of the target person in the target scene area is obtained based on the three-dimensional geographic coordinates of each vertex.

[0119] In some embodiments, when the terminal processor 901 converts the two-dimensional geographic coordinates of all vertices in a two-dimensional moving path into three-dimensional geographic coordinates, it specifically performs the following steps: obtaining a three-dimensional scene model of the target scene area; on the three-dimensional scene model, using each vertex in the two-dimensional moving path as a ray endpoint and creating rays perpendicular to the ground surface in the three-dimensional scene model, to obtain the intersection point of each ray with the three-dimensional scene model, and the height of each vertex is the height of the corresponding intersection point in the three-dimensional scene model; obtaining the three-dimensional geographic coordinates of each vertex according to the two-dimensional geographic coordinates and height of each vertex.

[0120] In some embodiments, when the terminal processor 901 obtains the three-dimensional moving path of the target person in the target scene area based on the three-dimensional geographic coordinates of each vertex, it specifically performs the following steps: adding the height of each vertex to the height of the target person to obtain the height of the target person at each vertex; obtaining the three-dimensional moving path of the target person in the target scene area based on the height of the target person at each vertex and the two-dimensional geographic coordinates of each vertex.

[0121] In some embodiments, before obtaining the three-dimensional moving path of the target person in the target scene area based on the three-dimensional geographic coordinates of each vertex, the terminal processor 901 also specifically performs the following steps: screening out abnormal vertices with abnormal heights among all vertices, and updating the height of each abnormal vertex to the average height of the previous vertex and the next vertex of each abnormal vertex.

[0122] In some embodiments, when the terminal processor 901 executes the acquisition of road network data of the road network lines composed of all traversable roads in the target scene area, it specifically performs the following steps: drawing the road network lines composed of all traversable roads in the target scene area based on the orthophoto of the target scene area; dividing the road network lines into multiple line segments according to a preset distance threshold, and taking the endpoints of each line segment as vertices in the road network lines; exporting the identifiers and two-dimensional geographic coordinates of all line segments and vertices in the road network to obtain the road network data of the road network lines.

[0123] In some embodiments, a traversable road is a road on which people can walk and there is no fork in the middle. When the terminal processor 901 executes to obtain the road network data of the road network line composed of all traversable roads in the target scene area, the terminal processor 901 specifically performs the following steps: setting the weight value of each traversable road according to the road length of each traversable road in the road network line, and exporting the weight value of each traversable road to obtain the road network data of the road network line, and the weight value of each traversable road is positively correlated with the road length; when the terminal processor 901 executes to determine the two-dimensional moving path of the target person in the target scene area according to the starting vertex, the ending vertex and the road network data, the terminal processor 901 specifically performs the following steps: traversing all routes in the road network line from the starting vertex to the ending vertex, and calculating the total weight value of the traversable roads passed by each route based on the road network data; determining the route with the smallest total weight value as the two-dimensional moving path of the target person in the target scene area.

[0124] In some embodiments, when the terminal processor 901 determines the target person's starting and ending vertices in the road network line, and determines the target person's two-dimensional moving path in the target scene area based on the starting and ending vertices and the road network data, it specifically performs the following steps: obtain the target person's travel data collected by multiple cameras in the target scene area, and determine the target person's starting and ending vertices and at least one necessary vertex in the road network line based on the travel data; determine the target person's two-dimensional moving path from the starting vertex to the ending vertex and passing through all necessary vertices based on the starting and ending vertices, the necessary vertices and the road network data.

[0125] In some embodiments, after obtaining the three-dimensional moving path of the target person in the target scene area based on the three-dimensional geographic coordinates of each vertex, the terminal processor 901 further specifically performs the following steps: displaying the three-dimensional moving path in a preset line shape with a stereoscopic effect in the three-dimensional scene model.

[0126] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0127] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0128] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The above computer program product includes one or more computer instructions. When the above computer program instructions are loaded and executed on a computer, the above process or function according to the embodiment of this specification is generated in whole or in part. The above computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The above computer instructions can be stored in a computer-readable storage medium or transmitted by the above computer-readable storage medium. The above computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The above computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more available media integrated. The above-mentioned available media can be magnetic media (for example, floppy disks, hard disks, tapes), optical media (for example, digital versatile discs (DVD)), or semiconductor media (for example, solid state drives (SSD)), etc.

[0129] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0130] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0131] The above is a description of a mobile path calculation method, device and terminal provided in the present application. For technicians in this field, according to the ideas of the embodiments of the present application, there may be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A mobile path calculation method, characterized in that: The method comprises: Acquire road network data of a road network line composed of all traversable roads in the target scene area, wherein the road network line has multiple vertices, and the road network data includes the two-dimensional geographic coordinates of each vertex; In response to a path acquisition request for a target person, determine a travel start vertex and a travel end vertex of the target person in the road network line, and determine a two-dimensional moving path of the target person in the target scene area according to the travel start vertex, the travel end vertex and the road network data; The two-dimensional geographic coordinates of all vertices in the two-dimensional moving path are converted into three-dimensional geographic coordinates, and the three-dimensional moving path of the target person in the target scene area is obtained based on the three-dimensional geographic coordinates of each vertex.

2. The method according to claim 1, characterized in that The step of converting the two-dimensional geographic coordinates of all vertices in the two-dimensional moving path into three-dimensional geographic coordinates comprises: Acquire a three-dimensional scene model of the target scene area; On the three-dimensional scene model, each vertex in the two-dimensional moving path is used as a ray endpoint and a ray perpendicular to the ground surface in the three-dimensional scene model is created to obtain the intersection point of each ray with the three-dimensional scene model, and the height of each vertex is the height of the corresponding intersection point in the three-dimensional scene model; The three-dimensional geographic coordinates of each vertex are obtained according to the two-dimensional geographic coordinates and height of each vertex.

3. The method according to claim 2, characterized in that The step of obtaining the three-dimensional moving path of the target person in the target scene area based on the three-dimensional geographic coordinates of each vertex includes: Add the height of each vertex to the height of the target person to obtain the height of the target person at each vertex; The three-dimensional moving path of the target person in the target scene area is obtained based on the height of the target person at each vertex and the two-dimensional geographic coordinates of each vertex.

4. The method according to claim 2, characterized in that: Before obtaining the three-dimensional moving path of the target person in the target scene area based on the three-dimensional geographic coordinates of each vertex, the method further includes: Filter out abnormal vertices with abnormal heights from all vertices, and update the height of each abnormal vertex to the average height of the previous vertex and the next vertex of each abnormal vertex.

5. The method according to claim 1, characterized in that The step of obtaining the road network data of the road network lines composed of all traversable roads in the target scene area includes: Draw a road network consisting of all drivable roads in the target scene area based on the orthophoto of the target scene area; Dividing the road network line into a plurality of line segments according to a preset distance threshold, and taking the endpoints of each line segment as vertices in the road network line; The identifiers and two-dimensional geographic coordinates of all line segments and vertices in the road network are derived to obtain the road network data of the road network lines.

6. The method according to claim 1, characterized in that The traversable road is a road on which people can walk and has no forks in the middle. The road network data of the road network lines composed of all traversable roads in the target scene area are obtained, including: A weight value of each traversable road is set according to the road length of each traversable road in the road network line, and the weight value of each traversable road is derived to obtain the road network data of the road network line, wherein the weight value of each traversable road is positively correlated with the road length; The determining of the two-dimensional moving path of the target person in the target scene area according to the travel starting vertex, the travel ending vertex and the road network data comprises: Traversing all routes in the road network from the travel start vertex to the travel end vertex, and calculating the total weight value of the traversable roads passed by each route based on the road network data; The route with the smallest total weight value is determined as the two-dimensional moving path of the target person in the target scene area.

7. The method according to claim 1, characterized in that The step of determining the starting vertex and the ending vertex of the target person in the road network line, and determining the two-dimensional moving path of the target person in the target scene area according to the starting vertex, the ending vertex and the road network data, comprises: Acquire the travel data of the target person collected by multiple cameras in the target scene area, and determine the travel start vertex, travel end vertex and at least one must-pass vertex of the target person in the road network line according to the travel data; According to the travel starting vertex, the travel ending vertex, each necessary vertex and the road network data, a two-dimensional moving path of the target person moving from the travel starting vertex to the travel ending vertex and passing through all necessary vertices is determined.

8. The method according to claim 2, characterized in that: After obtaining the three-dimensional moving path of the target person in the target scene area based on the three-dimensional geographic coordinates of each vertex, the method further includes: The three-dimensional moving path is displayed in the three-dimensional scene model in a preset linear shape with a three-dimensional effect.

9. A mobile path calculation device, characterized in that: The device comprises: A road network production module is used to obtain road network data of a road network line composed of all traversable roads in the target scene area, wherein the road network line has multiple vertices, and the road network data includes two-dimensional geographic coordinates of each vertex; A path calculation module, for determining, in response to a path acquisition request for a target person, a starting vertex and an ending vertex of the target person in the road network line, and determining a two-dimensional moving path of the target person in the target scene area according to the starting vertex, the ending vertex and the road network data; The three-dimensional conversion module is used to convert the two-dimensional geographic coordinates of all vertices in the two-dimensional moving path into three-dimensional geographic coordinates, and obtain the three-dimensional moving path of the target person in the target scene area based on the three-dimensional geographic coordinates of each vertex.

10. A terminal, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 8 when executing the program.

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