CN108958234A - Path planning system and planing method in a kind of hot spot large size museum - Google Patents
Path planning system and planing method in a kind of hot spot large size museum Download PDFInfo
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- CN108958234A CN108958234A CN201810274578.4A CN201810274578A CN108958234A CN 108958234 A CN108958234 A CN 108958234A CN 201810274578 A CN201810274578 A CN 201810274578A CN 108958234 A CN108958234 A CN 108958234A
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- 238000001514 detection method Methods 0.000 claims abstract description 53
- 238000004891 communication Methods 0.000 claims abstract description 11
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
Path planning system and planing method in a kind of hot spot large size museum, path planning system includes multiple path detection devices in hot spot large size museum, each path detection device includes surveying digital-to-analogue block, mobile detection module and processor, processor data processing, communication module is connected with central computer, the order of the central computer received is sent to lighting control module and audio frequency control module by processing by communication module simultaneously, lighting control module controls the light on and off of corresponding lamps and lanterns, audio frequency control module can control the broadcasting of corresponding audio and can be with actual conversation；After central computer calculates outbound path, the corresponding path detection device of these nodes is found out, and successively gradually send bright light and audio play command to the path detection device of corresponding address.The system can rationally be carried out path planning and be navigated using light in hot spot large size museum, be more easier to guide tourist, reached safe and efficient, energy saving, ideal effect.
Description
Technical field
The present invention relates to path planning system and planing methods in a kind of hot spot large size museum.
Background technique
The exhibition of many hot spot large size museums domestic at present is extremely hot, it occur frequently that various congestions, some exhibition sections are extremely
Congestion, and some exhibition section visitors are rare and visitor does not know.
After existing tourist enters hot spot large size museum, specific path also needs tourist oneself to select, and can gather around because of a variety of causes
It blocks up or detours, often result in time and space resources waste.
In addition, possessing a large amount of illuminator in hot spot large size museum, their reasonable control rises emphatically to electric energy is saved
The effect wanted.Traditional method mainly uses the overall switch of street lamp in hot spot large size museum, totally controls in hot spot large size museum
The lamp switched or all light or full pass are made, is wasted and not environmentally friendly enough.
Summary of the invention
To solve the shortcomings of the prior art, the invention discloses path planning system in a kind of hot spot large size museum and
Planing method, the system can rationally be carried out path planning and be navigated using light in hot spot large size museum, make tourist,
Light, path and museum combine, and are more easier to guide tourist, have reached safe and efficient, energy-efficient ideal effect.
To achieve the above object, concrete scheme of the invention is as follows:
Path planning system and planing method in a kind of hot spot large size museum, path planning system in hot spot large size museum
Including the multiple path detection devices being mounted in hot spot large size museum, each path detection device includes for detecting number
Survey digital-to-analogue block, for detecting the mobile detection module and processor of tourist's moving condition, processor, which receives, surveys digital-to-analogue block and shifting
The data of dynamic detection module acquisition simultaneously will be uploaded to central computer by communication module after data processing, while communication module will
The order of the central computer received is sent to lighting control module and audio frequency control module, signal light control mould by processing
Block controls the light on and off of corresponding lamps and lanterns, and audio frequency control module can control the broadcasting of corresponding audio and can be with actual conversation；
After central computer calculates outbound path, the node in path is sequentially listed by from the sequence of origin-to-destination, then finds out
The corresponding path detection device of these nodes, and successively bright light and audio are gradually sent to the path detection device of corresponding address
Play command；
It is characterized in that, comprising the following steps:
Step 1: after tourist enters the hot spot large size museum gate exhibition section Nei Ge, central computer by path detection device survey number
After device identifies each exhibition section tourist number information, judge to determine each exhibition section whether congestion, determine congestion exhibition section, non-congestion exhibition
Area；If the exhibition section of congestion is starting point, terminal is the exhibition section of non-congestion；
Step 2: central computer generates road topology figure according to the actual conditions of hot spot large size museum, obtains starting point D and terminal
The coordinate of E and figure interior joint obtain road section length between each node；
Step 3: being scanned for using Dijkstra's algorithm, provides one from initial point D to target point E shortest path；
Step 4: central computer transmits the information come up according to path detection device, judges initial point D museum or target point E
Whether museum's number reaches threshold, if D museum has arrived at threshold, then it represents that D museum congestion status has released, path
Planning has been completed, and sends instruction of turning off the light to museum's node；If E museum has arrived at threshold, E museum number is more than enough, no
Crowd is imported again, and path planning has been completed；If not yet reaching target museum, five are entered step；
Step 5: central computer transmits the information come up according to path detection device at node, and judgement will advance described
Whether the section of shortest path has congestion, such as do not have congestion, then use the section, to subsequent section node transmission turn on light and
Audio play instruction turns off the light and audio out code to the section node transmission left, and subsequent node has been set as
Point；Otherwise this section, return step three are rejected；
It is scanned in the step 3 using Dijkstra's algorithm, direction is S-- > T specific steps are as follows:
Point E is set as starting point S by (3-1), and assigning final value is 0；Point D is set as terminal T；
(3-2) assigns Y nonce, Y be with the point that just obtains final value, X, the point being connected directly:
(01) Y nonce=X final value+section XY weight；
(02) such as Y has had nonce, then only when new nonce is smaller, assigns the new nonce of Y again；
(03) if a point is already endowed with final value, its nonce is not considered further that；
(3-3) selects the smallest point of nonce from all points for having obtained nonce and not obtained final value, assigns the final value, if
Two points have identical minimum nonce, more optionally；
(3-4) repeats step (3-2) and (3-3) until terminal T is endowed final value；
(3-5) from T to S recall, determine section: it is assumed that have determined point B on path, if: final value=road of the final value-A of B
The weight of section AB, then take the section AB；
(3-6) lists in the section from S to T and node one by one to get to S-- > T shortest path.
Each path detection device has a unique IP address for being different from other path detection devices.
The path detection device is mountable on two side ceiling of road or wall or on ground or guardrail.
The lamps and lanterns of bright light navigation are used in two side of road, positioned at two sides of institute's traveling lane；It specifically include being located at road
On the two side ceilings or wall on road or on ground or guardrail.
Path detection device and lamps and lanterns positioned adjacent.
Path detection device and audio devices positioned adjacent.
The topological diagram interior joint includes Actual path intersection point, exhibition section doorway, museum's front door, is disposed at each node
There is path detection device.
The weight in the section in the topological diagram between each pair of node is the length in corresponding practical section.
Each path detection device has some information for belonging to its own, including IP address, installation site, initial shape
Road section length etc. between state, adjacent node, these information are stored in table form in itself chip, and central computer calls these
Information can be generated road topology figure, tourist in the hot spot large size museum that central computer is uploaded by analysis path detection device
Real time information, know the real-time traffic states in hot spot large size museum (as currently by planning the location of tourist, hot spot
Which position gets congestion in large-scale museum), topological diagram is updated accordingly, and according to the topological diagram of update, calculates corresponding road
Diameter, the traffic behavior in hot spot large size museum are continually changing, and topological diagram can also be constantly updated accordingly, central computer
Path can be adjusted in time according to the topological diagram of update.
After tourist enters the hot spot large size museum gate exhibition section Nei Ge, central computer is passed according to the last path detection device
The information in hot spot large size museum come up, after identifying each exhibition section tourist number information, judge to determine each exhibition section, road whether
Congestion determines congestion exhibition section, non-congestion exhibition section；If the exhibition section of congestion is starting point, terminal is the exhibition section of non-congestion；It is big to generate hot spot
Type museum topological diagram,
Central computer is that tourist plans an initial path, is then carried out according to the Real-time Traffic Information in hot spot large size museum
Path adjustment, avoids tourist from getting congestion.After central computer provides pass, to the path detection device on path
Control command is sent, path is realized in a manner of light navigation.
It can be using the colourama that is visually clear to as the light of range light, when the route of navigation is more, for not going the same way
The route of line, while the light lighted should be different；It should be always with same face for the same route light color
Color.It, can be real-time with central computer controllers when tourist does not know that path is moved towards additionally as the audio devices of feedback
Dialogue, need to only touch audio talkback device the corresponding button at this time, can line inquiry；When audio device plays direction of advance instructs
Pitch, audio open and close can be remotely controlled, the corresponding button can also be adjusted nearby；When two lines are navigated simultaneously, if path
There is juxtaposition audio playing apparatus that may interfere with each other, can choose closing audio playing apparatus at this time, namely changes automatic
Play mode is to play manually, namely when tourist needs voice prompting to navigate, touch to application products device broadcast button, obtain
Command adapted thereto.
Beneficial effects of the present invention:
The application can rationally be carried out path planning and be navigated using light in hot spot large size museum, and tourist, light, road are made
The disposition of diameter and museum combines, and has reached convenient to visitor's maximum, has maximally utilized museum；In addition also reach road
Unimpeded, safe, energy-efficient ideal effect；It in the past can be with automatic configuration by the museum's number distribution artificially controlled；It is in the past big
The case where amount security personnel set out to guarantee tourist security is greatly taken on a new look, when calculating path, based on Dijkstra's algorithm, in conjunction with
Hot spot large size museum's actual conditions and real-time road are calculated, and redundant computation can be reduced, and improve operation efficiency.It calculates
The path come, is led eventually by the cooperation of central computer and path detection device by the light on and off of corresponding lamps and lanterns with light
The form of boat is realized.
The present invention is the core algorithm for exploring path with Dijkstra's algorithm, in specific searching route, considers that enlightening is outstanding
The special nature of Si Tela algorithm, after a paths S-- > T is calculated via algorithm, in fact, all the points in addition to starting point S
Shortest path to S has all provided together namely S comes out to the shortest path to any node, so, this algorithm is ingenious
This characteristic is applied repeatedly, is changed terminal T when road there are the situations such as congestion, can be greatly reduced the roading time, it is practical
Searching path time it is only primary, only final step backtracking, which has when providing specific section node, a little calculates, so navigation
It is very fast accurate, smooth, efficient.
Detailed description of the invention
Fig. 1 is path detection schematic device of the present invention；
Fig. 2 is that a flow chart shows paths planing method；
In figure, 12 communication modules, 13 survey digital-to-analogue block, 14 mobile detection modules, 15 lighting control modules, 16 processors.17 audios
Control module
Specific embodiment:
The present invention is described in detail with reference to the accompanying drawing:
Path detection device is mounted on adjacent lamp in hot spot large size museum, a hot spot in hot spot large size museum in this example
It include several such devices in large-scale museum.Each device has a unique address.
Fig. 1 shows path detection device figure according to an embodiment of the present invention.One path detection device includes a communication module
12, one digital-to-analogue block 13, one mobile detection module 14, a lighting control module 15, a processor 16, audio frequency control module 17 are surveyed.
The specific number that digital-to-analogue block 13 obtains a certain museum's a certain moment in hot spot large size museum is surveyed, collaboration mobile monitoring module 14 obtains
Congestion in road situation.Mobile monitoring module 14 measures certain section movement speed, when less than a threshold, is determined as congestion, no
It is then unobstructed；The information that communication module 12 is mainly used for that digital-to-analogue block 13 will be surveyed, mobile detection module 14 obtains passes through processor 16
It is uploaded to central computer after processing, and receives the control command that central computer issues.Lighting control module 15 can root
According to the light on and off of control command control lamps and lanterns and the Push And Release of audio player.Processor 16, which can control, to be surveyed digital-to-analogue block 13, moves
The work of dynamic detection module 14, and the information that they are obtained is handled, center calculation is uploaded to by communication module 12
Machine, at the same it by the order for the central computer that communication module 12 receives by processing be sent to lighting control module 15 with
And audio frequency control module 17, complete corresponding control task.These modules may be by prior art realization, path detection
Device combines these functions together by these modules.
Central computer firstly generates road topology figure when calculating path.Path is visited at each node on topological diagram
Survey device.
The node being distributed on topological diagram includes: Actual path intersection point, exhibition section doorway, museum's front door.
Fig. 2 is the paths planning method of display according to an embodiment of the present invention.
Step 1: after tourist enters the hot spot large size museum gate exhibition section Nei Ge, central computer is by path detection device
Survey after counting apparatus identifies each exhibition section tourist number information, judge to determine each exhibition section whether congestion, determine congestion exhibition section, non-congestion
Exhibition section；If the exhibition section of congestion is starting point, terminal is the exhibition section of non-congestion；Such as step s1, determine beginning and end, obtain starting point and
The coordinate of terminal；
Step 2: central computer generates road topology figure according to the actual conditions of hot spot large size museum, obtains starting point D and terminal
The coordinate of E and figure interior joint obtain road section length between each node；
Step 3: being scanned for using Dijkstra's algorithm, provides one from initial point D to target point E shortest path；Such as
Step s2, scans for,
Direction is S-- > T specific steps are as follows:
Point E is set as starting point S by (3-1), and assigning final value is 0；Point D is set as terminal T；
(3-2) assigns Y nonce, Y be with the point that just obtains final value, X, the point being connected directly:
(01) Y nonce=X final value+section XY weight；
(02) such as Y has had nonce, then only when new nonce is smaller, assigns the new nonce of Y again；
(03) if a point is already endowed with final value, its nonce is not considered further that；
(3-3) selects the smallest point of nonce from all points for having obtained nonce and not obtained final value, assigns the final value, if
Two points have identical minimum nonce, more optionally；
(3-4) repeats step (3-2) and (3-3) until terminal T is endowed final value；
(3-5) from T to S recall, determine section: it is assumed that have determined point B on path, if: final value=road of the final value-A of B
The weight of section AB, then take the section AB；
(3-6) lists in the section from S to T and node one by one to get to S-- > T shortest path.
Step 4: central computer transmits the information come up according to path detection device, judges initial point D museum or target
Whether point E museum number reaches threshold, if D museum has arrived at threshold, then it represents that D museum congestion status has released, road
Diameter planning has been completed, and sends instruction of turning off the light to museum's node；If E museum has arrived at threshold, E museum number is more than enough,
Crowd is no longer imported, path planning has been completed；If not yet reaching target museum, five are entered step；
Step 5: central computer transmits the information come up according to path detection device at node, and judgement will advance described
Whether the section of shortest path has congestion, such as do not have congestion, then use the section, to subsequent section node transmission turn on light and
Audio play instruction turns off the light and audio out code to the section node transmission left, and subsequent node has been set as
Point；Otherwise this section, return step three are rejected；Recalculate a new route.
After tourist enters the hot spot large size museum gate exhibition section Nei Ge, central computer by path detection device survey counting apparatus
After identifying each exhibition section tourist number information, judge to determine each exhibition section whether congestion, determine congestion exhibition section, non-congestion exhibition section；If
The exhibition section of congestion is starting point, and terminal is the exhibition section of non-congestion；Obtain the coordinate of beginning and end；Central computer inquires congestion exhibition
The corresponding path detection unit address of the corresponding path detection unit address in shop and the non-congestion museum of target.According to the last time
Path detection device catches the traffic information situation in the information acquisition hot spot large size museum in the hot spot large size museum come, generates
Hot spot large size museum topological diagram, central computer is that visitor plans an initial path, then according in hot spot large size museum
Real-time Traffic Information and the real time position of visitor carry out path adjustment, avoid that tourist gets congestion and other any delay trip
The behavior of people's time.After central computer provides pass, control command is sent to the path detection device on path,
Path is realized in a manner of light navigation.
Claims (8)
1. path planning system and planing method in a kind of hot spot large size museum, path planning system in hot spot large size museum
Including the multiple path detection devices being mounted in hot spot large size museum, each path detection device includes for detecting number
Survey digital-to-analogue block, for detecting the mobile detection module and processor of tourist's moving condition, processor, which receives, surveys digital-to-analogue block and shifting
The data of dynamic detection module acquisition simultaneously will be uploaded to central computer by communication module after data processing, while communication module will
The order of the central computer received is sent to lighting control module and audio frequency control module, signal light control mould by processing
Block controls the light on and off of corresponding lamps and lanterns, and audio frequency control module can control the broadcasting of corresponding audio and can be with actual conversation；
After central computer calculates outbound path, the node in path is sequentially listed by from the sequence of origin-to-destination, then finds out
The corresponding path detection device of these nodes, and successively bright light and audio are gradually sent to the path detection device of corresponding address
Play command；
It is characterized in that, comprising the following steps:
Step 1: after tourist enters the hot spot large size museum gate exhibition section Nei Ge, central computer by path detection device survey number
After device identifies each exhibition section tourist number information, judge to determine each exhibition section whether congestion, determine congestion exhibition section, non-congestion exhibition
Area；If the exhibition section of congestion is starting point, terminal is the exhibition section of non-congestion；
Step 2: central computer generates road topology figure according to the actual conditions of hot spot large size museum, obtains starting point D and terminal
The coordinate of E and figure interior joint obtain road section length between each node；
Step 3: being scanned for using Dijkstra's algorithm, provides one from initial point D to target point E shortest path；
Step 4: central computer transmits the information come up according to path detection device, judges initial point D museum or target point E
Whether museum's number reaches threshold, if D museum has arrived at threshold, then it represents that D museum congestion status has released, path rule
It draws and has completed, send instruction of turning off the light to museum's node；If E museum has arrived at threshold, E museum number is more than enough, no longer
Importing crowd, path planning have been completed；If not yet reaching target museum, five are entered step；
Step 5: central computer transmits the information come up according to path detection device at node, and judgement will advance described
Whether the section of shortest path has congestion, such as do not have congestion, then use the section, to subsequent section node transmission turn on light and
Audio play instruction turns off the light and audio out code to the section node transmission left, and subsequent node has been set as
Point；Otherwise this section, return step three are rejected；
It is scanned in the step 3 using Dijkstra's algorithm, direction is S-- > T specific steps are as follows:
Point E is set as starting point S by (3-1), and assigning final value is 0；Point D is set as terminal T；
(3-2) assigns Y nonce, Y be with the point that just obtains final value, X, the point being connected directly:
Y nonce=X final value+section XY weight；
If Y has had nonce, then only when new nonce is smaller, the new nonce of Y is assigned again；
If a point is already endowed with final value, its nonce is not considered further that；
(3-3) selects the smallest point of nonce from all points for having obtained nonce and not obtained final value, assigns the final value, if
Two points have identical minimum nonce, more optionally；
(3-4) repeats step (3-2) and (3-3) until terminal T is endowed final value；
(3-5) from T to S recall, determine section: it is assumed that have determined point B on path, if: final value=road of the final value-A of B
The weight of section AB, then take the section AB；
(3-6) lists in the section from S to T and node one by one to get to S-- > T shortest path.
2. path planning system and planing method in a kind of hot spot large size museum as described in claim 1, characterized in that described
Path detection device is mountable on two side ceiling of road or wall or on ground or guardrail.
3. path planning system and planing method in a kind of hot spot large size museum as described in claim 1, characterized in that in road
Two sides are used for the lamps and lanterns of bright light navigation, on two side ceiling of road or wall or on ground or guardrail.
4. path planning system and planing method in a kind of hot spot large size museum as described in claim 1, characterized in that visit in path
Survey device and lamps and lanterns positioned adjacent.
5. path planning system and planing method in a kind of hot spot large size museum as described in claim 1, characterized in that visit in path
Survey device and audio devices positioned adjacent.
6. path planning system and planing method in a kind of hot spot large size museum as described in claim 1, characterized in that described
Each path planning apparatus is corresponding with unique IP address.
7. path planning system and planing method in a kind of hot spot large size museum as described in claim 1, characterized in that described
Topological diagram interior joint includes Actual path intersection point, exhibition section doorway, museum's front door, and path detection dress is mounted at each node
It sets.
8. path planning system and planing method in a kind of hot spot large size museum as described in claim 1, characterized in that described
The weight in the section in topological diagram between each pair of node is the length in corresponding practical section.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810274578.4A CN108958234A (en) | 2018-03-30 | 2018-03-30 | Path planning system and planing method in a kind of hot spot large size museum |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810274578.4A CN108958234A (en) | 2018-03-30 | 2018-03-30 | Path planning system and planing method in a kind of hot spot large size museum |
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| CN108958234A true CN108958234A (en) | 2018-12-07 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113916233A (en) * | 2021-10-20 | 2022-01-11 | 上海擎朗智能科技有限公司 | Navigation route determining method, device, equipment and storage medium |
-
2018
- 2018-03-30 CN CN201810274578.4A patent/CN108958234A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113916233A (en) * | 2021-10-20 | 2022-01-11 | 上海擎朗智能科技有限公司 | Navigation route determining method, device, equipment and storage medium |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181207 |
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| WW01 | Invention patent application withdrawn after publication |