A method, system, device, and terminal for constructing an indoor path topology.

Abstract

The present invention belongs to the field of computer application technology, and discloses a method, system, device and terminal for constructing indoor path topology. The method for constructing indoor path topology includes: for an indoor plane structure diagram with clear space segmentation characteristics, the vector data of the indoor plane structure diagram is used as basic data, and based on the basic data, the connected topological relationship between indoor space objects is automatically extracted, thereby realizing the automatic construction of the indoor path topology connected diagram. The present invention proposes a method for obtaining the geometric and semantic information of indoor space objects using the indoor building structure plane diagram, thereby extracting the connected topological relationship between indoor space objects, and constructing an indoor road network connectivity model based on this; improving the existing "door-door" type indoor road network construction method, and proposing a "door-central axis-center" type road network construction method; according to the geometric characteristics of indoor corridors and walkways, a central axis extraction method for node-divided corridors is proposed.

Description

Technical Field

[0001] The present invention belongs to the field of computer application technology, and in particular relates to a method, system, device and terminal for constructing indoor path topology. Background Art

[0002] At present, with the popularization of mobile devices, the industrialization of location services such as real-time positioning, mobile navigation, and logistics tracking, people are increasingly accustomed to using digital maps to plan trips and search for routes. In addition, due to the development of cellular positioning technology in communication networks, an indoor location positioning system integrated with multiple technologies such as wireless communication, base station positioning, and inertial navigation positioning has gradually matured. At the same time, the emergence of new technologies such as Wi-Fi positioning, Bluetooth, infrared, ultra-wideband, RFID, ultrasound, and iBeacon has made the problem of indoor positioning no longer difficult to solve, and the demand for indoor location services is growing. Therefore, the demand for high-precision indoor navigation has gradually become the next goal of path navigation.

[0003] The new problem is that in indoor spaces, there are many types of spatial objects and the spatial layout is also complex and diverse. There may be interconnected nested rooms and complex shapes of corridors. These unfavorable factors make it extremely difficult to extract and analyze the information of indoor maps, which is also one of the core problems that need to be solved in indoor navigation. For complex indoor environments, the corresponding indoor path topology network is established based on the known indoor structure diagram and the properties of the spatial objects in the diagram. According to the indoor path topology network, the spatial topological relationship can be obtained. These topological relationships are the basic information that is indispensable for realizing indoor navigation. Therefore, extracting the indoor path topology connectivity map is of great significance for the application of indoor navigation.

[0004] Through the above analysis, the problems and defects of the existing technology are as follows: in the existing indoor space, there are many types of spatial objects, and the spatial layout is also complex and diverse. There may be nested connections between rooms, and the shapes of corridors are complex. These unfavorable factors make the work of extracting and analyzing indoor map information extremely difficult, which is also one of the core problems that indoor navigation currently needs to solve.

[0005] The difficulty of solving the above problems and defects is:

[0006] At present, the commonly used method for extracting indoor paths is to first collect indoor floor plan information, and then extract indoor paths based on the building floor plan. In terms of the collection of indoor floor plans, there are two common collection methods. One requires professional surveying and mapping personnel to first accurately collect the geometric information of indoor buildings, and then use relevant software such as CASS and ArcGIS to map, and annotate the attribute information on the map. Although the indoor map obtained in this way is more accurate and detailed, and can be collected at different levels of detail according to needs, this method is time-consuming and labor-intensive, and requires a high economic cost. Therefore, compared with the first manual collection method, another method is more popular in engineering applications, that is, directly using existing building construction design drawings, indoor structure drawings, etc., through secondary processing of these images, simplified processing and attribute annotation.

[0007] After completing the collection of indoor floor plans, how to extract indoor paths is a new difficulty. The realization of this function has high requirements for the algorithm. Although the indoor floor plan can reflect the geometric information of key indoor objects and store the corresponding attribute information, it provides sufficient basic data for algorithm analysis. However, at present, because the design of indoor buildings has great freedom compared to outdoor buildings, the geometric features and attribute information of indoor objects lack unified standards and specifications. Therefore, it is difficult for us to obtain a universal path extraction algorithm.

[0008] The significance of solving the above problems and defects is:

[0009] Indoors are the main space for human activities, such as offices, shopping malls, hospitals, airports, etc. According to research, humans spend about 87% of their time moving in indoor spaces. In indoor space navigation, navigation paths are very important. However, indoor navigation paths are different from outdoor navigation paths. Due to the limitations of indoor physical elements such as rooms, doors, and walls, they have particularities in terms of spatial layout, topological network, and spatial constraints. Traditional Euclidean distance and road network path distance have major defects in indoor space navigation. Therefore, it is necessary to build an indoor navigation network to plan navigation paths. The two major technical supports for indoor location services are indoor positioning and indoor navigation maps. Summary of the invention

[0010] In view of the problems existing in the prior art, the present invention provides a method, system, device and terminal for constructing an indoor path topology.

[0011] The present invention is implemented in this way: a method for constructing an indoor path topology, the method for constructing an indoor path topology comprising:

[0012] For an indoor plan structure diagram with clear space segmentation features, the vector data of the indoor plan structure diagram is used as basic data, and based on the basic data, the connectivity topological relationship between indoor space objects is automatically extracted, thereby realizing the automatic construction of an indoor path topological connectivity diagram.

[0013] Furthermore, the method for constructing the indoor path topology further includes:

[0014] Taking the indoor plan structure diagram as the original data of indoor space objects, a method is proposed to use the indoor building structure plan diagram to obtain the geometric and semantic information of indoor space objects, so as to extract the connectivity topological relationship between indoor space objects, and build an indoor road network connectivity model based on this method; taking indoor objects including corridors, rooms and doors as basic types, the judgment of spatial connectivity and the construction method of internal road network are analyzed respectively; referring to the existing indoor road network construction method, a "door-axis-center" type road network construction model is proposed; for complex space objects including corridors, a corridor segmentation algorithm based on the geometric relationship of boundary nodes is proposed, which divides the corridor into multiple rectangles to realize the extraction of the central axis of complex space objects; the internal road network of each space object is classified and processed to construct an indoor path connectivity diagram.

[0015] Furthermore, the method for constructing the indoor path topology includes the following steps:

[0016] Step 1: define the indoor building structure space object;

[0017] Step 2: abstract the indoor space model;

[0018] Step three: construct an indoor path connectivity graph.

[0019] Furthermore, in step 1, the definition of the indoor building structure space object includes:

[0020] IndoorObject: defined as an indoor space object, representing a relatively independent space area; wherein the relatively independent space area includes a hall, corridor and shop;

[0021] Room: defined as a room sub-object, representing the abstraction of a closed space area forming a convex polygon, ignoring the specific actual function;

[0022] Door: defined as a door sub-object, representing a linear space object that has the function of connecting two indoor space objects, ignoring the space area; wherein the linear space object includes the door between the room and the corridor, and the door between rooms;

[0023] Corridor: defined as a corridor sub-object, representing a spatial area that has connectivity to multiple room sub-objects, most of which have different shapes;

[0024] CorridorRoom: It is defined as a corridor body object, which represents a rectangle with a set of opposite sides parallel to the direction of travel of the corridor sub-object. The corridor body is used to divide the indoor corridor sub-object into multiple parts.

[0025] Furthermore, in step 2, the abstract processing of the indoor space graph model includes:

[0026] The design of the indoor path connectivity model based on the graph proposes the following requirements for the abstract process of the graph model of the indoor space according to the geometric and semantic information of the current indoor space objects and the functional requirements for indoor navigation:

[0027] 1) It complies with the indoor behavior habits of pedestrians; 2) It meets the needs of location-oriented services such as navigation; 3) It is conducive to the readability and aesthetics of the path; 4) It contains the semantic information of the object; 5) It is applicable to different spatial objects. According to the requirements, the indoor spatial objects are used as abstract nodes based on the graph model, and the topological relationship between objects is represented by the "indoor spatial object-indoor spatial object" graph model, and the spatial objects including "room", "door", and "corridor" are inherited from the "indoor spatial object".

[0028] Further, in step 3, the construction of the indoor path connectivity graph includes:

[0029] Based on the path connectivity model, the indoor road network is constructed by classifying and processing each spatial object to realize the construction of the room interior and corridor road network; for the room sub-object, the room door and the center are connected by a combination of vertical line segments and axis lines to realize the construction of the room road network; for the corridor sub-object, the corridor body is used for segmentation, and the vertical line from the door to the central axis of the corridor body and the central axis together form the road network.

[0030] For the corridor sub-object, based on the node segmentation, a segmentation method of resection simplification is designed, that is, the divisible part on the current corridor is determined, and after storing the relevant information of the segmentation, the part is cut off, and the shape after resection is updated to the current corridor shape, and the processing continues.

[0031] Another object of the present invention is to provide a system for constructing an indoor path topology using the method for constructing an indoor path topology, the system for constructing an indoor path topology comprising:

[0032] Object definition module, used to define indoor building structure space objects;

[0033] Model abstract processing module, used for abstract processing of indoor space graph model;

[0034] The connectivity graph construction module is used to construct the indoor path connectivity graph.

[0035] Another object of the present invention is to provide a computer device, the computer device comprising a memory and a processor, the memory storing a computer program, and when the computer program is executed by the processor, the processor performs the following steps:

[0036] Taking the indoor plan structure diagram as the original data of indoor space objects, a method is proposed to use the indoor building structure plan diagram to obtain the geometric and semantic information of indoor space objects, so as to extract the connectivity topological relationship between indoor space objects, and build an indoor road network connectivity model based on this method; taking indoor objects including corridors, rooms and doors as basic types, the judgment of spatial connectivity and the construction method of internal road network are analyzed respectively; referring to the existing indoor road network construction method, a "door-axis-center" type road network construction model is proposed; for complex space objects such as corridors, a corridor segmentation algorithm based on the geometric relationship of boundary nodes is proposed, which divides the corridor into multiple rectangles to realize the extraction of the central axis of complex space objects; the internal road network of each space object is classified and processed to construct an indoor path connectivity diagram.

[0037] Another object of the present invention is to provide a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the following steps:

[0038] Taking the indoor plan structure diagram as the original data of indoor space objects, a method is proposed to use the indoor building structure plan diagram to obtain the geometric and semantic information of indoor space objects, so as to extract the connectivity topological relationship between indoor space objects, and build an indoor road network connectivity model based on this method; taking indoor objects including corridors, rooms and doors as basic types, the judgment of spatial connectivity and the construction method of internal road network are analyzed respectively; referring to the existing indoor road network construction method, a "door-axis-center" type road network construction model is proposed; for complex space objects such as corridors, a corridor segmentation algorithm based on the geometric relationship of boundary nodes is proposed, which divides the corridor into multiple rectangles to realize the extraction of the central axis of complex space objects; the internal road network of each space object is classified and processed to construct an indoor path connectivity diagram.

[0039] Another object of the present invention is to provide an information data processing terminal, which is used to implement the indoor path topology construction system.

[0040] Combined with all the above technical solutions, the advantages and positive effects of the present invention are as follows: the method for constructing indoor path topology provided by the present invention uses the vector data of the indoor plane structure diagram with clear spatial segmentation characteristics as the basic data, and automatically extracts the connected topological relationship between indoor space objects based on this, thereby further realizing the automatic construction of the indoor path topology connection diagram. The present invention first uses the indoor plane structure diagram as the original data of the indoor space object, and proposes a method for obtaining the geometric and semantic information of the indoor space object using the indoor building structure plane diagram, thereby extracting the connected topological relationship between the indoor space objects, and constructing an indoor road network connection model based on this; taking indoor objects such as corridors, rooms, doors, etc. as basic types, respectively discuss the judgment of their spatial connectivity and the construction method of the internal road network; referring to the existing indoor road network construction method, a "door-axis-center" type road network construction model is proposed. In addition, for complex spatial objects such as corridors, the present invention proposes a corridor segmentation algorithm based on the geometric relationship of boundary nodes, which divides the corridor into multiple rectangles to realize the extraction of the central axis of the complex spatial object; based on this classification, the internal road network of each spatial object is processed to construct an indoor path connection diagram.

[0041] Compared with the prior art, the method of the present invention proposes a method for obtaining the geometric and semantic information of indoor space objects by using the indoor building structure plan, thereby extracting the connected topological relationship between indoor space objects, and building an indoor road network connectivity model based on this. In this process, the existing "door-door" type indoor road network construction method is improved, and a "door-central axis-center" type road network construction method is proposed; and in the problem of extracting the central axis of indoor corridors, a method for extracting the central axis of node-divided corridors is proposed based on the geometric characteristics of indoor corridors and walkways. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 It is a flow chart of a method for constructing indoor path topology provided in an embodiment of the present invention.

[0044] Figure 2 It is a schematic diagram of a method for constructing indoor path topology provided in an embodiment of the present invention.

[0045] Figure 3 It is a structural block diagram of a system for constructing an indoor path topology provided by an embodiment of the present invention;

[0046] In the figure: 1. Object definition module; 2. Model abstract processing module; 3. Connectivity graph construction module.

[0047] Figure 4 It is an inheritance relationship diagram of indoor space objects provided by an embodiment of the present invention.

[0048] Figure 5 It is a schematic diagram of constructing an internal road network of a room provided by an embodiment of the present invention.

[0049] Figure 6 It is a schematic diagram of a corridor excision simplification method provided in an embodiment of the present invention.

[0050] Figure 7 It is a flow chart of corridor object segmentation provided by an embodiment of the present invention.

[0051] Figure 8 It is a schematic diagram of corridor road network construction provided by an embodiment of the present invention.

[0052] Fig. 9 This is the original data plane structure diagram provided by the embodiment of the present invention

[0053] Fig.10 This is an indoor road network construction effect diagram provided by an embodiment of the present invention

[0054] Fig.11 It is a rendering of the attributes of subdivided line segments of a road network model provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0056] In view of the problems existing in the prior art, the present invention provides a method, system, device and terminal for constructing an indoor path topology. The present invention is described in detail below with reference to the accompanying drawings.

[0057] like Figure 1 As shown, the method for constructing indoor path topology provided by the embodiment of the present invention includes the following steps:

[0058] S101, defining indoor building structure space objects;

[0059] S102, performing abstract processing of the indoor space graph model;

[0060] S103: construct an indoor path connectivity graph.

[0061] The principle diagram of the method for constructing indoor path topology provided by the embodiment of the present invention is as follows: Figure 2 shown.

[0062] like Figure 3 As shown, the indoor path topology construction system provided by the embodiment of the present invention includes:

[0063] Object definition module 1, used to define indoor building structure space objects;

[0064] Model abstract processing module 2, used for abstract processing of indoor space graph model;

[0065] The connectivity graph construction module 3 is used to construct an indoor path connectivity graph.

[0066] The technical solution of the present invention is further described below in conjunction with specific embodiments.

[0067] like Figure 2 As shown, the technical solution adopted by the present invention is: a method for constructing indoor path topology, first defining:

[0068] IndoorObject: It is defined as an indoor space object, representing relatively independent space areas such as halls, corridors, and shops;

[0069] Room: defined as a room sub-object, representing the abstraction of a closed space area forming a convex polygon, ignoring its specific actual function;

[0070] Door: defined as a door sub-object, which represents a linear space object that has the function of connecting two indoor space objects, such as the door between a room and a corridor, or the door between rooms, etc., ignoring its space area;

[0071] Corridor: defined as a corridor sub-object, representing a spatial area that has connectivity to multiple room sub-objects, most of which have different shapes;

[0072] CorridorRoom: It is defined as a corridor body object, which represents a rectangle with a set of opposite sides parallel to the direction of movement of the corridor sub-object. The corridor body is used to divide the indoor corridor sub-object into multiple parts.

[0073] Based on the above definition, the method of the present invention comprises the following steps:

[0074] Step 1: Design of indoor path connectivity model based on graph. According to the geometric and semantic information of the current indoor space objects and the functional requirements for indoor navigation, the following requirements are proposed for the process of abstracting the graph model of indoor space: 1) It needs to conform to the habits of pedestrians' indoor behavior; 2) It needs to meet the needs of location services such as navigation; 3) It needs to be conducive to the readability and aesthetics of the path; 4) It needs to contain the semantic information of the object; 5) It needs to be applicable to different spatial objects. According to common sense, it is not difficult to get some obvious information. For example, the rooms in the room are connected by doors or corridors, and the common indoor space object types are summarized as "room", "door" and "corridor". Among them, the geometric shape of "room" is relatively regular, and it is basically convex polygons, which is conducive to the extraction of its center point and axis, and its position can be approximately represented by the center point. However, the shape of indoor objects such as "corridor" is complex and has the freedom of arbitrary combination. There is no unified standard, but "corridor" also has its characteristics. The present invention can regard it as a geometric figure composed of multiple parallelograms to help the present invention extract the central axis. As for the "gate" object, its structure is simple, and information such as the center point can be easily extracted;

[0075] like Figure 4 As shown, according to the above requirements, the indoor space objects are taken as abstract nodes based on the graph model, and the topological relationship between them is represented by the graph model of "indoor space object-indoor space object", and the spatial objects such as "room", "door", and "corridor" are all inherited from the "indoor space object".

[0076] Step 2: Construction of indoor road network based on path connectivity model (see Figure 5-8 ), its specific implementation is to classify and process each spatial object to realize the construction of the room interior and corridor network. For the room sub-object, the room door and the center are connected by a combination of vertical segments and axes, based on which the room network is constructed; for the corridor sub-object, a segmentation method of cutting and simplification is designed on the basis of node segmentation, that is, the divisible part on the current corridor is determined, and after storing the relevant information of the segmentation, the part is cut off, and the shape after cutting is updated to the current corridor shape, and the processing is continued, based on which the corridor network is constructed.

[0077] This embodiment represents the topological relationship between indoor space objects based on the graph model of "indoor space object-indoor space object". With reference to the IndoorGML semantic classification standard, this paper proposes its own indoor semantic map model specification. At the same time, through the analysis of the indoor environment, it designs the data structure of indoor space objects such as "room", "door", and "corridor". Based on the geometric position information of the indoor plan, the ray method is used to determine whether the detection point is in the object space, so as to obtain the connected topological relationship between each indoor space object.

[0078] For room type objects, extract the object boundary, obtain the minimum enclosing rectangle and use its geometric center to replace the center of the room object. Take the XY direction of the screen as the basis, decompose the room axis passing through the center point, and determine whether the room object has a connectivity attribute. If it does, obtain the ID value of the connected door according to the field information of the connectivity attribute and save it in the current room object. After the processing is completed, save the room object to the room sequence table. Otherwise, traverse the door object, obtain the door object that has a connectivity relationship with the current room according to the geometric position information, update it in the connectivity attribute of the room, and then process it in the same way as above. For door type objects, use the door's geometric position information to obtain the door's center and the door's length and width, and then obtain the door's direction based on this. Store this information in the door object, and build an index relationship between the door and its corresponding ID. For corridor type objects, first perform node segmentation on the corridor, extract the corridor's central axis and the corridor door generated by the segmentation, then traverse the door object, obtain the door object that has a connectivity relationship with the corridor according to the geometric position information, and save it in the current corridor object. After the processing is completed, save the corridor object to the corridor sequence table.

[0079] After the connectivity judgment is realized, the connectivity topological relationship between indoor space objects can be obtained, and the indoor network can be constructed based on this and the geometric information of the indoor space objects, such as the center coordinates, the direction of the door, etc. Considering that the paths of different indoor space objects have different rules, such as the road network in the room object often passes through the center point, and the road network in the corridor object often passes through the central axis, the road network construction of different space objects is classified.

[0080] The specific construction process requires traversing the containers that store room objects and corridor objects when building connected topological relationships, completing the road network construction room by room and corridor by corridor, and finally completing the road network construction work of the entire floor. For room-type objects, traverse the door objects connected to them, and construct path segments from the center of the door to the center of the room according to the door-central axis-center road network connection method and save them as independent feature elements to the indoor road network layer. The corridor object contains multiple rectangular corridor bodies, and all rectangular sub-blocks need to be processed similarly to complete the road network construction work inside the corridor.

[0081] like Fig. 9 The figure shows the interior plan structure diagram of a building in Wuhan in Shapefile format. This is used as the original data to experimentally test the path extraction function of the design. Fig.10 This is the effect diagram of the indoor road network after processing. It can be seen from the figure that the indoor road network basically covers the spatial objects on this floor, realizing the effective connectivity of the space. In addition, the road network in the room and corridor adopts the "door-central axis" road network construction method, making the visual effect of the road network more regular and clear, which conforms to people's cognitive habits.

[0082] Through the above experimental results, it can be concluded that the indoor topological path extraction method proposed in the present invention is basically correct. It can effectively construct an indoor connectivity model, such as Fig.11 As shown in the figure, the attributes of the road network layer constructed by the model are checked, and it is found that the line segment division of this model is the minimum straight line segment between two intersection points. Based on this, using algorithms such as A* and Dijkstra, the model can be directly applied to indoor path planning, indoor navigation and other applications.

[0083] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0084] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When the use is implemented in whole or in part in the form of a computer program product, the computer program product includes one or more computer instructions. When the computer program instructions are loaded or executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL) or wireless (e.g., infrared, wireless, microwave, etc.) mode) to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk SolidState Disk (SSD)), etc.

[0085] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. A method for constructing indoor path topology, characterized in that: The method for constructing the indoor path topology includes: Taking the indoor plane structure vector data with clear space segmentation characteristics as basic data, the connected topological relationship between indoor space objects is automatically extracted based on the basic data to realize the automatic construction of the indoor path topological connected graph; The method for constructing the indoor path topology further includes: Taking the indoor plane structure diagram as the original data of indoor space objects, a method is proposed to obtain the geometric and semantic information of indoor space objects using the indoor building structure plan diagram, so as to extract the connected topological relationship between indoor space objects, and build an indoor road network connectivity model based on this method; taking the indoor objects including corridors, rooms and doors as basic types, the judgment of spatial connectivity and the construction method of internal road networks are analyzed respectively; referring to the existing indoor road network construction method, a "door-axis-center" type road network construction model is proposed; for complex space objects including corridors, a corridor segmentation algorithm based on the geometric relationship of boundary nodes is proposed to segment the corridor into multiple rectangles to realize the extraction of the central axis of complex space objects; the internal road network of each space object is classified and processed to construct an indoor path connectivity diagram; The method for constructing the indoor path topology comprises the following steps: Step 1: define the indoor building structure space object; Step 2: abstract the indoor space model; Step 3: construct an indoor path connectivity graph; In step 3, the construction of the indoor path connectivity graph includes: Based on the path connectivity model, the indoor road network is constructed by classifying and processing each spatial object to realize the construction of the room interior and corridor road network. For the room sub-object, the room door and the center are connected by the combination of vertical line segments and axis lines to realize the construction of the room road network. For the corridor sub-object, the corridor body is used for segmentation, and the vertical line from the door to the central axis of the corridor body and the central axis together form the road network. For the corridor sub-object, based on the node segmentation, a segmentation method of resection simplification is designed, that is, the divisible part on the current corridor is determined, and after storing the relevant information of the segmentation, the part is cut off, and the shape after resection is updated to the current corridor shape, and the processing continues.

2. The method for constructing indoor path topology according to claim 1, characterized in that: In step 1, the definition of the indoor building structure space object includes: IndoorObject: defined as an indoor space object, representing a relatively independent space area; wherein the relatively independent space area includes a hall, corridor and shop; Room: defined as a room sub-object, representing the abstraction of a closed space area forming a convex polygon, ignoring the specific actual function; Door: defined as a door sub-object, representing a linear space object that has the function of connecting two indoor space objects, ignoring the space area; wherein the linear space object includes the door between the room and the corridor, and the door between rooms; Corridor: defined as a corridor sub-object, representing a spatial area that has connectivity to multiple room sub-objects, most of which have different shapes; CorridorRoom: It is defined as a corridor body object, which represents a rectangle with a set of opposite sides parallel to the direction of travel of the corridor sub-object. The corridor body is used to divide the indoor corridor sub-object into multiple parts.

3. The method for constructing indoor path topology according to claim 1, characterized in that: In step 2, the abstract processing of the indoor space graph model includes: The design of the indoor path connectivity model based on the graph proposes the following requirements for the abstract process of the graph model of the indoor space according to the geometric and semantic information of the current indoor space objects and the functional requirements for indoor navigation: 1) It complies with the indoor behavior habits of pedestrians; 2) It meets the needs of navigation location services; 3) It is conducive to the readability and aesthetics of the path; 4) It contains the semantic information of the object; 5) It is applicable to different spatial objects. According to the above requirements, the indoor spatial objects are used as abstract nodes based on the graph model, and the topological relationship between objects is represented by the "indoor spatial object-indoor spatial object" graph model, and the spatial objects including "room", "door", and "corridor" are all inherited from the "indoor spatial object".

4. A system for constructing an indoor path topology using the method for constructing an indoor path topology according to any one of claims 1 to 3, characterized in that: The indoor path topology construction system includes: Object definition module, used to define indoor building structure space objects; Model abstract processing module, used for abstract processing of indoor space graph model; The connectivity graph construction module is used to construct the indoor path connectivity graph.

5. A computer device, characterized in that: The computer device includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps: Taking the indoor plane structure diagram as the original data of indoor space objects, a method is proposed to obtain the geometric and semantic information of indoor space objects using the indoor building structure plan diagram, so as to extract the connected topological relationship between indoor space objects, and build an indoor road network connectivity model based on this method; taking the indoor objects including corridors, rooms and doors as basic types, the judgment of spatial connectivity and the construction method of internal road network are analyzed respectively; referring to the existing indoor road network construction method, a "door-axis-center" road network construction model is proposed; for the complex space object of the corridor, a corridor segmentation algorithm based on the geometric relationship of the boundary nodes is proposed to segment the corridor into multiple rectangles to realize the extraction of the central axis of the complex space object; Classify and process the internal road network of each spatial object to construct an indoor path connectivity graph; The construction of the indoor path connectivity graph includes: Based on the path connectivity model, the indoor road network is constructed, and each spatial object is classified and processed to realize the construction of the room interior and corridor road network; For room sub-objects, the room door and center are connected by a combination of vertical line segments and axis lines to realize the construction of room road network; for corridor sub-objects, the corridor body is used for segmentation, and the vertical line from the door to the central axis of the corridor body and the central axis together form the road network; For the corridor sub-object, based on the node segmentation, a segmentation method of resection simplification is designed, that is, the divisible part on the current corridor is determined, and after storing the relevant information of the segmentation, the part is cut off, and the shape after resection is updated to the current corridor shape, and the processing continues.

6. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the following steps: Taking the indoor plane structure diagram as the original data of indoor space objects, a method is proposed to obtain the geometric and semantic information of indoor space objects using the indoor building structure plan diagram, so as to extract the connected topological relationship between indoor space objects, and build an indoor road network connectivity model based on this method; taking the indoor objects including corridors, rooms and doors as basic types, the judgment of spatial connectivity and the construction method of internal road network are analyzed respectively; referring to the existing indoor road network construction method, a "door-axis-center" road network construction model is proposed; for the complex space object of the corridor, a corridor segmentation algorithm based on the geometric relationship of the boundary nodes is proposed to segment the corridor into multiple rectangles to realize the extraction of the central axis of the complex space object; Classify and process the internal road network of each spatial object to construct an indoor path connectivity graph; The construction of the indoor path connectivity graph includes: Based on the path connectivity model, the indoor road network is constructed, and each spatial object is classified and processed to realize the construction of the room interior and corridor road network; For room sub-objects, the room door and center are connected by a combination of vertical line segments and axis lines to realize the construction of room road network; for corridor sub-objects, the corridor body is used for segmentation, and the vertical line from the door to the central axis of the corridor body and the central axis together form the road network; For the corridor sub-object, based on the node segmentation, a segmentation method of resection simplification is designed, that is, the divisible part on the current corridor is determined, and after storing the relevant information of the segmentation, the part is cut off, and the shape after resection is updated to the current corridor shape, and the processing continues.

7. An information data processing terminal, characterized in that: The information data processing terminal is used to implement the indoor path topology construction system as described in claim 4.

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