Indoor map generation method based on BIM (Building Information Modeling) and real-time data and electronic equipment

Abstract

The invention provides an indoor map generation method based on BIM (Building Information Modeling) and real-time data and electronic equipment. The indoor map generation method comprises the following steps: S1, constructing a first indoor grid map based on BIM model data of a building; s2, resetting the first indoor grid map based on indoor static elements to obtain a second indoor grid map; s3, automatically generating a static key node and a static key path in a passable area of the second indoor grid map; s4, obtaining more than one dynamic grid region; s5, generating dynamic key nodes and dynamic key paths in each dynamic grid region by using a triangulation algorithm; and S6, integrating the static key nodes, the static key paths, the dynamic key nodes and the dynamic key paths to obtain an indoor topological map. According to the method, a large amount of manual workload is avoided, the generation efficiency and accuracy of the indoor topological map are improved, and the environment change can be quickly responded. The invention further provides an indoor navigation method and electronic equipment, and the navigation reliability is improved.

Description

Technical Field

[0001] The present invention relates to the field of indoor navigation technology, and in particular to an indoor map generation method and electronic equipment based on BIM and real-time data. Background Art

[0002] Building Information Modeling (BIM) technology has become a core tool in modern construction project management. By recording the entire life cycle information of the building in detail, it has greatly improved the efficiency of design, construction, and operation and maintenance of construction projects. Using BIM data to automatically generate indoor map models can not only significantly reduce the cost of establishing indoor maps, but also provide a solid technical foundation for indoor path query and other related research and applications.

[0003] General indoor map models are divided into two types: grid-based map models and topological-based map models. Among them, the grid-based map model divides the map into non-overlapping regular grid units composed of multiple squares or hexagons. Each grid unit can be regarded as a pathfinding node. Whether each cell is passable is identified by whether the surface of the BIM model is vertically projected onto the grid, and the passable path is calculated with the help of these cells. This model consumes a lot of computing memory due to the presence of a large number of pathfinding nodes, and its operation efficiency is low.

[0004] In addition, the map model based on topological relationships, also known as the map model based on visual points, is a pathfinding node and path manually set by the map maintainer in the scene. These nodes and paths are generally carefully selected by the designer and can cover most walking areas. This model has a high operating efficiency due to the reduction of a large number of nodes. However, when the scene is large, manually placing nodes is very time-consuming and prone to errors, and the navigation path must be selected along the preset edges, which limits the model's ability to express the actual two-dimensional walkable area. There may be many combinations of paths, which will increase the amount of calculation and slow down the processing speed.

[0005] There are also attempts to combine the grid-based map model with the basic topological relationship map model to realize indoor maps. Compared with the single topological relationship map, the use of the passable units obtained by BIM model mapping to reduce the topological points further reduces the amount of calculation and improves the operation efficiency and map accuracy. However, it still has obvious shortcomings. The topological nodes still need to be marked manually. When the scene map is large, the workload is huge and it is easy to make mistakes. For real-time changing data in the scene, such as dynamic changes in the flow of people, updates to emergency evacuation routes, or layout adjustments, this method cannot dynamically calculate the path, and the calculation speed still cannot meet actual needs.

[0006] In the prior art, a Chinese patent with publication number CN111080786A discloses a method and device for building an indoor map model based on BIM. The hybrid indoor map model of the component has the characteristics of a grid-based map model and a topological map model, with high accuracy and high operating efficiency. However, the path drawing method of the patent relies on a previously constructed grid map model, and is not dynamically updated according to the real-time changes of dynamic elements in the scene. It is too static and not suitable for rapidly changing scenes, such as environments with frequent dynamic changes of internal elements (such as large shopping malls or hospitals). Summary of the invention

[0007] The present invention aims to at least solve the technical problems that the existing indoor map generation method does not consider the real-time changes of dynamic elements in the scene when drawing the path, cannot adapt to the rapidly changing scene, has low map generation efficiency, requires manual marking, and has a large workload, and provides an indoor map generation method and electronic equipment based on BIM and real-time data.

[0008] In order to achieve the above-mentioned purpose of the present invention, according to the first aspect of the present invention, the present invention provides an indoor map generation method based on BIM and real-time data, including: step S1, constructing a first indoor grid map based on the BIM model data of the building; step S2, resetting the first indoor grid map based on the static elements in the room to obtain a second indoor grid map; step S3, automatically generating static key nodes and static key paths in the passable area of ​​the second indoor grid map; step S4, subtracting the coverage area of ​​the static key nodes and the static key paths from the passable area of ​​the second indoor grid map to obtain one or more dynamic grid areas; step S5, generating dynamic key nodes and dynamic key paths in each dynamic grid area by using a triangulation algorithm that can avoid the current dynamic elements in each dynamic grid area; step S6, integrating the static key nodes, static key paths, dynamic key nodes and dynamic key paths to obtain an indoor topology map.

[0009] In order to achieve the above-mentioned purpose of the present invention, according to the second aspect of the present invention, the present invention provides an indoor navigation method, comprising: obtaining an indoor topological map according to the indoor map generation method based on BIM and real-time data described in the first aspect of the present invention; obtaining a starting point and an end point; determining a starting node closest to the starting point in the indoor topological map, and determining an end node closest to the end point; selecting a path with the shortest total distance from the starting node to the end node in the indoor topological map as a navigation path.

[0010] In order to achieve the above-mentioned purpose of the present invention, according to the third aspect of the present invention, the present invention provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute an indoor navigation method described in the first aspect of the present invention or an indoor navigation method described in the second aspect of the present invention.

[0011] Beneficial technical effects of the present application: The present application first constructs a first indoor grid map based on the BIM model data of the building. Considering that after the building is put into operation, there are static elements such as artificial partitions, furniture placement, and fixed electrical equipment. Therefore, the traffic status of the grid units of the first indoor grid map is reset based on the static elements to obtain the second indoor grid map. In the passable area of ​​the second indoor grid map, the association relationship of the indoor scene elements is used to automatically generate static key nodes and static key paths. In the dynamic grid area after the passable area of ​​the second indoor grid map is subtracted from the coverage area of ​​the static key nodes and static paths, the triangulation algorithm is used to generate dynamic key nodes and dynamic key paths that can avoid the current dynamic elements. The static key nodes, static key paths, dynamic key nodes, and dynamic key paths are integrated to obtain the indoor topology map. The topology nodes (key nodes) and the paths are no longer manually set, which avoids a large amount of manual workload and improves the generation efficiency and accuracy of the indoor topology map.

[0012] Dynamic grid areas are environmental areas where the internal elements change frequently, such as large shopping malls or hospital halls. The triangulation algorithm is used to automatically generate dynamic key nodes and dynamic key paths that can avoid dynamic elements. This facilitates real-time updates of dynamic key nodes and dynamic key paths according to the changes of dynamic elements in the dynamic grid area, and can quickly respond to environmental changes.

[0013] The indoor navigation method provided in the present application performs navigation based on the indoor topological map generated by the method provided in the first aspect of the present application, thereby improving navigation reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a flow chart of a method for generating an indoor map based on BIM and real-time data in a preferred embodiment of the present invention;

[0015] Figure 2 It is a schematic diagram of an electronic device in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0016] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0017] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0018] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0019] The execution subject of the indoor map generation method or indoor navigation method based on BIM and real-time data provided by the present invention includes but is not limited to at least one of the electronic devices such as a server, a personal computer, and a terminal that can be configured to execute the method provided in the embodiment of the present application. In other words, the indoor map generation method or indoor navigation method based on BIM and real-time data can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be an independent server, or it can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and big data and artificial intelligence platforms.

[0020] The present invention provides a method for generating an indoor map based on BIM and real-time data. In a preferred embodiment, referring to Figure 1 As shown, the method includes:

[0021] Step S1, constructing a first indoor grid map based on BIM model data of the building.

[0022] The first indoor grid map is a planar grid on the plane where the indoor floor surface is located. The grid shape is preferably but not limited to a square or hexagon. Each grid unit is provided with a traffic state, and the traffic state includes two values: passable and impassable.

[0023] Step S2: reset the first indoor grid map based on indoor static elements to obtain a second indoor grid map.

[0024] Static elements are objects that remain in the same position for a long time indoors, preferably but not limited to walls and doors built after the building is put into operation, installed furniture (sofas, tables, countertops), and electrical appliances that remain in a fixed position for a long time (such as air conditioner cabinets, televisions, water dispensers, etc.).

[0025] The purpose of step S2 is to adjust the traffic status of the grid cells in the first indoor grid map according to the static elements in the room after operation.

[0026] Step S3, automatically generating static key nodes and static key paths in the traversable area of ​​the second indoor grid map.

[0027] Specifically, static key nodes and static key paths are determined based on the indoor scene elements and the association relationship between the scene elements, wherein the scene elements are relatively static key elements that can be used for navigation and positioning, including elevators, stairs, doors, rooms, and roads. A room is an indoor space with a relatively small area, such as an area less than 30 square meters, and is not a large indoor area such as a hall. For example, the room is a hospital consulting room or a store in a shopping mall, but not a hospital hall or a shopping mall hall. There are more than one static key nodes and more than one static key paths. When there are multiple static key nodes and multiple static key paths, the distribution of static key nodes and static key paths is discrete. Step S4, obtain one or more dynamic grid areas by subtracting the coverage area of ​​the static key nodes and static key paths from the traversable area of ​​the second indoor grid map.

[0028] The passable area of ​​the second indoor grid map represents the area composed of grid cells whose passable state is passable in the second indoor grid map without considering dynamic elements. In practice, the grid cells whose passable state is passable in the second indoor grid map (i.e., the passable area) may become impassable due to the occupancy of the moving dynamic elements. Therefore, the actual passable state of the grid cells in the passable area is affected by the dynamic elements. The coverage area of ​​the static key nodes and the static key paths represents the occupied area of ​​the static key nodes and the static key paths in the passable area of ​​the second indoor grid map. Specifically, the coverage area includes the occupied areas of all indoor scene elements in the passable area of ​​the second indoor grid map, and the connected area connecting two scene elements guided by the static key path. Therefore, after removing the coverage area, the remaining passable area has a discrete characteristic and is not concentrated, resulting in more than one dynamic grid area being discretely distributed and not coherent.

[0029] Step S5, using a triangulation algorithm in each dynamic mesh region to generate dynamic key nodes and dynamic key paths that can avoid the current dynamic elements in each dynamic mesh region.

[0030] Step S6, integrating static key nodes, static key paths, dynamic key nodes and dynamic key paths to obtain an indoor topology map. Specifically, the indoor topology map can be obtained by merging static key nodes, static key paths, dynamic key nodes and dynamic key paths.

[0031] In this implementation, step S1 may specifically include:

[0032] Step S101, dividing the indoor floor plane into plane grids, and initializing the traffic state of each grid unit in the plane grid to be passable;

[0033] Step S102, extracting the geometric semantic information and 3D models of components contained in the room from the IFC file of the stored BIM model data of the building; the components contained in the room are preferably but not limited to walls, doors, stairs, and elevators, and the geometric semantic information of each component includes code, name, location parameter, scaling parameter, custom attribute, boundary and traffic status, etc. The traffic status of doors, stairs, and elevators is passable, and the traffic status of walls is inaccessible.

[0034] Step S103, assuming that the indoor floor plane is the XY plane, the three-dimensional model of each component is projected on the XY plane to obtain a projection area, a minimum circumscribed polygon is generated for each projection area, and the traffic status of the grid unit covered (in whole or in part) by the minimum circumscribed polygon is reset to the traffic status of the component. If there is an overlap in the minimum circumscribed polygons generated by the indoor components, for the overlapping area, as long as the traffic status of one component is passable, the traffic status of the grid unit covered (in whole or in part) by the overlapping area is set to passable. For example, if the wall is impassable and the door on the wall is passable, the traffic status of the grid unit in the overlapping area of ​​the two is passable. The traffic status of the grid unit not covered (in whole or in part) by the minimum circumscribed polygon of the component projection in the plane grid is still passable.

[0035] In this embodiment, step S103 is used to obtain the traffic status of the grid units covered by the minimum circumscribed polygons of all indoor components projected on the plane grid, thereby obtaining a first indoor grid map.

[0036] In this embodiment, the method for constructing the first indoor grid map can also refer to the construction process of the grid-based map model disclosed in the Chinese patent publication number CN111080786A, which will not be repeated here.

[0037] In a preferred embodiment, to ensure that the grid map can accurately reflect the current indoor layout and usage status, in step S2, the first indoor grid map is reset based on the indoor static elements to obtain the second indoor grid map, including:

[0038] Step S201, obtaining a three-dimensional model and geometric semantic information of a static element, where the geometric semantic information includes a position and a traffic status of the static element.

[0039] Pre-build a three-dimensional model of static elements (such as walls, doors, furniture and fixed electrical appliances built after the building is put into operation). Preferably, the three-dimensional model is a triangular mesh model, which defines that the surface of a three-dimensional object is composed of multiple triangles. The geometric semantic information of the static elements includes model code, name, position parameters, scaling parameters, custom attributes, boundaries and access status. The access status of newly built walls, fixtures and fixed electrical appliances is inaccessible, and the access status of doors is accessible.

[0040] Step S202: Project the three-dimensional model of the static element onto the first indoor grid map to form a corresponding static polygon.

[0041] When the 3D model of the static element is a triangular mesh model, each triangle consists of three vertices v 1, ,v 2 ,v 3Represents, where each vertex is a point v in three-dimensional space i =x i ,y i ,z i , i = 1, 2, 3. Calculating the projection of these triangles on the indoor ground plane XY plane (on the first indoor grid map) involves converting the three-dimensional coordinates to two-dimensional coordinates. The projection coordinates of the three-dimensional vertex vi are (x i ,y i ). Next, use these two-dimensional coordinates to construct the projected static polygon boundary. The specific steps include: first, vertex projection, the three-dimensional coordinates (x i ,y i ,z i ) is converted to a two-dimensional coordinate (x i ,y i ); then the boundary is identified, and the closed boundary line is formed by connecting the shared edges of adjacent triangles. This step ensures that all projected triangle boundaries are correctly closed without overlap to form a complete static polygon boundary; finally, if multiple triangle projections overlap or are adjacent, the static polygons projected by the corresponding static elements will be merged to form a larger convex or non-convex polygon.

[0042] Step S203: reset the traffic status of the grid units covered by the corresponding static polygons on the first indoor grid map according to the traffic status of the static elements, and obtain a second indoor grid map.

[0043] In the process of mapping all the three-dimensional models of static elements onto the first indoor grid map, suppose a static polygon P is obtained on a two-dimensional plane and consists of a vertex set {{(x 1 ,y 1 ),(x 2 ,y 2 ),...,(x n ,y n )} definition, align the boundary of the static polygon P with the first indoor grid map, and determine whether each grid cell in the first indoor grid map overlaps with P. This process is achieved by calculating the intersection of the boundary of the static polygon and the grid cells of the first indoor grid map, and using a typical geometric algorithm such as the ray intersection method to determine whether a point in a grid cell is located within the polygon, that is, to confirm whether the static polygon P covers the grid cell.

[0044] The mapping process of the static polygon boundary (static polygon) ensures simplicity and accuracy, and the grid cells covered by the static polygon boundary determine their traffic status according to the traffic status of the static elements.

[0045] In a preferred embodiment, in order to prevent the indoor navigation algorithm from mistakenly crossing static element objects, the traffic state of the grid unit covered by the corresponding static polygon on the first indoor grid map is reset according to the traffic state of the static element to obtain the second indoor grid map, including:

[0046] Resetting the traffic status of the grid cells completely covered by the static polygon in the first indoor grid map to the traffic status of the static elements;

[0047] The access status of the grid cells partially covered by the static polygon in the first indoor grid map is reset to inaccessible.

[0048] In this embodiment, the accessibility attribute of the static element is used to update the accessibility status of each grid unit. Specifically, if the accessibility of the static polygon P corresponding to the static element is 1, then all grid units covered by P are marked as accessible; otherwise, they are marked as inaccessible. The formula is: ij .accessibility=P.accessibility, where Grid ij It is the grid cell located in the i-th row and j-th column of the first indoor grid map; partial coverage processing, for the grid cells partially covered by the static polygon P, if there is no clear inaccessible mark, it is defaulted to be inaccessible to avoid the navigation algorithm mistakenly crossing the static elements.

[0049] In a preferred embodiment, in order to minimize the reliance on manually marking key nodes of the path and improve the maintainability of the map, in step S3, static key nodes and static key paths are automatically generated in the traversable area of ​​the second indoor grid map, including:

[0050] Step S301, identifying block scene elements and linear scene elements in the room, where block scene elements include elevators, stairs, doors, and rooms, and linear scene elements include roads, which are preferably but not limited to aisles, passages, corridors, and the like.

[0051] Scene elements are elements that are critical to navigation and positioning. They can include static elements generated in some operational stages, such as doors and rooms, as well as other non-static elements, such as roads, elevators, and stairs. Indoor elements that are critical to navigation and positioning are marked in advance as scene elements, and scene elements can be identified later based on the markings. Scene elements are divided into block scene elements and linear scene elements to help support path planning and navigation in complex scenes.

[0052] Step S302: taking the geometric center point of each block-shaped scene element as a static key node.

[0053] The block scene elements are used as the basis for generating the terminal nodes, and the geometric center of each element is used as the key node to ensure the accuracy and representativeness of the node position. Further preferably, in order to maintain the continuity and spatial logic of navigation, the block elements are projected onto the polygonal boundary of the second indoor grid model, and the traffic status of the grid cells intersecting with the polygonal boundary is reset according to the traffic status of the block scene elements. If the traffic status of the block scene elements is impassable, the traffic status of the intersecting grid cells is marked as impassable to avoid the navigation algorithm from mistakenly crossing these scene elements. Otherwise, the traffic status of the intersecting grid cells is marked as impassable.

[0054] Step S303: segment the linear scene element into multiple segments according to a preset segment length along the extension direction of the linear scene element, and take the midpoint of each segmentation line as a static key node.

[0055] For linear scene elements, especially key roads, which are used as midpoints in path planning, a uniform segmentation strategy is adopted. Specifically, linear scene elements are evenly divided according to preset segment lengths (such as every certain length, such as 10cm), and the midpoints of these segmentation lines are used as discrete static key nodes to effectively connect the entire navigation network. This method not only optimizes the efficiency of path planning, but also significantly reduces the computational complexity because it allows the algorithm to search for paths only between key nodes, rather than searching in the entire continuous space.

[0056] Step S304: Connect the static key nodes of the associated doors and rooms to form a static key path. The room and its door belong to the same spatial range, so the static key nodes between the room and its door can be connected to form a direct passage path.

[0057] Step S305: Connect multiple static key nodes of the linear scene elements to form a static key path.

[0058] Step S306: If the distance between the elevator or staircase or door and the linear scene element is less than a preset distance threshold, the static key node of the elevator or staircase or door is connected to the static key node of the linear scene element to form a static key path. The preset distance threshold is represented by T, and its value is preferably but not limited to 0.5 meters to 1.5 meters, such as 1 meter. Step S306 can be represented as:

[0059] D kj =min(L ks )forallj where L ks <T

[0060] Among them, D kjis the distance between the block scene element k and the linear scene element j corresponding to the elevator, staircase or door, s represents the index of the static key node on the linear scene element j, L ks represents the distance between the static key node of block scene element k and the sth static key node on linear scene element j. The above formula represents D kj The minimum distance between the static key node of the block scene element k and all the static key nodes on the linear scene element j, and all L ks <T。

[0061] In this embodiment, after steps S302, S303, and S304, steps S305-306 automatically generate a static critical path, thereby optimizing navigation and space management.

[0062] In a preferred embodiment, in order to adapt to the changes in the real-time indoor grid traffic status, such as dynamic changes in the flow of people, updates to emergency evacuation routes or layout adjustments, and to ensure that a new optimal path can be quickly recalculated after the indoor environment changes or obstacles move, in step S5, for each dynamic grid area, execute:

[0063] Step S501, obtaining the three-dimensional model and position information of the current dynamic element in the dynamic grid area.

[0064] The dynamic elements are preferably, but not limited to, pedestrians and mobile devices (such as sweeping robots or carts or indoor cleaning vehicles or indoor patrol vehicles, etc.). A three-dimensional model of each dynamic element is pre-built and geometric semantic information is set. The three-dimensional model is preferably, but not limited to, a triangular mesh model. The geometric semantic information of the dynamic element includes model code, name, location parameters, scaling parameters, custom attributes, boundaries, and traffic status. The traffic status of the dynamic element can be set to inaccessible.

[0065] Multiple cameras are installed indoors to collect images of various indoor areas in real time. The type and location information of dynamic elements are identified using the existing target recognition model, and the 3D model corresponding to the dynamic element type is retrieved from the predicted 3D model library.

[0066] Step S502: Project the three-dimensional model of the dynamic element into the dynamic mesh area to obtain a corresponding dynamic polygon area.

[0067] With reference to the projection method of the static elements or scene elements or components in the BIM model, the dynamic polygon area corresponding to the three-dimensional model of each dynamic element in the dynamic grid area is obtained, which will not be repeated here.

[0068] Step S503: subtract the dynamic polygon areas corresponding to all dynamic elements from the dynamic mesh area to obtain one or more remaining passable mesh areas.

[0069] Step S504 , using a triangulation algorithm to generate dynamic key nodes and dynamic key paths in each remaining traversable grid area.

[0070] In this embodiment, the triangulation algorithm is preferably but not limited to the Delaunay triangulation algorithm. A triangulated mesh is generated in the remaining passable mesh area through the triangulation algorithm. The geometric center point of each triangular mesh can be used as a dynamic key node, and the triangle connecting lines of the triangular mesh, i.e., the edges, can be used as dynamic key paths.

[0071] Further preferably, in step S504, a dynamic key node and a dynamic key path are generated in each remaining traversable grid area using a triangulation algorithm, including:

[0072] Step S5041: Query the grid cells that are adjacent to the impassable grid cells or are at the boundary of the second indoor grid map from the remaining passable grid areas, and record them as boundary grid cells.

[0073] Step S5042: extracting, from the boundary grid cells, edges adjacent to the impassable grid cells or edges serving as the boundary of the second indoor grid map as boundary edges.

[0074] Step S5043, selecting multiple boundary points on all boundary edges; the boundary points are preferably, but not limited to, midpoints of the boundary edges or vertices of the grid units where they are located.

[0075] Step S5044, input the selected multiple boundary points into a triangulation algorithm to generate a triangular mesh, use the vertices in the triangular mesh as dynamic key nodes, and use the triangle lines in the triangular mesh as dynamic key paths.

[0076] In this embodiment, based on the traffic status of the grid unit, information such as the obstacle location and the traffic area boundary is obtained. The grid map after screening in the several steps before step S5 is composed of some discrete dynamic grid areas. The remaining passable grid area obtained by step S503 is more discretized. For each remaining passable grid area, multiple boundary points are selected, and a triangulated mesh is generated in the remaining passable grid area based on the multiple boundary points using a triangulation algorithm.

[0077] In a preferred embodiment, in order to maintain navigation accuracy and real-time indoor topology map, it also includes:

[0078] When a change in the distribution of dynamic elements in the dynamic grid area is detected, steps S5 and S6 are executed to update the indoor topology map.

[0079] In this embodiment, multiple cameras are installed in each dynamic grid area (such as the lobby of a hospital or a shopping mall) to collect images of the dynamic grid area in real time, and the existing target recognition algorithm is used to identify the distribution of dynamic elements in each dynamic grid area (the number and location information of the dynamic elements). If the distribution of dynamic elements at the current moment is different from the distribution of dynamic elements at the previous moment, steps S5 and S6 are restarted to update the indoor topology map, and these polygons are automatically recalculated and adjusted to ensure that real-time element data input can be received, and environmental changes can be quickly responded to, convex polygons can be recalculated and updated, and navigation accuracy and map real-time performance can be maintained.

[0080] In a preferred embodiment, in order to ensure the integrity of the indoor topology map, in step S6, the static key nodes, static key paths, dynamic key nodes and dynamic key paths are integrated to obtain the indoor topology map, including:

[0081] Connecting adjacent passable static key nodes and dynamic key nodes indicates selecting a dynamic key node that is passable with the static key node. Passability indicates that there is a passable path consisting of a set of passable grid units in the area between the two. Then, the dynamic key node closest to the static key node is selected from the selected dynamic key nodes for connection to form a topological path.

[0082] In this embodiment, after the above steps are performed, there may still be some discrete topological paths that are not connected together. At this time, the current indoor topological map is first analyzed to identify all unconnected or discrete topological paths (including static key paths and dynamic key paths) or topological nodes (including static key nodes and dynamic key nodes). For each pair of discrete topological nodes, a path search operation is started to calculate the shortest path between the two topological nodes. During the calculation process, the traversal cost and topological path length of each topological node are updated in real time to ensure that the path with the lowest cost is found. The calculated shortest path will be represented in the form of a series of topological nodes and connecting edges that have been experienced. These experienced series of topological nodes and connections define the geometric and logical structure of the topological path. Once the path with the lowest cost is calculated, it will be added to the indoor topological map. The system updates the indoor topological map data, merges the newly calculated minimum cost path with the existing topological structure, and ensures the continuity and accuracy of the path. The indoor topological map finally obtained is more concise than the map generated by the traditional grid-based method or the hybrid grid and topological map algorithm, and the number of key nodes and paths is greatly reduced. In addition, the indoor topological map model can receive real-time data input and quickly adapt to environmental changes. It can quickly recalculate and update key nodes and paths to ensure the accuracy and real-time nature of path queries.

[0083] The present invention also discloses an indoor navigation method. In a preferred embodiment, the indoor navigation method includes:

[0084] Step A: obtaining an indoor topological map according to the indoor map generation method based on BIM and real-time data.

[0085] Step B, obtaining the starting point and the end point, that is, determining the starting point and the end point for path finding.

[0086] Step C: Determine the start node closest to the start point and the end node closest to the end point in the indoor topology map. Automatically identify the topological nodes closest to the preset start point and end point, and use the breadth-first search strategy to locate these nodes.

[0087] Step D, select the path with the shortest distance from the starting node to the end node in the indoor topological map as the navigation path. Since all potential obstacles and unreasonable starting and ending point configurations have been eliminated in the refined grid map through the algorithm that automatically generates key nodes, the problems of detours and crossing obstacles in path planning are avoided. Preferably, the Dijkstra algorithm is used to calculate the shortest path from the starting point to the end point. The algorithm evaluates all possible paths and selects the one with the shortest total distance as the optimal navigation path. In certain cases, for those critical paths that are given high priority, the distance between two points can be specifically specified as zero to optimize path selection. This method ensures the efficiency and accuracy of indoor navigation and is suitable for complex indoor environments that require fast and accurate path decisions.

[0088] The present invention provides an indoor map generation method or indoor navigation method based on BIM and real-time data, which has the following technical effects:

[0089] First, static key nodes and static key paths are automatically generated, reducing manual marking. The present invention automatically identifies and generates static key nodes (such as rooms, elevators, stairways, etc.) by analyzing regional characteristics and their spatial relationship with key roads. This automated method significantly reduces the large amount of manual marking work required in traditional methods. The automated process includes intelligent analysis of building layouts, and determines key flow paths and nodes through algorithms rather than relying on manual judgment, thereby improving the efficiency and accuracy of map generation.

[0090] The present invention brings efficiency improvement, and automatic marking reduces the time consumption in the process of map creation and updating, especially in commercial or emergency response environments where maps need to be updated frequently. Accuracy is enhanced, and the automatically generated nodes and paths reduce the possibility of human error and ensure the reliability of the navigation system.

[0091] Second, the Delaunay triangulation algorithm is used to dynamically update convex polygons, allowing the map to adapt to real-time data changes, including dynamic changes in human flow, updates to emergency evacuation routes, or layout adjustments. The Delaunay algorithm provides a triangulation based on minimizing the maximum angle for the map, ensuring geometric optimization of map updates while quickly responding to environmental changes.

[0092] The present invention responds in real time, and the indoor topological map can instantly reflect changes in on-site conditions and provide users with the latest navigation information in emergency response and highly volatile venues (such as music festivals, sports events, etc.); it has strong adaptability. Compared with other algorithms, Delaunay triangulation provides faster calculation speed and higher data adaptability, especially when processing large-scale or highly complex spatial data.

[0093] The present invention also discloses an electronic device. In one embodiment, the electronic device includes at least one processor; and a memory connected to the at least one processor in communication; wherein:

[0094] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the indoor map generation method or indoor navigation method based on BIM and real-time data provided by the present invention.

[0095] like Figure 2 , which is a schematic diagram of the structure of an electronic device for an indoor map generation method or indoor navigation method based on BIM and real-time data provided by an embodiment of the present invention. The electronic device may include a processor 10, a memory 11, a communication bus 12, and a communication interface 13, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as an indoor map generation method or indoor navigation method program based on BIM and real-time data.

[0096] Among them, the processor 10 can be composed of an integrated circuit in some embodiments, for example, it can be composed of a single packaged integrated circuit, or it can be composed of multiple integrated circuits with the same function or different functions, including one or more central processing units (CPU), microprocessors, digital processing chips, graphics processors and various control chips. The processor 10 is the control core (Control Unit) of the electronic device, which uses various interfaces and lines to connect various components of the entire electronic device, and executes or executes programs or modules stored in the memory 11 (for example, executing an indoor map generation method or an indoor navigation method based on BIM and real-time data, etc.), and calls data stored in the memory 11 to execute various functions of the electronic device and process data.

[0097] The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a mobile hard disk, a multimedia card, a card-type memory (for example, SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. In some embodiments, the memory 11 may be an internal storage unit of an electronic device, such as a mobile hard disk of the electronic device. In other embodiments, the memory 11 may also be an external storage device of an electronic device, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Further, the memory 11 may also include both an internal storage unit of the electronic device and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the electronic device, such as the code of an indoor map generation method or an indoor navigation method program based on BIM and real-time data, but also can be used to temporarily store data that has been output or is to be output.

[0098] The communication bus 12 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The bus is configured to realize connection and communication between the memory 11 and at least one processor 10, etc.

[0099] The communication interface 13 is used for communication between the above-mentioned electronic device and other devices, including a network interface and a user interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device and other electronic devices. The user interface may be a display (Display), an input unit (such as a keyboard (Keyboard)), and optionally, the user interface may also be a standard wired interface, a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode, organic light-emitting diode) touch device, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device and to display a visual user interface.

[0100] Figure 2 Only an electronic device with components is shown, and those skilled in the art will understand that Figure 2 The structure shown does not constitute a limitation on the electronic device, and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0101] For example, although not shown, the electronic device may also include a power source (such as a battery) for supplying power to each component. Preferably, the power source may be logically connected to at least one processor 10 through a power management device, so that the power management device can realize functions such as charging management, discharging management, and power consumption management. The power source may also include any components such as one or more DC or AC power sources, recharging devices, power failure detection circuits, power converters or inverters, and power status indicators. The electronic device may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

[0102] It should be understood that the embodiment is for illustration only and the scope of the patent application is not limited by this structure.

[0103] Furthermore, if the module / unit integrated in the electronic device 1 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0104] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", "an implementation", "a preferred implementation" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0105] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A method for generating indoor maps based on BIM and real-time data, characterized in that: include: Step S1, constructing a first indoor grid map based on the BIM model data of the building; Step S2, resetting the first indoor grid map based on indoor static elements to obtain a second indoor grid map; Step S3, automatically generating static key nodes and static key paths in the traversable area of ​​the second indoor grid map; Step S4, obtaining one or more dynamic grid areas by subtracting the coverage areas of the static key nodes and the static key paths from the traversable area of ​​the second indoor grid map; Step S5, using a triangulation algorithm in each dynamic mesh region to generate dynamic key nodes and dynamic key paths that can avoid the current dynamic elements in each dynamic mesh region; Step S6, integrating static key nodes, static key paths, dynamic key nodes and dynamic key paths to obtain an indoor topology map.

2. The method for generating indoor maps based on BIM and real-time data according to claim 1, characterized in that: In step S2, resetting the first indoor grid map based on the indoor static elements to obtain the second indoor grid map includes: Acquire a three-dimensional model and geometric semantic information of a static element, wherein the geometric semantic information includes a position and a traffic status of the static element; Projecting the three-dimensional model of the static element onto the first indoor grid map to form a corresponding static polygon; The traffic status of the grid units covered by the corresponding static polygon on the first indoor grid map is reset according to the traffic status of the static element to obtain the second indoor grid map.

3. The method for generating indoor maps based on BIM and real-time data according to claim 2, characterized in that: The method of resetting the traffic status of the grid units covered by the corresponding static polygon on the first indoor grid map according to the traffic status of the static elements to obtain the second indoor grid map includes: Resetting the traffic status of the grid cells completely covered by the static polygon in the first indoor grid map to the traffic status of the static elements; The access status of the grid cells partially covered by the static polygon in the first indoor grid map is reset to inaccessible.

4. The method for generating an indoor map based on BIM and real-time data according to any one of claims 1 to 3, characterized in that: In the step S3, static key nodes and static key paths are automatically generated in the traversable area of ​​the second indoor grid map, including: Identify indoor block scene elements and linear scene elements, the block scene elements include elevators, stairs, doors, rooms, and the linear scene elements include roads; The geometric center point of each block scene element is used as a static key node; The linear scene element is divided into a plurality of segments according to a preset segment length along the extension direction of the linear scene element, and the midpoint of each segmentation line is used as a static key node; Connect the static key nodes of the associated doors and rooms to form a static critical path; Connect multiple static key nodes of linear scene elements to form a static key path; If the distance between the elevator or staircase or door and the linear scene element is less than a preset distance threshold, the static key node of the elevator or staircase or door is connected to the static key node of the linear scene element to form a static key path.

5. The method for generating an indoor map based on BIM and real-time data according to claim 4, characterized in that: In step S5, for each dynamic grid area, execute: Get the 3D model and position information of the current dynamic element in the dynamic grid area; Projecting the three-dimensional model of the dynamic element into the dynamic mesh area to obtain a corresponding dynamic polygon area; Subtract the dynamic polygon areas corresponding to all dynamic elements from the dynamic grid area to obtain one or more remaining passable grid areas; The triangulation algorithm is used to generate dynamic critical nodes and dynamic critical paths in each remaining traversable mesh area.

6. The method for generating indoor maps based on BIM and real-time data according to claim 5, characterized in that: The method of generating dynamic key nodes and dynamic key paths in each remaining traversable grid area by using a triangulation algorithm includes: Query the grid cells that are adjacent to the impassable grid cells or are at the boundary of the second indoor grid map from the remaining passable grid areas, and record them as boundary grid cells; Extracting, from the boundary grid cells, edges adjacent to the impassable grid cells or edges that are the boundaries of the second indoor grid map as boundary edges; Select multiple boundary points on all boundary edges; The selected multiple boundary points are input into the triangulation algorithm to generate a triangular mesh, the vertices in the triangular mesh are used as dynamic key nodes, and the triangle lines in the triangular mesh are used as dynamic key paths.

7. The method for generating an indoor map based on BIM and real-time data according to any one of claims 1, characterized in that: In step S6, the static key nodes, static key paths, dynamic key nodes and dynamic key paths are integrated to obtain an indoor topology map, including: Connect adjacent traversable static key nodes and dynamic key nodes.

8. The method for generating an indoor map based on BIM and real-time data according to any one of claims 1-3, 5, 6, and 7, characterized in that: Also includes: When a change in the distribution of dynamic elements in the dynamic grid area is detected, steps S5 and S6 are executed to update the indoor topology map.

9. An indoor navigation method, characterized in that: include: Obtaining an indoor topological map according to the indoor map generation method based on BIM and real-time data according to any one of claims 1 to 8; Get the starting point and the end point; Determine the starting node closest to the starting point and the ending node closest to the ending point in the indoor topology map; In the indoor topology map, the path with the shortest distance from the starting node to the end node is selected as the navigation path.

10. An electronic device, characterized in that: The electronic device comprises: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor so that the at least one processor can perform the method as claimed in any one of claims 1 to 9.

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