A navigation structure generation method and device, a storage medium and an electronic device

Abstract

The specification discloses a navigation structure generation method and device, a storage medium and an electronic device, wherein the method comprises: obtaining three-dimensional modeling data corresponding to each building in a target geographical area, and a regional image corresponding to the target geographical area; determining a building road network of at least one floor in each building based on the three-dimensional modeling data; generating a road network structure of the target geographical area based on an outdoor road network in the regional image and the building road network; the outdoor road network is other road network in the regional image except the building road network; mapping the road network structure into a planar graph data structure; obtaining a structure parameter corresponding to the graph data structure; and using the specification, the three-dimensional data of the target geographical area is converted into planar data, and the structure parameter of the graph data structure corresponding to the target geographical area is calculated according to the planar data, so as to improve the accuracy and efficiency of the navigation path.

Description

Technical Field

[0001] This specification relates to the field of computer technology, and in particular to a method, apparatus, storage medium and electronic device for generating navigation structures. Background Technology

[0002] Nowadays, with the development of network technology and positioning systems, people are increasingly accustomed to using navigation tools to navigate and draw routes to their destinations on flat maps so that they can arrive at their destinations quickly and accurately.

[0003] In related technologies, the method used to generate navigation routes is to calculate the route between the starting point and the destination on a flat map. However, in environments that require multiple layers of maps, such as buildings or parks, multiple flat maps are needed to navigate the routes on each layer separately, resulting in complex and inconvenient routes that affect the practicality of the navigation routes. Summary of the Invention

[0004] This specification provides a navigation structure generation method, apparatus, storage medium, and electronic device. It can convert 3D data of a target geographic area into 2D data, calculate the structural parameters of the corresponding graph data structure based on the 2D data, determine the distances between each access node in the target geographic area and the path distances corresponding to selectable access paths, thereby facilitating the generation of corresponding 3D navigation paths based on the structural parameters of the target geographic area. This enables navigation of buildings in the target geographic area, improving the accuracy and efficiency of the navigation path.

[0005] Firstly, embodiments of this specification provide a navigation structure generation method, the method comprising:

[0006] Obtain 3D modeling data of each building in the target geographic area, as well as regional images of the target geographic area;

[0007] Based on the 3D modeling data, the building road network of at least one floor in each building is determined. Based on the outdoor road network in the regional image and the road network of each building, the road network structure of the target geographic area is generated. The outdoor road network is the road network other than the building road network in the regional image.

[0008] Map the road network structure to a planar graph data structure, obtain the structural parameters corresponding to the graph data structure, including the node distance between adjacent passing nodes, the first passing path between any two passing nodes in the graph data structure, and the path distance corresponding to each first path.

[0009] A passage node is a node in the road network structure that connects different floors in a building. Adjacent passage nodes are passage nodes in the road network structure that are around and connected to the passage node.

[0010] The above technical solution enables the determination of the building road network and outdoor road network of buildings in the target geographic area based on the 3D modeling data of buildings in the target geographic area. Based on the building road network and outdoor road network, the corresponding road network structure of the target geographic area is obtained. This road network structure is then mapped to a planar graph data structure, and the structural parameters corresponding to the graph data structure are obtained. By converting the 3D data of the target geographic area into planar data and calculating the structural parameters of the corresponding graph data structure based on the planar data, the distances between each access node in the target geographic area and the path distances corresponding to selectable access paths are determined. This facilitates the generation of corresponding 3D navigation paths based on the structural parameters of the target geographic area, enabling navigation of buildings in the target geographic area and improving the accuracy and efficiency of navigation paths.

[0011] Combining the first aspect and the above implementation methods, in some possible implementation methods, the road network structure of the target geographic area is generated based on the outdoor road network and the road networks of various buildings in the regional image, including:

[0012] An outdoor road network is generated based on outdoor paths in the regional image, where outdoor paths are other paths in the regional image excluding those included within buildings.

[0013] Connect the outdoor road network with the first-floor road network corresponding to the first floor of each building, and connect the building road networks corresponding to each floor of each building to generate the road network structure corresponding to the target geographical area.

[0014] The above technical solution can connect the outdoor road network in the target geographical area and the road network of each floor in the building to generate the corresponding road network structure of the target geographical area, thereby obtaining the road network structure for passage corresponding to the buildings and the outdoors in the target geographical area.

[0015] Combining the first aspect and the above implementation methods, in some possible implementation methods, the road network structure is mapped to a planar graph data structure, and the structural parameters corresponding to the graph data structure are obtained, including:

[0016] Extract the traffic nodes in the road network structure and map them onto the planar graph. Connect each traffic node based on the road network structure to obtain the graph data structure corresponding to the road network structure.

[0017] Determine the adjacency relationship of each passable node in the graph data structure, and obtain the node distance between each passable node that is in an adjacent state, indicating the adjacency relationship.

[0018] Based on the node distances between each passing node, the first passing path between any two passing nodes in the graph data structure is obtained, as well as the path distances corresponding to each first passing path.

[0019] The above technical solution maps the three-dimensional road network structure onto a planar map to obtain a graph data structure. Based on the adjacency relationship of each travel point in the graph data structure, the node distance between each travel point is obtained, as well as the path distance corresponding to the first travel path from the first travel node to the second travel node in the graph data structure. This determines the path distance between any two travel nodes in the graph data structure, reducing the calculation time for determining the shortest path and improving the efficiency and accuracy of determining the shortest path.

[0020] Combining the first aspect and the above implementation methods, in some possible implementation methods, obtaining the node distance between each passing node that is in an adjacent state, indicating the adjacency relationship, includes:

[0021] Based on the node type of each access node, determine the distance weight between access nodes that are in an adjacent state, indicating the adjacency relationship.

[0022] The node distance between adjacent nodes is determined based on distance weights and the geographical distance between each access node.

[0023] By using the above technical solution, corresponding distance weights are set according to the node type of the passing node, thereby improving the accuracy of the calculated node distance.

[0024] Combining the first aspect and the above implementation methods, in some possible implementation methods, based on the node distances between each passing node, the first passing path between any two passing nodes in the graph data structure, and the path distances corresponding to each first passing path, are obtained, including:

[0025] Traverse each passable node in the graph data structure to determine at least one first passable path between any two passable nodes in the graph data structure;

[0026] Based on the node distances between each passage node, the sum of the node distances of each passage node in each first passage path is calculated to obtain the path distance corresponding to each first passage path.

[0027] Combining the first aspect and the above implementation methods, in some possible implementation methods, in response to the path navigation command, the graph data structure of the target geographic region where the starting node is located, as well as the location data of the starting node and the destination node are obtained. The starting node and the destination node can be any two nodes in the target geographic region in the path navigation command.

[0028] Based on location data and each first travel path pre-determined in the graph data structure, a target travel path from the starting node to the destination node is determined in the graph data structure. The target travel path is the second travel path with the shortest travel distance, and the second travel path is the travel path from the starting node to the destination node.

[0029] A navigation path is generated in the navigation map corresponding to the target geographical area based on the target travel path. The navigation map is a 3D map corresponding to the target geographical area.

[0030] The above technical solution obtains the starting node and destination node in response to the route navigation command, then determines the target route with the shortest distance from the starting node to the destination node based on the pre-determined first route, and generates the corresponding navigation route in the navigation map of the target geographical area. This provides users with the ability to view the navigation route from the starting node to the destination node in a three-dimensional map, improving the user experience of viewing the navigation route and the accuracy and efficiency of generating the navigation route.

[0031] Combining the first aspect and the above implementation methods, in some possible implementation methods, the location data includes first location data corresponding to the starting node and second location data corresponding to the destination node. Based on the location data and each first travel path pre-determined in the graph data structure, the target travel path from the starting node to the destination node in the graph data structure is determined, including:

[0032] Based on the first location data and the second location data, and each of the predetermined first passage paths, at least one second passage path from the first location data to the second location data is determined in the graph data structure;

[0033] Based on the path distance of each first passage path and the movement distance from the first location data to each first passage path, the passage distance corresponding to each second passage path is determined;

[0034] Determine the shortest travel distance among all travel distances, and determine the second travel path corresponding to the shortest travel distance as the target travel path.

[0035] By using the above technical solution, based on the acquired first location data and second location data, as well as the path distance of each predetermined first travel path, the target travel path corresponding to the shortest travel distance from the first location data to the second location data is determined, thereby improving the accuracy and efficiency of determining the target travel path.

[0036] Combining the first aspect and the above implementation methods, in some possible implementation methods, a navigation path is generated in the navigation map corresponding to the target geographical area based on the target travel path, including:

[0037] Obtain the navigation map corresponding to the target geographical area, and determine the target access nodes in the target travel path in the navigation map;

[0038] Connect all target access nodes to generate the navigation path corresponding to the target access path.

[0039] The above technical solution generates a navigation path corresponding to the target route in the navigation map, thereby providing users with an easy-to-view navigation path on the 3D map and improving the user experience when using 3D map navigation.

[0040] Secondly, embodiments of this specification provide a navigation structure generation apparatus, the apparatus comprising:

[0041] The data acquisition unit is used to acquire the 3D modeling data of each building in the target geographic area, as well as the regional image of the target geographic area.

[0042] The road network structure generation unit is used to determine the building road network of at least one floor in each building based on the 3D modeling data, and to generate the road network structure of the target geographic area based on the outdoor road network in the regional image and the road network of each building. The outdoor road network is the road network other than the building road network in the regional image.

[0043] The graph data structure generation unit is used to map the road network structure into a planar graph data structure and obtain the structure parameters corresponding to the graph data structure. The structure parameters include the node distance between adjacent passing nodes, the first passing path between any two passing nodes in the graph data structure, and the path distance corresponding to each first path.

[0044] A passage node is a node in the road network structure that connects different floors in a building. Adjacent passage nodes are passage nodes in the road network structure that are around and connected to the passage node.

[0045] Thirdly, embodiments of this specification provide a computer storage medium storing multiple instructions adapted for loading by a processor and executing the steps of the method described above.

[0046] Fourthly, embodiments of this specification provide an electronic device, including: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the steps of the above-described method. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in this specification or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 A system architecture diagram of a navigation structure generation method provided in the embodiments of this specification;

[0049] Figure 2A flowchart illustrating a navigation structure generation method provided in an embodiment of this specification;

[0050] Figure 3 A flowchart illustrating a navigation structure generation method provided in an embodiment of this specification;

[0051] Figure 4 This is a schematic diagram illustrating an example of a graph data structure provided in the embodiments of this specification;

[0052] Figure 5 This is a schematic diagram illustrating an example of the node distance of a passage node provided in an embodiment of this specification;

[0053] Figure 6 This is a schematic diagram illustrating an example of a target travel path provided in an embodiment of this specification;

[0054] Figure 7 This is a schematic diagram illustrating an example of a navigation path provided in an embodiment of this specification.

[0055] Figure 8 This is a schematic diagram of a navigation structure generation device provided in an embodiment of this specification;

[0056] Figure 9 This is a schematic diagram of a navigation structure generation device provided in an embodiment of this specification;

[0057] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this specification. Detailed Implementation

[0058] To make the features and advantages of this specification more apparent and understandable, the technical solutions in this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0059] Please see Figure 1 This specification provides a system structure diagram for generating a navigation structure, as illustrated in the embodiments of this specification. Figure 1As shown, the navigation structure generation method provided in this embodiment can be applied to terminal devices. The process of generating the navigation structure, and the system structure provided in this embodiment, mainly includes 3D modeling data 10, regional images 20, and graph data structure 30. Specifically, the 3D modeling data 10 can be modeling data used to represent the architectural structures of various buildings in the target geographical area; the regional images 20 can be images including buildings in the target geographical area, passageways between buildings, and outdoor areas; and the graph data structure 30 can be a planar structural diagram representing the nodes and paths in the road network structure corresponding to the 3D modeling data.

[0060] In related technologies, when environments such as buildings or parks require multi-layered maps, the method used is to navigate the routes of each layer using multiple planar maps. This results in complex and inconvenient routes that are difficult to view, affecting the practicality of the navigation routes.

[0061] In this embodiment, the terminal device, based on the 3D modeling data 10 and the regional image 20 corresponding to the target geographical area, can be a device used for calculation and subsequent navigation path generation, such as a smartphone, tablet, or personal computer. The target geographical area can be an area including at least one building, such as a park. The device determines the building road network and outdoor road network corresponding to each building in the target geographical area. After generating the road network structure of the target geographical area based on the outdoor road network and building road network, the road network structure is mapped to a planar graph data structure, and the structural parameters corresponding to the graph data structure are obtained. This allows for the conversion of the 3D data of the target geographical area into planar data, and the calculation of the structural parameters of the graph data structure corresponding to the target geographical area based on the planar data. It also determines the distances between each access node in the target geographical area and the path distances corresponding to selectable access paths, thereby facilitating the generation of corresponding 3D navigation paths based on the structural parameters of the target geographical area. This enables navigation of buildings in the target geographical area, improving the accuracy and efficiency of the navigation path.

[0062] based on Figure 1 The system architecture shown below will be combined with... Figure 2 This document provides a detailed description of the navigation structure generation method provided in the embodiments of this specification.

[0063] Please see Figure 2 This is a flowchart illustrating a navigation structure generation method provided in an embodiment of this specification. Figure 2 As shown, the method may include the following steps S101-S103.

[0064] S101, Obtain the 3D modeling data of each building in the target geographic area, as well as the regional image of the target geographic area;

[0065] In one embodiment, 3D modeling data corresponding to each building in a target geographic area is acquired. The target geographic area can be an area including at least one building, such as a cluster of buildings like a park, or it can be a single building. The building can be a multi-story building, a stadium, etc. The 3D modeling data can be modeling data used to represent the building's structure, specifically including modeling data for the building's rooms, corridors, stairwells, or elevator entrances, as well as corresponding staircases or elevators. A region image corresponding to the target geographic area is also acquired. The region image can include images of buildings in the target geographic area, passageways between buildings, and outdoor areas such as basketball courts.

[0066] S102, Based on the 3D modeling data, determine the building road network of at least one floor in each building, and based on the outdoor road network in the regional image and the road network of each building, generate the road network structure of the target geographic area.

[0067] In one embodiment, road networks are generated for each building in the target geographic area based on 3D modeling data to obtain the building road network for at least one floor of the building. The building road network can be the road network corresponding to the rooms, corridors, stairwells or elevator entrances included in the floor. The building road network can include nodes corresponding to each room and stairwell and paths corresponding to the corridors. Based on the outdoor road network in the regional image and the building road network corresponding to each building, the road network structure of the target geographic area is generated.

[0068] Among them, the outdoor road network can be any road network in the regional image other than the building road network. For example, other road networks can be the road networks connecting different buildings in the regional image, or the road networks corresponding to open-air venues such as playgrounds or sports fields. The paths in the outdoor road network can be roads in the outdoor venue, and the nodes in the outdoor road network can be entrances and exits corresponding to the outdoor venue. The road network structure can be a structure representing the passage between various buildings and outdoor venues in the target geographic area. Any node in the road network structure can reach any other node.

[0069] It is understandable that, since the road network structure is generated based on 3D modeling data, the road network structure is a 3D structure.

[0070] S103, map the road network structure to a planar graph data structure, and obtain the structural parameters corresponding to the graph data structure;

[0071] In one embodiment, after obtaining the road network structure, the three-dimensional road network structure is mapped to a planar graph data structure. The graph data structure can be a planar structural diagram representing each node and path in the road network structure. Then, based on each node and path in the graph data structure, the corresponding structural parameters of the graph data structure are obtained. The structural parameters may include the node distance between adjacent access nodes, the first access path between any two access nodes in the graph data structure, and the path distance corresponding to each first path. Access nodes can be nodes in the road network structure that connect different floors in a building, such as nodes corresponding to stairwells or elevator entrances. Adjacent access nodes are access nodes in the road network structure that surround and are connected to the access nodes.

[0072] In the embodiments of this specification, the building road network and outdoor road network of the buildings in the target geographical area are determined based on the 3D modeling data of the buildings in the target geographical area. The road network structure corresponding to the target geographical area is obtained based on the building road network and outdoor road network. The road network structure is mapped into a planar graph data structure, and the structural parameters corresponding to the graph data structure are obtained. Thus, by converting the 3D data of the target geographical area into planar data, and calculating the structural parameters of the graph data structure corresponding to the target geographical area based on the planar data, the distances between each access node in the target geographical area and the path distances corresponding to the selectable access paths are determined. This facilitates the generation of corresponding 3D navigation paths based on the structural parameters of the target geographical area, enabling navigation of buildings in the target geographical area and improving the accuracy and efficiency of the navigation path.

[0073] Please see Figure 3 This is a flowchart illustrating a navigation structure generation method provided in an embodiment of this specification. Figure 3 As shown, it may include the following steps S201-S209.

[0074] S201, Obtain the 3D modeling data corresponding to each building in the target geographic area, as well as the regional image corresponding to the target geographic area;

[0075] In one embodiment, 3D modeling data corresponding to each building in a target geographic area is acquired. The target geographic area can be an area including at least one building, such as a cluster of buildings like a park, or it can be a single building. The building can be a multi-story building, a stadium, etc. The 3D modeling data can be modeling data used to represent the building's structure, specifically including modeling data for the building's rooms, corridors, stairwells, or elevator entrances, as well as corresponding staircases or elevators. A region image corresponding to the target geographic area is also acquired. The region image can include images of buildings in the target geographic area, passageways between buildings, and outdoor areas such as basketball courts.

[0076] Specifically, the 3D modeling data can include the relative positions of rooms, corridors, stairwells or elevator entrances on each floor of the building, as well as the size of the rooms, the distance between the doors of each room, the length of the corridors, etc.

[0077] S202, Generate an outdoor road network based on outdoor paths in the regional image;

[0078] In one embodiment, paths between buildings and passages in the outdoor area are acquired from the regional image. These outdoor paths are used as paths in the outdoor road network, and the entrances and exits of the outdoor area are used as nodes in the outdoor road network. The outdoor paths can be any paths in the regional image other than those within buildings, and the outdoor road network can be any road network in the regional image other than the building road network. For example, other road networks can be road networks connecting different buildings in the regional image, or road networks corresponding to open-air areas such as playgrounds or sports fields. The roads in the outdoor area can be pre-defined paths for walking within the outdoor area. For example, if the outdoor area is a basketball court, the outdoor paths can be paths surrounding the basketball court, and any corner of the basketball court can serve as an entrance or exit for the outdoor area. The specific settings can be configured according to the actual situation.

[0079] S203 connects the outdoor road network and the first-floor road network corresponding to the first floor of each building, and connects the building road networks corresponding to each floor of each building to generate the road network structure corresponding to the target geographical area.

[0080] In one embodiment, after obtaining the outdoor road network and the building road network of each floor in each building, the access nodes corresponding to the entrances and exits in the outdoor road network are connected to the access nodes of the first-floor road network corresponding to the first floor in each building, and the access nodes of the building road network corresponding to each floor in each building are connected respectively to generate the road network structure corresponding to the target geographical area. This enables communication between each building and each outdoor site, as well as between each floor in each building, to obtain a road network structure that allows any node to reach any other node. The node can be a point used to form the road network structure, such as a room in a floor, any area in a corridor, etc.

[0081] Access nodes can be nodes corresponding to entrances and exits of outdoor areas, as well as nodes such as stairwells and elevator entrances in buildings used for entering and exiting floors, and nodes of access facilities such as stairs or elevators connecting various stairwells or elevator entrances to floors. When an elevator entrance is used as a access node, if there are two or more elevators at the same location, all elevators are considered as one access node. It is understood that an outdoor area and a building floor can include one or more entrances and exits; therefore, the corresponding outdoor road network and building road network include one or more access nodes.

[0082] S204, extract the traffic nodes in the road network structure and map them onto the planar graph. Connect each traffic node based on the road network structure to obtain the graph data structure corresponding to the road network structure.

[0083] In one embodiment, after obtaining the road network structure of the target geographical area, the access nodes in the road network structure are extracted, and the positional relationship between each access node in the road network structure is mapped onto a planar graph. The access nodes are then connected based on the positional relationship between each access node in the road network structure to obtain the graph data structure corresponding to the road network structure. The graph data structure can be a planar structural graph representing each node and path in the road network structure.

[0084] For example, connecting the access nodes based on their positional relationships can be as follows: Figure 4 As shown, Figure 4 Building 1 includes access nodes A1 and B1 on the first floor, access nodes A2 and B2 on the second floor, access nodes A3 and B3 on the third floor, and elevators or stairs T1 and T2 in the building. Building 2 includes access nodes C1 and D1 on the first floor, access nodes C2 and D2 on the second floor, access nodes C3 and D3 on the third floor, and elevators or stairs T3 and T4 in the building. The access nodes of each floor in the road network structure are connected, and the floors are connected through access nodes such as elevators or stairs. Then the access nodes of the first floor of each building are connected to obtain the graph data structure corresponding to the road network structure.

[0085] S205, determine the adjacency relationship of each passable node in the graph data structure, and obtain the node distance between each passable node that is in an adjacent state, indicating the adjacency relationship.

[0086] In one embodiment, the adjacency relationship of each access node in the graph data structure is determined based on the positional relationship between each access node in the graph data structure. The adjacency relationship indicates the node distance between each access node in an adjacent state. The adjacency relationship can be used to characterize the adjacent state between access nodes. There are no other access nodes between access nodes in an adjacent state. The node distance can be a numerical value used to characterize the distance between two adjacent access nodes. Each adjacent access node is an access node in the road network structure that is around and connected to the access node.

[0087] Specifically, the method for obtaining the node distance between adjacent access nodes can be as follows: Based on the node type of each access node, determine the distance weight between access nodes in the adjacent state that indicates the adjacency relationship. The node type can be used to represent different types of access nodes, such as fixed access nodes and facility access nodes. Fixed access nodes can be entrances and exits in outdoor areas, or stairwells in buildings, while facility access nodes can be stairs or elevators. Based on the distance weight and the geographical distance between each access node, determine the node distance between each adjacent access node. It can be understood that since the time required to go up or down stairs or elevators is different from the time required to walk the same distance on flat ground, the node type of the access node can reduce the impact caused by stairs or elevators, and improve the accuracy of the determined node distance. The distance weight can be used to convert the geographical distance between access nodes into node distance. The geographical distance can be the actual distance between the access nodes, such as 10 meters. The node distance can be the numerical value used by the access nodes in the graph data structure to represent the distance between access nodes.

[0088] For example, the distance weight between access nodes on the same floor can be 1:1. If the geographical distance is 1 meter, the node distance on the graph data structure is 1. If the access node type is a facility access node, and the facility access node is a staircase, the corresponding distance weight can be 1:5, with a geographical distance of 1 meter and a node distance of 5 on the graph data structure. If the access node type is a facility access node, and the facility access node is an elevator, the corresponding distance weight can be 5:1, with a geographical distance of 5 meters and a node distance of 1 on the graph data structure. The specific value of the distance weight can be set according to the actual situation. It can be understood that, in addition to setting the distance weight based on geographical distance, it can also be set according to the guidance bias requirements. For example, the distance weight of the recommended elevator can be compared with the distance weight of the not recommended elevator, and the corresponding distance weight can be set accordingly. The specific setting can be based on the actual situation. The guidance bias requirements can be used to guide users to choose access nodes, such as guiding users to use passenger elevators instead of freight elevators.

[0089] S206, Based on the node distance between each passing node, obtain the first passing path between any two passing nodes in the graph data structure, and the path distance corresponding to each first passing path;

[0090] In one embodiment, for any two access nodes in a graph data structure, such as selecting any two access nodes in the graph data structure, the first access node and the second access node, the first access path can be the path in the graph data structure that the first access node can reach the second access node. Based on the node distance between each access node, the path distance corresponding to each first access path is obtained. The path distance can be the distance required to reach the second access node from the first access node in each first access path.

[0091] Specifically, a feasible method for obtaining the first travel path and path distance is as follows: traverse each travel node in the graph data structure, determine at least one first travel path between any two travel nodes in the graph data structure, and calculate the sum of the node distances of each travel node in each first travel path based on the node distance between each travel node, thereby obtaining the path distance corresponding to each first travel path.

[0092] It is understandable that each node in the first path will only be traversed once, thus avoiding the repeated traversal of the same node when calculating the first path, which would result in an invalid first path. The method for generating the first path can be set according to the actual situation.

[0093] For example, such as Figure 5 As shown, Figure 5 First, obtain the node distance between each passable node, then obtain the path distance corresponding to the first passable path between any two passable nodes. For example, select... Figure 5 In the given information, nodes A2 and C2 are the nodes whose path distance needs to be calculated. The first path from node A2 to node C2 and the corresponding path distance can be: the path distance of the first path "A2, T1, A1, C1, T3, C2" is "2+13+2=17", the path distance of the first path "A2, T1, A1, B1, C1, T3, C2" is "2+10+12+2=26", the path distance of the first path "A2, B2, T2, B1, C1, T3, C2" is "10+15+12+2=39", and the path distance of the first path "A2, T1, A1, D1, T4, D2, C2" is "2+16+15+9=42", etc. It should be noted that the facility access nodes "T1, T2, T3 and T4" are staircases or elevators connecting adjacent floors. Therefore, the node distance moved from A2 to A1 is "2" between "A2, T1 and A1". The method for calculating the node distance of other facility access nodes can refer to this example.

[0094] Furthermore, after generating the first access path and the path distances of each access path, the first access path and the path distances of each access path are stored in the terminal device, and the folder containing the first access path and the path distances are marked according to the area label of the target geographic area. The area label can be an identifier used to identify the target geographic area, such as the name of the park when the target geographic area is a park.

[0095] S207, in response to the path navigation command, obtains the graph data structure of the target geographic region where the starting node is located, as well as the location data of the starting node and the destination node;

[0096] In one embodiment, after a user performs a navigation operation to input a destination node on a terminal device, the terminal device generates a path navigation instruction in response to the navigation operation, and obtains the starting node where the terminal device is currently located in response to the path navigation instruction. Based on the target geographical region where the starting node is located, the terminal device obtains the graph data structure of the target geographical region, as well as the location data of the starting node and the destination node. The location data can be used to characterize the positions of the starting node and the destination node on the graph data structure.

[0097] The starting node and the destination node can be any two nodes in the target geographical area in the path navigation command. The starting node can be determined by obtaining the user's current location based on the positioning function attached to the terminal device and determining the current location as the starting node; or it can be determined based on the starting address entered by the user.

[0098] S208, Based on location data and each first travel path pre-determined in the graph data structure, determine the target travel path from the starting node to the destination node in the graph data structure;

[0099] In one embodiment, the determined location data includes first location data corresponding to the starting node and second location data corresponding to the destination node. Each first travel path is obtained in advance in the graph data structure. Based on the first location data, the second location data, and the path distance of each first travel path, a target travel path from the first location data to the second location data in the graph data structure is determined. The target travel path can be the second travel path with the shortest travel distance. The second travel path is the travel path from the starting node to the destination node.

[0100] Specifically, the method for determining the target travel path can be as follows: based on the first location data and the second location data, and each of the pre-determined first travel paths, determine at least one second travel path from the first location data to the second location data in the graph data structure; based on the path distance of each first travel path and the movement distance from the first location data to each first travel path, determine the travel distance corresponding to each second travel path; the movement distance can be the distance from the first location data to the travel node closest to the first location data in each first travel path; determine the shortest travel distance among all travel distances; and determine the second travel path corresponding to the shortest travel distance as the target travel path.

[0101] For example, such as Figure 6 As shown, the first location data "M" is the node located 2 units away from node A2 in the building where A2 and B2 are located, and the second location data "N" is the node located 3 units away from node C2 in the building where C2 and D2 are located. Figure 6 This includes multiple second travel paths from A2 to C2. The path distance corresponding to each first travel path is obtained, along with the travel distance from the starting node to each first travel path. This yields the second travel path from the first location data to the second location data. Finally, the target travel path with the shortest travel distance among the second travel paths is determined. For example... Figure 6 The travel distance between "A2, T1, A1, C1, T3, C2" is 17. Figure 6 In the graph data structure, the first path with the shortest travel distance from A2 to C2 is the target path. The travel distance from the first position data to A2 is 2, and the travel distance from C2 to the second position data is 3. Therefore, the target path is "M, A2, T1, A1, C1, T3, C2, N", and the travel distance of the target path is 22.

[0102] One feasible method for calculating the first travel path with the shortest travel distance is to use the Dixtra algorithm, or other algorithms can be used, depending on the actual situation.

[0103] S209, Generate a navigation path in the navigation map corresponding to the target geographical area based on the target travel path;

[0104] In one embodiment, after obtaining the target travel path from the starting node to the destination node, a navigation map corresponding to the target geographical area is obtained. The navigation map can be a 3D map corresponding to the target geographical area. The starting node, the destination node, and each target travel node included in the target travel path are determined in the navigation map. Each target travel node is connected to generate a navigation path corresponding to the target travel path. The navigation path can be the shortest travel path from the starting node to the destination node.

[0105] Understandably, since the target geographic area is an area that includes at least one building, if the target geographic area includes more than five buildings or has a complex internal structure, it may be difficult for users to reach their destination quickly and accurately. Therefore, displaying the navigation path from the starting node to the destination node on a three-dimensional navigation map can provide users with a clear and intuitive navigation path, improve the user experience when using a three-dimensional navigation map, and enhance the accuracy and intuitiveness of the navigation path.

[0106] For example, such as Figure 7 As shown, Figure 7 The navigation map corresponding to the target geographical area includes Building 1, Building 2, starting node M, and destination node N. Based on the target travel path "M, A2, T1, A1, C1, T3, C2, N", the starting node, destination node, and each travel node are determined in the navigation map. The travel nodes are connected sequentially according to the order of the target travel path to generate the navigation path corresponding to the target travel path.

[0107] In the embodiments of this specification, the building road network and outdoor road network of the buildings in the target geographical area are determined based on the 3D modeling data of the buildings in the target geographical area. The road network structure corresponding to the target geographical area is obtained based on the building road network and outdoor road network. The road network structure is mapped into a planar graph data structure, and the structural parameters corresponding to the graph data structure are obtained. Thus, by converting the 3D data of the target geographical area into planar data, and calculating the structural parameters of the graph data structure corresponding to the target geographical area based on the planar data, the distances between each access node in the target geographical area and the path distances corresponding to the selectable access paths are determined. This facilitates the generation of corresponding 3D navigation paths based on the structural parameters of the target geographical area, enabling navigation of buildings in the target geographical area and improving the accuracy and efficiency of the navigation path. Furthermore, by setting corresponding distance weights based on the node type of the access nodes, the accuracy of the calculated node distances is improved. Further, by responding to path navigation commands to obtain the starting and destination nodes, and then determining the shortest target access path from the starting node to the destination node based on a pre-determined first access path, a corresponding navigation path is generated in the navigation map of the target geographical area. This provides users with the ability to view the navigation path from the starting node to the destination node in a 3D map, improving the user experience of viewing navigation paths and enhancing the accuracy and efficiency of generating navigation paths.

[0108] based on Figure 1 The system architecture shown below will be combined with... Figure 8 and Figure 9 This specification provides a detailed description of the navigation structure generation apparatus provided in the embodiments. It should be noted that... Figure 8 The navigation structure generation device in the specification is used to execute the embodiments described herein. Figures 2 to 7 The methods shown in the embodiments are illustrated for ease of explanation, showing only the parts related to the embodiments of this specification. For specific technical details not disclosed, please refer to the embodiments of this specification. Figures 2 to 7 The example shown.

[0109] Please see Figure 8 This is a schematic diagram of a navigation structure generation device provided in an embodiment of this specification. Figure 8 As shown, the navigation structure generation device 1 in the embodiments of this specification may include: a data acquisition unit 11, a road network structure generation unit 12, and a graph data structure generation unit 13.

[0110] The data acquisition unit 11 is used to acquire the 3D modeling data of each building in the target geographic area, as well as the regional image of the target geographic area.

[0111] The road network structure generation unit 12 is used to determine the building road network of at least one floor in each building based on the 3D modeling data, and to generate the road network structure of the target geographic area based on the outdoor road network in the regional image and the road network of each building. The outdoor road network is the road network other than the building road network in the regional image.

[0112] The graph data structure generation unit 13 is used to map the road network structure into a planar graph data structure and obtain the structure parameters corresponding to the graph data structure. The structure parameters include the node distance between adjacent passing nodes, the first passing path between any two passing nodes in the graph data structure, and the path distance corresponding to each first path.

[0113] A passage node is a node in the road network structure that connects different floors in a building. Adjacent passage nodes are passage nodes in the road network structure that are around and connected to the passage node.

[0114] Optionally, the road network structure generation unit 12 is also used for:

[0115] An outdoor road network is generated based on outdoor paths in the regional image, where outdoor paths are other paths in the regional image excluding those included within buildings.

[0116] Connect the outdoor road network with the first-floor road network corresponding to the first floor of each building, and connect the building road networks corresponding to each floor of each building to generate the road network structure corresponding to the target geographical area.

[0117] Optionally, the graph data structure generation unit 13 is also used for:

[0118] Extract the traffic nodes in the road network structure and map them onto the planar graph. Connect each traffic node based on the road network structure to obtain the graph data structure corresponding to the road network structure.

[0119] Determine the adjacency relationship of each passable node in the graph data structure, and obtain the node distance between each passable node that is in an adjacent state, indicating the adjacency relationship.

[0120] Based on the node distances between each passing node, the first passing path between any two passing nodes in the graph data structure is obtained, as well as the path distances corresponding to each first passing path.

[0121] Optionally, the graph data structure generation unit 13 is also used for:

[0122] Based on the node type of each access node, determine the distance weight between access nodes that are in an adjacent state, indicating the adjacency relationship.

[0123] The node distance between adjacent nodes is determined based on distance weights and the geographical distance between each access node.

[0124] Optionally, the graph data structure generation unit 13 is also used for:

[0125] Traverse each passable node in the graph data structure to determine at least one first passable path between any two passable nodes in the graph data structure;

[0126] Based on the node distances between each passage node, the sum of the node distances of each passage node in each first passage path is calculated to obtain the path distance corresponding to each first passage path.

[0127] Optional, such as Figure 9 As shown, the navigation structure generation device 1 further includes:

[0128] The instruction response unit 14 is used to respond to the path navigation instruction to obtain the graph data structure of the target geographic area where the starting node is located, as well as the location data of the starting node and the destination node. The starting node and the destination node can be any two nodes in the target geographic area in the path navigation instruction.

[0129] The target path generation unit 15 is used to determine the target path from the starting node to the destination node in the graph data structure based on the location data and each first path determined in advance in the graph data structure. The target path is the second path with the shortest travel distance, and the second path is the travel path from the starting node to the destination node.

[0130] The navigation path generation unit 16 is used to generate a navigation path in the navigation map corresponding to the target geographical area based on the target travel path. The navigation map is a three-dimensional map corresponding to the target geographical area.

[0131] Optionally, the target path generation unit 15 is also used for:

[0132] Based on the first location data and the second location data, and each of the predetermined first passage paths, at least one second passage path from the first location data to the second location data is determined in the graph data structure;

[0133] Based on the path distance of each first passage path and the movement distance from the first location data to each first passage path, the passage distance corresponding to each second passage path is determined;

[0134] Determine the shortest travel distance among all travel distances, and determine the second travel path corresponding to the shortest travel distance as the target travel path.

[0135] Optionally, the navigation path generation unit 16 is also used for:

[0136] Obtain the navigation map corresponding to the target geographical area, and determine the target access nodes in the target travel path in the navigation map;

[0137] Connect all target access nodes to generate the navigation path corresponding to the target access path.

[0138] In the embodiments of this specification, the building road network and outdoor road network of the buildings in the target geographical area are determined based on the 3D modeling data of the buildings in the target geographical area. The road network structure corresponding to the target geographical area is obtained based on the building road network and outdoor road network. The road network structure is mapped into a planar graph data structure, and the structural parameters corresponding to the graph data structure are obtained. Thus, by converting the 3D data of the target geographical area into planar data, and calculating the structural parameters of the graph data structure corresponding to the target geographical area based on the planar data, the distances between each access node in the target geographical area and the path distances corresponding to the selectable access paths are determined. This facilitates the generation of corresponding 3D navigation paths based on the structural parameters of the target geographical area, enabling navigation of buildings in the target geographical area and improving the accuracy and efficiency of the navigation path. Furthermore, by setting corresponding distance weights based on the node type of the access nodes, the accuracy of the calculated node distances is improved. Further, by responding to path navigation commands to obtain the starting and destination nodes, and then determining the shortest target access path from the starting node to the destination node based on a pre-determined first access path, a corresponding navigation path is generated in the navigation map of the target geographical area. This provides users with the ability to view the navigation path from the starting node to the destination node in a 3D map, improving the user experience of viewing navigation paths and enhancing the accuracy and efficiency of generating navigation paths.

[0139] This specification also provides a computer storage medium that can store multiple program instructions, which are adapted to be loaded and executed by a processor as described above. Figures 1-7 The method steps of the illustrated embodiment can be found in the following documentation for detailed execution. Figures 1-7The specific details of the illustrated embodiments will not be elaborated here.

[0140] Please see Figure 10 This document provides a schematic diagram of the structure of an electronic device as an embodiment of the present specification. Figure 10 As shown, the electronic device 1000 may include: at least one processor 1001, such as a CPU; at least one network interface 1004; an input / output interface 1003; a memory 1005; and at least one communication bus 1002. The communication bus 1002 is used to enable communication between these components. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as at least one disk drive. Optionally, the memory 1005 may also be at least one storage device located remotely from the aforementioned processor 1001. Figure 10 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, an input / output interface module, and a navigation structure generation application.

[0141] exist Figure 10 In the electronic device 1000 shown, the input / output interface 1003 is mainly used to provide an input interface for the user and to obtain the user input data.

[0142] In one embodiment, processor 1001 can be used to call the navigation structure stored in memory 1005 to generate an application, and specifically perform the following operations:

[0143] Obtain 3D modeling data of each building in the target geographic area, as well as regional images of the target geographic area;

[0144] Based on the 3D modeling data, the building road network of at least one floor in each building is determined. Based on the outdoor road network in the regional image and the road network of each building, the road network structure of the target geographic area is generated. The outdoor road network is the road network other than the building road network in the regional image.

[0145] Map the road network structure to a planar graph data structure, obtain the structural parameters corresponding to the graph data structure, including the node distance between adjacent passing nodes, the first passing path between any two passing nodes in the graph data structure, and the path distance corresponding to each first path.

[0146] A passage node is a node in the road network structure that connects different floors in a building. Adjacent passage nodes are passage nodes in the road network structure that are around and connected to the passage node.

[0147] Optionally, when the processor 1001 generates the road network structure of the target geographic area based on the outdoor road network and various building road networks in the regional image, it specifically performs the following operations:

[0148] An outdoor road network is generated based on outdoor paths in the regional image, where outdoor paths are other paths in the regional image excluding those included within buildings.

[0149] Connect the outdoor road network with the first-floor road network corresponding to the first floor of each building, and connect the building road networks corresponding to each floor of each building to generate the road network structure corresponding to the target geographical area.

[0150] Optionally, when the processor 1001 executes the graph data structure that maps the road network structure to a plane and obtains the structural parameters corresponding to the graph data structure, it specifically performs the following operations:

[0151] Extract the traffic nodes in the road network structure and map them onto the planar graph. Connect each traffic node based on the road network structure to obtain the graph data structure corresponding to the road network structure.

[0152] Determine the adjacency relationship of each passable node in the graph data structure, and obtain the node distance between each passable node that is in an adjacent state, indicating the adjacency relationship.

[0153] Based on the node distances between each passing node, the first passing path between any two passing nodes in the graph data structure is obtained, as well as the path distances corresponding to each first passing path.

[0154] Optionally, when the processor 1001 executes the operation of obtaining the distance between nodes in the adjacent state that indicate the adjacency relationship, it specifically performs the following operations:

[0155] Based on the node type of each access node, determine the distance weight between access nodes that are in an adjacent state, indicating the adjacency relationship.

[0156] The node distance between adjacent nodes is determined based on distance weights and the geographical distance between each access node.

[0157] Optionally, when the processor 1001 executes the operation to obtain the first travel path between any two travel nodes in the graph data structure based on the node distance between each travel node, and the path distance corresponding to each first travel path, it specifically performs the following operations:

[0158] Traverse each passable node in the graph data structure to determine at least one first passable path between any two passable nodes in the graph data structure;

[0159] Based on the node distances between each passage node, the sum of the node distances of each passage node in each first passage path is calculated to obtain the path distance corresponding to each first passage path.

[0160] Optionally, the processor 1001 also performs the following operations:

[0161] In response to a path navigation command, obtain the graph data structure of the target geographic region where the starting node is located, as well as the location data of the starting node and the destination node. The starting node and the destination node can be any two nodes in the target geographic region specified in the path navigation command.

[0162] Based on location data and each first travel path pre-determined in the graph data structure, a target travel path from the starting node to the destination node is determined in the graph data structure. The target travel path is the second travel path with the shortest travel distance, and the second travel path is the travel path from the starting node to the destination node.

[0163] A navigation path is generated in the navigation map corresponding to the target geographical area based on the target travel path. The navigation map is a 3D map corresponding to the target geographical area.

[0164] Optionally, when the processor 1001 determines the target path from the starting node to the destination node in the graph data structure based on the location data and each first path pre-determined in the graph data structure, it specifically performs the following operations:

[0165] Based on the first location data and the second location data, and each of the predetermined first passage paths, at least one second passage path from the first location data to the second location data is determined in the graph data structure;

[0166] Based on the path distance of each first passage path and the movement distance from the first location data to each first passage path, the passage distance corresponding to each second passage path is determined;

[0167] Determine the shortest travel distance among all travel distances, and determine the second travel path corresponding to the shortest travel distance as the target travel path.

[0168] Optionally, when the processor 1001 generates a navigation path in the navigation map corresponding to the target geographical area based on the target travel path, it specifically performs the following operations:

[0169] Obtain the navigation map corresponding to the target geographical area, and determine the target access nodes in the target travel path in the navigation map;

[0170] Connect all target access nodes to generate the navigation path corresponding to the target access path.

[0171] In the embodiments of this specification, the building road network and outdoor road network of the buildings in the target geographical area are determined based on the 3D modeling data of the buildings in the target geographical area. The road network structure corresponding to the target geographical area is obtained based on the building road network and outdoor road network. The road network structure is mapped into a planar graph data structure, and the structural parameters corresponding to the graph data structure are obtained. Thus, by converting the 3D data of the target geographical area into planar data, and calculating the structural parameters of the graph data structure corresponding to the target geographical area based on the planar data, the distances between each access node in the target geographical area and the path distances corresponding to the selectable access paths are determined. This facilitates the generation of corresponding 3D navigation paths based on the structural parameters of the target geographical area, enabling navigation of buildings in the target geographical area and improving the accuracy and efficiency of the navigation path. Furthermore, by setting corresponding distance weights based on the node type of the access nodes, the accuracy of the calculated node distances is improved. Further, by responding to path navigation commands to obtain the starting and destination nodes, and then determining the shortest target access path from the starting node to the destination node based on a pre-determined first access path, a corresponding navigation path is generated in the navigation map of the target geographical area. This provides users with the ability to view the navigation path from the starting node to the destination node in a 3D map, improving the user experience of viewing navigation paths and enhancing the accuracy and efficiency of generating navigation paths.

[0172] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0173] The above-disclosed embodiments are merely preferred embodiments of this specification and should not be construed as limiting the scope of this specification. Therefore, any equivalent variations made in accordance with the claims of this specification shall still fall within the scope of this specification.

Claims

1. A method for generating a navigation structure, characterized in that, The method includes: Obtain 3D modeling data of each building in the target geographic area, as well as regional images of the target geographic area; Based on the stereo modeling data, the building road network of at least one floor in each of the buildings is determined. Based on the outdoor road network in the regional image and the road networks of each building, the road network structure of the target geographic area is generated. The outdoor road network is the other road networks in the regional image besides the building road networks. The road network structure is mapped to a planar graph data structure, and the structural parameters corresponding to the graph data structure are obtained. The structural parameters include the node distance between adjacent passage nodes, the first passage path between any two passage nodes in the graph data structure, and the path distance corresponding to each first path. The access node is a node in the road network structure that connects different floors in the building, and each adjacent access node is a access node in the road network structure that is around and connected to the access node.

2. The method according to claim 1, characterized in that, The process of generating the road network structure of the target geographic area based on the outdoor road network and the building road networks in the regional image includes: An outdoor road network is generated based on the outdoor paths in the regional image, wherein the outdoor paths are other paths in the regional image besides those included within the building. Connect the outdoor road network and the first-floor road network corresponding to the first floor of each building, and connect the building road networks corresponding to each floor of each building to generate the road network structure corresponding to the target geographical area.

3. The method according to claim 1, characterized in that, The process of mapping the road network structure to a planar graph data structure and obtaining the structural parameters corresponding to the graph data structure includes: The traffic nodes in the road network structure are extracted and mapped onto a planar graph. Based on the road network structure, each traffic node is connected to obtain the graph data structure corresponding to the road network structure. Determine the adjacency relationship of each of the access nodes in the graph data structure, and obtain the node distance between each access node that is in an adjacent state according to the adjacency relationship; Based on the node distance between each of the aforementioned access nodes, a first access path between any two of the access nodes in the graph data structure is obtained, as well as the path distance corresponding to each of the first access paths.

4. The method according to claim 3, characterized in that, The step of obtaining the distance between the nodes in the adjacent relationship indication state includes: Based on the node type of each of the access nodes, the distance weight between the access nodes that are in an adjacent state is determined according to the adjacency relationship indicator. Based on the distance weights and the geographical distances between the access nodes, the node distances between adjacent access nodes are determined.

5. The method according to claim 3, characterized in that, The method of obtaining a first travel path between any two travel nodes in the graph data structure based on the node distance between each of the travel nodes, and the path distance corresponding to each first travel path, includes: Traverse each of the access nodes in the graph data structure to determine at least one first access path between any two access nodes in the graph data structure; Based on the node distances between each of the aforementioned access nodes, the sum of the node distances of each of the aforementioned access nodes in each of the first access paths is calculated to obtain the path distance corresponding to each of the first access paths.

6. The method according to claim 1, characterized in that, The method further includes: In response to a path navigation command, the graph data structure of the target geographic region where the starting node is located is obtained, as well as the location data of the starting node and the destination node. The starting node and the destination node can be any two nodes in the target geographic region in the path navigation command. Based on the location data and each first travel path pre-determined in the graph data structure, a target travel path from the starting node to the destination node is determined in the graph data structure. The target travel path is the second travel path with the shortest travel distance, and the second travel path is the travel path from the starting node to the destination node. A navigation path is generated in the navigation map corresponding to the target geographical area based on the target travel path, and the navigation map is a three-dimensional map corresponding to the target geographical area.

7. The method according to claim 6, characterized in that, The location data includes first location data corresponding to the starting node and second location data corresponding to the destination node. Determining the target travel path from the starting node to the destination node in the graph data structure based on the location data and each first travel path pre-determined in the graph data structure includes: Based on the first location data and the second location data, and each of the predetermined first travel paths, at least one second travel path from the first location data to the second location data is determined in the graph data structure; Based on the path distance of each of the first travel paths and the movement distance from the first location data to each of the first travel paths, the travel distance corresponding to each of the second travel paths is determined; The shortest travel distance among the various travel distances is determined, and the second travel path corresponding to the shortest travel distance is determined as the target travel path.

8. The method according to claim 6, characterized in that, The step of generating a navigation path in the navigation map corresponding to the target geographical area based on the target travel path includes: Obtain the navigation map corresponding to the target geographical area, and determine each target access node in the target travel path in the navigation map; Connect each of the target access nodes to generate a navigation path corresponding to the target access path.

9. A navigation structure generation device, characterized in that, The device includes: The data acquisition unit is used to acquire the 3D modeling data of each building in the target geographic area, as well as the regional image of the target geographic area. A road network structure generation unit is used to determine the building road network of at least one floor in each of the buildings based on the three-dimensional modeling data, and to generate the road network structure of the target geographic area based on the outdoor road network in the regional image and the building road networks, wherein the outdoor road network is other road networks in the regional image besides the building road networks. The graph data structure generation unit is used to map the road network structure into a planar graph data structure, obtain the structure parameters corresponding to the graph data structure, and the structure parameters include the node distance between adjacent passing nodes, the first passing path between any two passing nodes in the graph data structure, and the path distance corresponding to each first path. The access node is a node in the road network structure that connects different floors in the building, and each adjacent access node is a access node in the road network structure that is around the access node and connected to the access node.

10. A computer storage medium storing a plurality of instructions adapted for loading by a processor and executing the steps of the method as claimed in any one of claims 1 to 8.

11. An electronic device, comprising: A processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the steps of the method as claimed in any one of claims 1 to 8.

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