Method and device for constructing a passable path map, electronic equipment and storage medium

Abstract

The present application relates to the technical field of passage design, and discloses a construction method and device of a passable path graph, electronic equipment and a storage medium. The present application divides a target area into three types of space models, namely, a device room, a passage and a free space. A local path subgraph construction strategy is adopted for each type of model to adapt to the function attribute of the corresponding space model. Then, based on the intersection and adjacency determination between the space models, the local path subgraph is updated, the insertion of a cross-space path point and edge connection are dynamically completed, and the node association relationship between the local path subgraphs is adaptively established without manually splicing and aligning the point positions of the intersecting or adjacent models. Finally, the local path subgraphs of the space models are fused through the node association relationship to generate a global path graph, which comprehensively represents the passable space and its connectivity relationship of the target area, avoids missing potential passable paths, and improves the comprehensiveness and accuracy of the construction of the passable path.

Description

Technical Field

[0001] This invention relates to the field of channel design technology, and more specifically to a method, apparatus, electronic device, and storage medium for constructing a traffic path map. Background Technology

[0002] In nuclear power plant design, the design of passageways (traffic paths) is an important part of the plant layout. The goal is to generate the shortest possible path while meeting all constraints. This requires considering many factors such as physical isolation between objects, process connections, radiation protection, and equipment transportation, while ensuring safety.

[0003] Traditional access control design often relies on manual experience and lacks relevant mathematical models, making it difficult to apply computer technology to assist in access control design and optimization. However, the nuclear island plant contains a large number of devices, and relying on manual access control design or optimization would be extremely labor-intensive and involve a great deal of repetitive work.

[0004] To obtain the optimal path map or passage design for a nuclear power plant, existing technologies often require algorithmic optimization. However, before using algorithms for optimization, relevant mathematical models must first be used to construct a computer-recognizable data structure (such as an adjacency matrix) of the complex equipment layout, wall structure, and potential passage areas within the plant. However, these models struggle to handle passages with solid widths, complex interactions between equipment, and free areas, failing to cover all passable path points and resulting in incomplete passage design. Summary of the Invention

[0005] This invention provides a method, apparatus, electronic device, and storage medium for constructing a travel path map, in order to solve the problem that the prior art cannot handle complex areas and their spatial interactions, resulting in incomplete travel path coverage.

[0006] In a first aspect, the present invention provides a method for constructing a travel path map, the method comprising: The target area is spatially divided to obtain multiple spatial models; the categories of spatial models include the space occupied by the equipment area, the space occupied by the passage area, and the unoccupied free space. For each spatial model, construct a local path subgraph within that spatial model in a manner that matches the category of that spatial model; Based on the spatial geometric relationships between different spatial models, the corresponding local path subgraphs are updated, and the node association relationships between the corresponding local path subgraphs are determined; whereby the spatial geometric relationships include intersection relationships and adjacency relationships. Based on the updated local path subgraph and node relationships, a global path graph is generated, and based on the global path graph, a travel path graph for the target area is constructed.

[0007] This invention divides the target area into three spatial models: equipment rooms, passageways, and free space. For each model, a corresponding local path subgraph construction strategy is adopted, ensuring that the local path subgraph matches the functional attributes of the corresponding spatial model. Then, based on intersection and adjacency determination between spatial models, the local path subgraph is updated, dynamically inserting cross-spatial path points and connecting edges. This adaptively establishes node relationships between local path subgraphs, eliminating the need for manual splicing and alignment of points in intersecting or adjacent models. Finally, the local path subgraphs of each spatial model are merged through node relationships to generate a global path graph, thus constructing a comprehensive travel path graph. This comprehensively represents the traversable space and its connectivity within the target area, avoiding the omission of potential traversable paths and improving the comprehensiveness and accuracy of travel path construction.

[0008] In some alternative implementations, local path subgraphs are constructed within the spatial model in a manner that matches the category of the spatial model, including: If the spatial model is classified as inter-device space, generate the first path point based on the contour corner point of the inter-device space, and generate the first path edge based on the contour edge of the inter-device space; construct the local path subgraph corresponding to the inter-device space based on the first path point and the first path edge. If the spatial model is classified as channel space, second path points are generated based on the contour corner points and contour edge midpoints of the channel space, and second path edges are generated based on the contour edges of the channel space and the lines connecting the midpoints of the opposite contour edges; based on the second path points and second path edges, a local path subgraph corresponding to the channel space is constructed. If the spatial model is classified as free space, the free space is divided into grids, and third path points are generated based on the obtained free space units; based on the third path points, a local path subgraph corresponding to each free space unit is constructed.

[0009] This invention addresses three types of spatial models: equipment space, passageway space, and free space. It constructs corresponding local path subgraphs using corner point outline edges, grid-like patterns, and uniform mesh division, respectively. This accurately describes the passage logic of different functional areas within the nuclear island plant, preserving the peripheral passage boundaries of equipment spaces, forming an internal interconnected network within passageways, and achieving full coverage of free space. This improves the efficiency of path graph construction and spatial preservation, and enhances the accuracy and comprehensiveness of subsequent passageway analysis.

[0010] In some optional implementations, the corresponding local path subgraph is updated based on the spatial geometric relationships between different spatial models, including: Based on spatial geometric relationships, identify at least one set of two intersecting equipment spaces and determine the target intersection node between the two intersecting equipment spaces; Determine the target local path subgraphs corresponding to the spaces between two intersecting devices, and add target intersection nodes in the target local path subgraphs; Determine the adjacent first path points of the target intersection nodes, and update the target local path subgraph based on the target intersection nodes and adjacent first path points.

[0011] This invention automatically identifies the intersection points between intersecting devices and inserts them into the target local path subgraph. Simultaneously, it disconnects the original connecting path edges severed by the intersection points while establishing connecting path edges between the intersection points and adjacent path points and updating their weights. Furthermore, it interconnects the same intersection points belonging to different devices, thereby connecting the cross-spatial paths around the devices. This achieves accurate generation of overlapping path points between intersecting devices and adaptive reconstruction of the corresponding local path subgraphs, saving the tedious manual handling of device boundaries, ensuring real-time updates and geometric consistency of the path topology during device layout adjustments, and significantly improving the adaptability and maintenance efficiency of the path graph to complex factory layouts.

[0012] In some optional implementations, the corresponding local path subgraph is updated based on the spatial geometric relationships between different spatial models, including: Based on spatial geometric relationships, identify the occupancy status of each free space unit; For each free space cell, if the free space cell is detected to be occupied based on the occupancy status, the local path subgraph corresponding to that free space cell is deleted.

[0013] This invention detects the geometric occupancy relationship between free space units and physical spaces such as equipment and passageways, automatically identifies and deletes the local path subgraph corresponding to the occupied free space units, and realizes the filtering of free passage areas and the removal of invalid nodes. This ensures that the local path subgraph of free space retains real passable areas, avoids topological errors such as paths passing through walls or equipment caused by fixed grid division, eliminates the need for manual review and removal, and significantly reduces data redundancy and storage overhead of the path graph.

[0014] In some optional implementations, determining the node relationships between corresponding local path subgraphs includes: Identify the adjacent free space units of each free space unit in free space; For each free space cell, if it is detected that the adjacent free space cells of the free space cell are not occupied, then a third path edge is generated based on the third path point corresponding to the free space cell and the adjacent free space cell respectively, and the node association relationship between the local path subgraphs corresponding to the free space cell and the adjacent free space cell is determined based on the third path edge.

[0015] This invention reconstructs the grid topology of the entire free-travel area by traversing free-space cells and automatically connecting adjacent unoccupied free-space cells. It connects discrete, adjacent third path points, thereby obtaining the node relationships between free-space cells. Without manual annotation or pre-setting of passage routes, it can generate a coherent path network within free space, fully covering all potential passage spaces outside of equipment and passageways, significantly improving mapping efficiency and the comprehensiveness of passage path construction.

[0016] In some optional implementations, the corresponding local path subgraph is updated based on the spatial geometric relationships between different spatial models, including: Based on spatial geometric relationships, at least one set of two intersecting first equipment space and first free space units are identified, and the third path point corresponding to the first free space unit and the equipment space edge intersecting with the first free space unit in the first equipment space are determined. Based on the intersecting space edges between devices, the coordinates of the third path points corresponding to the first free space unit are corrected, and the local path subgraph corresponding to the first free space unit is updated based on the corrected coordinates of the third path points.

[0017] This invention identifies the geometric overlap between the space between equipment rooms and free space units, automatically snapping and correcting free space path points located inside or at the edge of the equipment room to the intersecting boundaries of the equipment room. This solves topological errors such as path penetration through walls and positioning distortion caused by the disconnection between discrete mesh units and solid boundaries. Furthermore, the corrected third path points can accurately fit the edges of the equipment room without manual adjustment of node coordinates. While ensuring the geometric accuracy of the path, it improves the efficiency and accuracy of constructing cross-space connections, achieving smooth path connection between the equipment room and free space.

[0018] In some optional implementations, the corresponding local path subgraph is updated based on the spatial geometric relationships between different spatial models, including: For each channel edge in the channel space, based on spatial geometric relationships, identify the target space model adjacent to that channel edge; the target space model includes the second equipment room space or the second free space unit. For each channel edge in the channel space, if a target path point in the target space model is detected to be within the neighborhood of that channel edge, a new target path point is added to the second path point set corresponding to that channel edge, and the local path subgraph corresponding to the channel space is updated; the target path point includes the first path point in the second device space or the third path point in the second free space unit.

[0019] This invention identifies path points between devices and in free space within the neighborhood of each edge of the channel space and integrates them sequentially into the path point set of the channel edge. This enables the channel to connect with all accessible spaces in the surrounding area. While ensuring the connectivity between the channel and adjacent spaces, it avoids redundant connections and edge generation between the channel and adjacent spaces, effectively simplifying the path graph structure and improving path planning efficiency.

[0020] Secondly, the present invention provides an apparatus for constructing a travel path map, the apparatus comprising: The first processing module is used to spatially divide the target area to obtain multiple spatial models. The categories of spatial models include the space between devices occupied by the device area, the channel space occupied by the channel area, and the unoccupied free space. The second processing module is used to construct a local path subgraph within each spatial model in a manner that matches the category of that spatial model. The third processing module is used to update the corresponding local path subgraphs based on the spatial geometric relationships between different spatial models, and to determine the node association relationships between the corresponding local path subgraphs; wherein, the spatial geometric relationships include intersection relationships and adjacency relationships; The fourth processing module is used to generate a global path graph based on the updated local path subgraph and node relationships, and to construct a travel path graph for the target area based on the global path graph.

[0021] Thirdly, the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the method for constructing a path map according to the first aspect or any corresponding embodiment described above.

[0022] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the method for constructing a path map according to the first aspect or any corresponding embodiment thereof. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of an application scenario according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the first method for constructing a travel path map according to an embodiment of the present invention; Figure 3(a) is a schematic diagram of the interior space of the nuclear island plant according to an embodiment of the present invention; Figure 3(b) is a schematic diagram of the target region division according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the third process of constructing a travel path map according to an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the construction of a local path subgraph between devices according to an embodiment of the present invention; Figure 6 This is a schematic diagram illustrating the construction of a local path sub-graph in road space according to an embodiment of the present invention; Figure 7 This is a spatial diagram of the space between intersecting devices according to an embodiment of the present invention; Figure 8 This is a schematic diagram of local path subgraph update in the space between intersecting devices according to an embodiment of the present invention; Figure 9 This is a schematic diagram of local path subgraph update of adjacent free space units according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the local path subgraph update of intersecting free space units and the space between devices according to an embodiment of the present invention; Figure 11(a) is a schematic diagram of local path subgraph update of intersecting road space and other spatial models according to an embodiment of the present invention; Figure 11(b) is a schematic diagram of the path nodes in the internal space of the nuclear island plant according to an embodiment of the present invention; Figure 12 This is a structural block diagram of a device for constructing a travel path map according to an embodiment of the present invention; Figure 13 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0027] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0028] As an optional application scenario of this invention, such as Figure 1 As shown, the system for constructing this travel path map may include at least one terminal device and at least one server. Figure 1 The system is illustrated in the example, which includes a computer 101, a mobile terminal 102, and a server 103, and the terminal devices such as the computer 101 and the mobile terminal 102 are connected to the server 103 through a network 110.

[0029] Specifically, the terminal device can be a smartphone, tablet, laptop, PDA, desktop computer, game console, smart TV, smart wearable device, in-vehicle terminal, VR (Virtual Reality) device, AR (Augmented Reality) device, etc. Server 103 can be a standalone physical server, a server cluster, a distributed system, or a cloud server providing cloud services. Network 110 can be a wired or wireless network, examples of which include, but are not limited to, the Internet, corporate intranet, local area network, wide area network, mobile communication network, and combinations thereof.

[0030] According to an embodiment of the present invention, a method for constructing a path map is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0031] This embodiment provides a method for constructing a travel path map, which can be used for, for example Figure 1 The terminal devices shown, such as computers and tablets, Figure 2 This is a flowchart of a method for constructing a travel path map according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps: Step S201: The target area is spatially divided to obtain multiple spatial models; the categories of spatial models include the space between equipment areas occupied by equipment areas, the channel space occupied by channel areas, and unoccupied free space.

[0032] For ease of understanding, the following embodiments use the nuclear island plant as an example to illustrate the target area. However, in other embodiments, the target area may be other areas, including but not limited to various work areas, scene areas, map areas, etc. This embodiment is not limited to this.

[0033] Specifically, to better describe the path information within the nuclear island plant, the plant area was first spatially divided. Based on the fundamental geometry, the internal spaces of the nuclear island plant were categorized and merged, resulting in three types of spatial models: equipment room space, passageway space, and free space.

[0034] It should be noted that equipment room space describes the space occupied by the equipment and its room (process room), passage space describes the space required for passageways, and free space describes the space that is not currently occupied by any entity and has not yet been assigned any function. The internal space of the entire nuclear island plant is shown in Figure 3(a) and Figure 3(b). The internal space of the entire nuclear island plant is divided into three parts: equipment room space (e.g., equipment 1001, equipment 402, etc.), passage space (black area), and free space (grid area), thereby accurately describing the areas that may be covered by equipment transportation, personnel passages, and other passageways.

[0035] Step S202: For each spatial model, construct a local path subgraph within the spatial model in a manner that matches the category of the spatial model.

[0036] Specifically, for each spatial model, internal nodes are generated, including internal nodes of the equipment space, internal nodes of the passage space, and internal nodes of the free space. The corresponding internal nodes are then connected in a manner matching the category of the spatial model to generate internal edges. Combining the internal nodes and internal edges, a local path subgraph is generated within each spatial model.

[0037] Step S203: Based on the spatial geometric relationships between different spatial models, update the corresponding local path subgraphs and determine the node association relationships between the corresponding local path subgraphs; wherein, the spatial geometric relationships include intersection relationships and adjacency relationships.

[0038] Specifically, the spatial geometric relationships between different spatial models are identified, including intersecting or adjacent spatial models. Based on the spatial geometric relationships between two spatial models, the path points and path edges involved are corrected to ensure the geometric spatial accuracy of the local path subgraphs, and the node association relationships between the local path subgraphs corresponding to intersecting or adjacent spatial models are established.

[0039] Step S204: Generate a global path graph based on the updated local path subgraph and node relationships, and construct a travel path graph for the target area based on the global path graph.

[0040] Specifically, the updated local path subgraphs are integrated based on the node relationships between them to generate a global path graph G=(V,E) for the target area. Given a factory layout, the global path graph G=(V,E) is a graph data structure representing the internal passage network (i.e., all potential passages). Here, the path point set V is a set of discretized path points used to mark key spatial locations such as various spatial corners (e.g., equipment room corners) and passage intersections (e.g., ternary nodes); the edge set E is a set of linear edges connecting adjacent vertices used to represent straight passage segments.

[0041] Furthermore, based on this global path map, a travel path map for the target area is constructed, including but not limited to various operation path planning and shortest path planning, for details of which can be found in the relevant technical descriptions.

[0042] The method for constructing a access path map provided in this embodiment divides the target area into three types of spatial models: equipment rooms, passageways, and free space. For each type of model, a local path subgraph construction strategy is adopted to ensure that the local path subgraphs are compatible with the functional attributes of the corresponding spatial model. Then, based on the intersection and adjacency determination between spatial models, the local path subgraphs are updated, dynamically inserting cross-spatial path points and connecting edges, adaptively establishing node relationships between local path subgraphs without the need for manual splicing and alignment of points in intersecting or adjacent models. Finally, the local path subgraphs of each spatial model are merged through node relationships to generate a global path map, comprehensively representing the accessible space and its connectivity in the target area, avoiding the omission of potential accessible paths, thereby improving the comprehensiveness and accuracy of access path construction.

[0043] This embodiment provides a method for constructing a travel path map, which can be used for, for example Figure 1 The terminal devices shown, such as computers and tablets, Figure 4 This is a flowchart of a method for constructing a travel path map according to an embodiment of the present invention, such as... Figure 4 As shown, the process includes the following steps: Step S401: The target area is spatially divided to obtain multiple spatial models. The categories of spatial models include the space occupied by equipment areas, the space occupied by passageways, and unoccupied free space. For details, please refer to [link to details]. Figure 2 Step S201 of the illustrated embodiment will not be described again here.

[0044] Step S402: For each spatial model, construct a local path subgraph within the spatial model in a manner that matches the category of the spatial model.

[0045] Specifically, step S402 includes: Step S4021: If the category of the spatial model is inter-device space, generate first path points based on the contour corner points of the inter-device space, and generate first path edges based on the contour edges of the inter-device space; construct a local path subgraph corresponding to the inter-device space based on the first path points and the first path edges.

[0046] Specifically, the internal space of the equipment room is for the use of the equipment itself only, including the space required for equipment installation, operation and maintenance, and is not used as a general equipment transportation channel or personnel passageway within the factory.

[0047] For example, such as Figure 5 As shown, for modeling a single equipment room space, the four corner points of the outer contour of the equipment room space are first selected ( Figure 5 Midpoints 0, 1, 2, and 3 are used as nodes in the path graph (first path points), and the four contour edges of the space between devices ( Figure 5 Edge 0, edge 1, edge 2, and edge 3 are set as edges of the path graph (second path edges).

[0048] See you again Figure 5 By connecting the four contour edges (second path edges) sequentially with corner points (first path points) as connection points, and using the actual distance between two first path points as the weight of the corresponding first path edge, a mapping relationship between the device space and the path graph is established, resulting in a local path subgraph corresponding to the device space. This local path subgraph is described in the form of an adjacency matrix, where dis represents the actual distance between the corresponding path points, and inf indicates that there is no direct connection relationship.

[0049] Step S4022: If the category of the spatial model is channel space, generate second path points based on the contour corner points and contour edge midpoints of the channel space, and generate second path edges based on the contour edges of the channel space and the lines connecting the midpoints of the opposite contour edges; construct the local path subgraph corresponding to the channel space based on the second path points and the second path edges.

[0050] Specifically, a passageway space refers to a spatial area designated to meet the needs of equipment transportation or personnel passage. Unlike equipment rooms, passageway spaces do not contain actual obstacles; they merely represent a functional spatial requirement, and therefore, paths can be planned within them.

[0051] like Figure 6 As shown, to achieve path modeling of the channel space, the four corner points of the channel space outline are first selected ( Figure 6 Midpoints 0, 2, 4, and 6) and the midpoints of each contour edge ( Figure 6 Midpoints 1, 3, 5, and 7 are the second path points in the path diagram. Connecting these second path points sequentially along the contour forms the outer second path edge. Furthermore, to describe the connectivity of the channel space, the midpoints of the opposite contour edges are connected, thus forming a structure as shown below. Figure 6 The diagram shows a grid-shaped path structure.

[0052] See you again Figure 6 In the obtained local path subgraph of the channel space, the connection relationship between each node in the channel space is represented by an eight-dimensional adjacency matrix. The weight of the second path edge between adjacent corner points or opposite contour edge midpoints is the Euclidean distance (or Manhattan distance) between the two points. There is no direct connection between contour edge midpoints that are not adjacent corner points and are not opposite edges, and their weights are set to infinity (for example, there is no direct connection between node 0 and node 2, and they need to be connected through the intermediate node 1).

[0053] Step S4023: If the spatial model is classified as free space, the free space is meshed, and a third path point is generated based on the obtained free space unit; based on the third path point, a local path subgraph corresponding to each free space unit is constructed.

[0054] Specifically, free space refers to a space within an area that is free from any physical obstructions and allows equipment or personnel to move freely. To fully describe all walkable areas within the nuclear island plant, excluding equipment rooms and passageways, a grid-like approach is used to represent the distribution of free space.

[0055] For ease of calculation, this embodiment uses squares (the mesh can be deformed according to the actual location, not just square meshes) as the basic shape unit of free space, thereby uniformly dividing the free space of the factory area into multiple free space units. The meshing effect is shown in the square mesh area in Figure 3(b). In the local path subgraph representation of the free space unit, each free space unit corresponds to only one third path point. There are no connecting edges inside the free space unit, so it is only represented as one row in the corresponding local path subgraph, i.e., a one-dimensional matrix. .

[0056] It should be noted that the aforementioned path points and path edges are all points and edges in the path graph. However, for ease of distinction and description, this embodiment uses the first path point and the first path edge to represent the points and edges associated with the space between devices, the second path point and the second path edge to represent the points and edges associated with the channel space, and the third path point and the third path edge to represent the points and edges associated with the free space.

[0057] This invention addresses three types of spatial models: equipment space, passageway space, and free space. It constructs corresponding local path subgraphs using corner point outline edges, grid-like patterns, and uniform mesh division, respectively. This accurately describes the passage logic of different functional areas within the nuclear island plant, preserving the outer passage boundaries of equipment spaces, forming an internal network of passageways, and achieving full coverage of free space. This improves the efficiency of path graph construction and spatial preservation, and enhances the accuracy and comprehensiveness of subsequent passageway analysis.

[0058] Step S403: Based on the spatial geometric relationships between different spatial models, update the corresponding local path subgraphs and determine the node association relationships between the corresponding local path subgraphs; wherein, the spatial geometric relationships include intersection relationships and adjacency relationships.

[0059] In some optional implementations, step S403 above includes: Step a1: Based on spatial geometric relationships, identify at least one set of two intersecting equipment spaces and determine the target intersection node between the two intersecting equipment spaces.

[0060] Specifically, the path points around the equipment room space include not only the four corner points of its own outline, but also the intersection points formed by its intersection with other equipment room spaces. For example... Figure 7 As shown, for two intersecting equipment spaces, the target intersection node of the two equipment spaces is first obtained through geometric calculation functions. Figure 7 The coordinates of intersection points a and b in the figure are given. This geometric calculation function can be any function that calculates the coordinates of intersection points; for details, please refer to the descriptions of relevant technologies, which will not be elaborated upon here.

[0061] Step a2: Determine the target local path subgraphs corresponding to the spaces between the two intersecting devices, and add target intersecting nodes in the target local path subgraphs.

[0062] In this embodiment, when two device spaces intersect, their target intersection node is incorporated as a new path point into the corresponding local path subgraph. The insertion position of the target intersection node in the first path point sequence of the corresponding device space is determined. For the two intersecting device spaces, a new row and column corresponding to the target intersection node are added to the adjacency matrix of its target local path subgraph to represent the connection relationship between the target intersection node and other first path points (e.g., ...). Figure 8The initial weights of the newly added rows and columns (where intersection points a and b are located) are all set to infinity, indicating that the intersection node of the target has not yet been connected to any other first path point.

[0063] Step a3: Determine the adjacent first path points of the target intersecting nodes, and update the target local path subgraph based on the target intersecting nodes and the adjacent first path points.

[0064] Specifically, the adjacent first path points adjacent to the target intersection node are determined. Based on the actual distance and connection relationship between the target intersection node and the adjacent first path points, the connection weights between the target intersection node and the adjacent first path points in the target local path subgraph are updated. In the adjacency matrix, this process is reflected in modifying the connection weights between the row and column of the target intersection node and the row and column of the adjacent first path points.

[0065] For example, Figure 7 The adjacent first path points of intersection point a are points 0 and 1. Based on the actual distance between intersection point a and point 1, the connection weight between intersection point a and point 1 is updated. Furthermore, the direct connections between the original adjacent first path points that were separated due to the insertion of the target intersection node are broken. Figure 8 The connection weight between midpoint 0 and midpoint 1 is updated to infinity, such as... Figure 8 As shown in the dashed box.

[0066] Step a4: Determine the node association relationships between the target local path subgraphs corresponding to the spaces between two intersecting devices.

[0067] Specifically, due to the intersecting nodes of the targets generated at the same geometric location (e.g. Figure 8 If intersection point a or intersection point b belongs to two different device spaces, to express the connectivity between these spaces, the target intersection nodes of these two spaces need to be represented as directly connected in the adjacency matrix. See again. Figure 8 Construct the node association relationship between the target local path subgraphs corresponding to the two device spaces. In the adjacency matrix block corresponding to the node association relationship, set the connection weight between the target intersecting nodes corresponding to the two device spaces to 0, indicating that they actually overlap. The path can turn from the periphery of one device space to the periphery of the other device space, thereby realizing the path connection between the device spaces.

[0068] This invention automatically identifies the intersection points between intersecting devices and inserts them into the target local path subgraph. Then, while disconnecting the original connecting path edges separated by the intersection points, it establishes connecting path edges between the intersection points and adjacent path points and updates their weights. Furthermore, it interconnects the same intersection points belonging to different devices, thereby connecting the cross-spatial paths around the devices. This achieves accurate generation of overlapping path points between intersecting devices and adaptive reconstruction of the corresponding local path subgraphs, saving the tedious manual handling of device boundaries, ensuring real-time updates and geometric consistency of the path topology during device layout adjustments, and significantly improving the adaptability and maintenance efficiency of the path graph to complex factory layouts.

[0069] In some optional implementations, step S403 above further includes: Step b1: Based on spatial geometric relationships, identify the occupancy status of each free space unit.

[0070] Specifically, by constructing a free space model, free space units can be uniformly instantiated throughout the entire nuclear island plant area, and the occupancy status of each free space unit can be determined. If a free space unit has an effective area that is not occupied by any equipment room space or passageway space, it means that the free space unit is not occupied; otherwise, it means that the free space unit is occupied, thus obtaining the occupancy status of each free space unit.

[0071] Step b2: For each free space unit, if the free space unit is detected to be occupied based on the occupancy status, then delete the local path subgraph corresponding to the free space unit.

[0072] Specifically, if a free space cell is unoccupied, the free space node is retained to indicate that the area is walkable; otherwise, if a free space cell is occupied, it is determined that the free space cell has no actual path meaning, and its corresponding local path subgraph is deleted. For example... Figure 9 As shown, the free space cells are distributed in a grid pattern. Black borders indicate retained free space cells, while gray borders indicate unretained free space cells.

[0073] This invention, through detecting the geometric occupancy relationship between free space units and physical spaces such as equipment and passageways, automatically identifies and deletes the local path subgraph corresponding to the occupied free space units. This achieves the filtering of free passage areas and the removal of invalid nodes, ensuring that the local path subgraph of free space retains real passable areas. It avoids topological errors such as paths passing through walls or equipment caused by fixed grid division, eliminating the need for manual review and removal, and significantly reducing data redundancy and storage overhead of the path graph.

[0074] Step b3: Identify the adjacent free space units of each free space unit in free space.

[0075] Specifically, each free space unit corresponds to only one third path point in the local path subgraph. To describe the traversable relationships between different free space units, it is necessary to establish node association relationships between free space units. See again. Figure 9 For each free space cell, identify its neighboring free space cells.

[0076] Step b4: For each free space cell, if it is detected that the adjacent free space cells of the free space cell are not occupied, then a third path edge is generated based on the third path point corresponding to the free space cell and the adjacent free space cell respectively, and the node association relationship between the local path subgraphs corresponding to the free space cell and the adjacent free space cell is determined based on the third path edge.

[0077] For example, see again Figure 9 When establishing node relationships between different free space cells, you can start from the bottom left corner of the grid and traverse each reserved free space cell row by row and column by column towards the top right corner. During the traversal, the following connection operations are performed: Step 41: If the adjacent free space cell to the right of the current free space cell is a reserved free space cell, then connect the third path points of the two free space cells to generate a third path edge, and set the weight of the corresponding edge to the actual distance between the two third path points in the adjacency matrix corresponding to the node association relationship between the free space cells.

[0078] Step 42: If the adjacent free space cell above the current free space cell is a reserved free space cell, connect the corresponding two third path points and set the weight of the corresponding edge.

[0079] Step 43: If the adjacent free space unit on the right or top is a free space that is not retained (gray border), then skip the connection between these two free space units.

[0080] This embodiment establishes node relationships between all adjacent free space units through the above traversal, thereby supporting coherent path planning within free space.

[0081] This invention reconstructs the grid topology of the entire free-travel area by traversing free-space cells and automatically connecting adjacent unoccupied free-space cells. It connects discrete adjacent third path points, thereby obtaining the node relationships between free-space cells. Without manual annotation or pre-setting of passage routes, a coherent path network can be generated within the free space, fully covering all potential passage spaces outside of equipment rooms and passageways, significantly improving mapping efficiency and the comprehensiveness of passage path planning.

[0082] In some optional implementations, step S403 above further includes: Step c1: Based on spatial geometric relationships, identify at least one set of two intersecting first equipment space and first free space units, and determine the third path point corresponding to the first free space unit and the equipment space edge in the first equipment space that intersects with the first free space unit.

[0083] Specifically, free space units typically use their geometric center point as the third path point. However, in real-world scenarios, the free space center point is often located inside equipment rooms or passageways. If this geometric center point is still used as the third path point for path planning, it will lead to inaccurate path information. Therefore, the third path point of the free space unit needs to be corrected.

[0084] For example, such as Figure 10 As shown, Figure 10 The square area represents a free space unit, and the hollow dot at the starting point of the arrow is its original third path point; the dashed rectangle represents the indoor area of ​​the equipment room, the solid rectangle represents the outer outline of the equipment room, and the solid dot represents the first path point of the equipment room.

[0085] Step c2: Based on the intersecting inter-device space edges, the coordinates of the third path points corresponding to the first free space unit are corrected, and the local path subgraph corresponding to the first free space unit is updated based on the corrected coordinates of the third path points.

[0086] Specifically, when there is an overlapping area between the equipment space and the free space unit, the edge of the equipment space where the equipment space intersects with the free space unit will be identified, and the x-coordinate or y-coordinate of the third path point of the free space unit will be adjusted to the corresponding coordinate value of the equipment space edge. See again. Figure 10 The solid circle at the end of the arrow represents the corrected third path point. After the position of the third path point is corrected, the adjacency matrix of the corresponding local path subgraph needs to be updated based on the corrected coordinates of the third path point.

[0087] With the above modifications, this embodiment can achieve the effect of the third path point being attached to the boundary of the space between devices. Not only can the third path point in the free space inside the device room float to the edge of the device room, but the third path point in the free space of adjacent devices will also be attracted to the boundary of the device room.

[0088] Step c3: Determine the node association relationships between the local path subgraphs corresponding to the first device space and the first free space unit, respectively.

[0089] Specifically, since the third path point of a free space unit is only connected to other third path points within the free space region, the first path point (e.g., in the equipment room space within the free space) is determined and identified. Figure 10(Solid circles in free space 3 and free space 4). Then, establish the node association relationship between the local path subgraphs corresponding to the first device space and the first free space unit respectively. That is, in the adjacency matrix of the node association relationship, set the weight of the corresponding position of the two as the actual distance between the third path point of the free space unit and the first path point located in the free space unit, thereby completing the path connection between the free space unit and the device space.

[0090] This invention identifies the geometric overlap between the space between devices and the free space units, automatically snapping and correcting free space path points located inside or at the edge of the device space to the intersecting boundaries of the device space. This solves topological errors such as path penetration through walls and positioning distortion caused by the disconnection between discrete mesh units and solid boundaries. Furthermore, the corrected third path points can accurately fit the edges of the device space without manual adjustment of node coordinates. While ensuring the geometric accuracy of the path, it improves the efficiency and accuracy of constructing cross-space connections, achieving smooth path connection between the device space and free space.

[0091] In some optional implementations, step S403 above further includes: Step d1: For each channel edge in the channel space, identify the target space model adjacent to that channel edge based on spatial geometric relationships.

[0092] Specifically, similar to the mechanism by which free-space path points are snapped to the boundaries between devices, when a free-space unit overlaps with a channel space, its third path point will also be snapped to the boundary of the channel space. Since channel spaces are typically quite long, they involve multiple adjacent free-space unit regions. To ensure the completeness of the path description while maintaining the simplicity of the path diagram, this embodiment performs unified connection processing on path points between the channel space and other spatial models.

[0093] In this embodiment, for each channel edge in the channel space, all other target space models adjacent to that channel edge are identified. These target space models include a second device room space or a second free space unit. As shown in Figure 11(a), the device room space corresponding to device room 1, the channel space corresponding to channel 1, and the square free space unit overlap. The original third path point of the free space unit is corrected (the hollow dot at the starting point of the arrow) to obtain the corrected third path point (the solid dot at the ending point of the arrow). Other solid dots represent path points corresponding to the device room space and the channel space.

[0094] Step d2: For each channel edge in the channel space, if a target path point in the target space model is detected to be located in the neighborhood of the channel edge, a new target path point is added to the second path point set corresponding to the channel edge, and the local path subgraph corresponding to the channel space is updated; the target path point includes the first path point in the second device space or the third path point in the second free space unit.

[0095] Specifically, for each channel edge in the channel space, if the target path point of the adjacent target space model is located in the neighborhood of the channel edge (including the extension line of the channel edge or the adjacent projection range), then the target is included in the second path point set corresponding to the channel edge.

[0096] Specifically, for each channel edge in the channel space, after all target space models adjacent to the channel edge have been judged and all qualified target path points have been added to the second path point set, as shown in Figure 11(a), based on the second path point set, adjacent target path points are connected sequentially according to the order of each target path point on the channel edge, and the corresponding position in the adjacency matrix of the local path subgraph is set as the actual distance between the two target path points, thereby updating the local path subgraph corresponding to the channel space.

[0097] Step d3: Determine the node relationships between the local path subgraphs corresponding to the channel space and the target space models, respectively.

[0098] Specifically, by repeating the above process until all four channel edges of the channel space have been processed, the path connection between the channel space and all surrounding target space models is completed. Then, a node association relationship is established between the channel space and the target space models. In the adjacency matrix of this node association relationship, the weight between the target path points corresponding to the channel space and the target space models is set to 0, indicating that the path points overlap.

[0099] For example, path points are generated and adjusted in the internal space of the nuclear island plant according to the above embodiment, and the generated path nodes are shown in Figure 11(b).

[0100] This invention identifies path points between devices and in free space within the neighborhood of each edge of the channel space and integrates them sequentially into the path point set of the channel edge. This enables the channel to connect with all surrounding passable spaces. While ensuring the connectivity between the channel and adjacent spaces, it avoids redundant connections and edge generation between the channel and adjacent spaces, effectively simplifying the path graph structure and improving path planning efficiency.

[0101] Step S404: Generate a global path graph based on the updated local path subgraph and node relationships, and construct a travel path graph for the target area based on the global path graph.

[0102] Specifically, considering that the nuclear island plant's access system generally follows a horizontal and vertical orientation, the distance between path points in the path graph is calculated using Euclidean distance (or Manhattan distance), which is the sum of the coordinate differences between two path points in the horizontal and vertical directions. Based on this rule, a global path graph is constructed by integrating the updated local path subgraphs of each spatial model and the node relationships between these subgraphs. The complete connectivity of this global path graph can be represented by an adjacency matrix, as shown in the following equation:

[0103] Where M is the global adjacency matrix of the global path graph. This represents a local path subgraph representing the space between all devices. Represents a local path subgraph of all channel spaces. A local path subgraph representing all free space; This indicates the node relationships between the equipment space and the channel space. This indicates the node relationships between the channel space and free space. This indicates the node relationships between the inter-device space and free space; Let i be a local path subgraph within the space of the i-th device. Represents the node association relationship between the i-th inter-device space and the j-th inter-device space; This represents the local path subgraph within the k-th channel space. This represents the node association relationship between the k-th channel space and the l-th channel space; Let m be the local path subgraph in the free space. This represents the node association relationship between the m-th and n-th nodes in the free space.

[0104] To facilitate computer processing and analysis, this global path graph can be stored and represented using a graph data structure, where nodes in the global path graph correspond to path points in each spatial model, and edges correspond to traversable path segments. This multi-level matrix representation method maintains the topological integrity of the overall path network while accurately describing the connection details of local regions.

[0105] The method for constructing a path map provided by this invention first establishes key path points at appropriate locations based on the outer contour of equipment rooms (corresponding to process equipment rooms in nuclear power plants or equivalent functional areas) and the existing channel space orientation. This is achieved by constructing connections between adjacent nodes through topological linking, forming a preliminary connected network. Next, for unoccupied areas within the plant (areas temporarily unused or rooms whose functions are yet to be determined), a rectangular free space filling method is used for gridding to achieve systematic coverage of the free space. Then, considering the relative positions between equipment rooms, the actual and potential orientations of channel spaces, and spatial geometric relationships such as spatial intersections and adjacencies, possible inflection points in the path are generated. Finally, based on the aforementioned path points, potential passage paths are formed, thereby constructing a path map that completely covers the feasible area of ​​the plant.

[0106] This invention realizes the automated and precise transformation of physical spatial layout into computer-processable graph structure. By establishing three types of models—equipment space, passage space, and free space—the complex physical obstacles, wall constraints, and potential passage areas within the nuclear island plant are abstracted into nodes and edges in graph theory.

[0107] This invention ensures the continuity and accuracy of path connections in spatial interaction areas. For free space, a node snapping mechanism is employed. By determining the overlap relationship between free space nodes and device edges, the coordinates of the grid center point are corrected and snapped to the device edge, resolving the issue of misalignment between gridded discrete points and entity boundaries. For intersecting devices, the invention automatically calculates intersection points resulting from device overlap or proximity and dynamically updates the adjacency matrix, ensuring real-time updates and seamless connections of the path topology when device positions are adjusted.

[0108] This invention provides a standardized data structure that supports global optimization. By generating a final block adjacency matrix, all path information for the entire plant is stored in a standardized manner. Diagonal blocks describe the internal connectivity of the space, while off-diagonal blocks describe the relationships between spaces. This data structure not only offers high query efficiency but also completely preserves the path weight (distance) information.

[0109] This invention establishes three types of spatial models—equipment rooms, passageways, and free space—and defines the connection rules between them and each other. It automatically constructs a path graph and adjacency matrix for the entire factory, transforming the physical space within the factory into a computer-processable graph theory structure. This enables digital modeling of potential transportation and passage routes, providing a standardized data structure for subsequent shortest path calculations.

[0110] This embodiment also provides a path map construction apparatus, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0111] This embodiment provides a device for constructing a travel path map, such as... Figure 12 As shown, it includes: The first processing module 1201 is used to spatially divide the target area to obtain multiple spatial models; the categories of spatial models include the space between devices occupied by the device area, the channel space occupied by the channel area, and the unoccupied free space. The second processing module 1202 is used to construct a local path subgraph within each spatial model in a manner that matches the category of the spatial model. The third processing module 1203 is used to update the corresponding local path subgraphs based on the spatial geometric relationships between different spatial models, and to determine the node association relationships between the corresponding local path subgraphs; wherein, the spatial geometric relationships include intersection relationships and adjacency relationships; The fourth processing module 1204 is used to generate a global path graph based on the updated local path subgraph and node association relationships, and to construct a travel path graph for the target area based on the global path graph.

[0112] In some optional implementations, the second processing module 1202 is further configured to: If the spatial model is classified as inter-device space, generate the first path point based on the contour corner point of the inter-device space, and generate the first path edge based on the contour edge of the inter-device space; construct the local path subgraph corresponding to the inter-device space based on the first path point and the first path edge. If the spatial model is classified as channel space, second path points are generated based on the contour corner points and contour edge midpoints of the channel space, and second path edges are generated based on the contour edges of the channel space and the lines connecting the midpoints of the opposite contour edges; based on the second path points and second path edges, a local path subgraph corresponding to the channel space is constructed. If the spatial model is classified as free space, the free space is divided into grids, and third path points are generated based on the obtained free space units; based on the third path points, a local path subgraph corresponding to each free space unit is constructed.

[0113] In some optional implementations, the third processing module 1203 is further configured to: Based on spatial geometric relationships, identify at least one set of two intersecting equipment spaces and determine the target intersection node between the two intersecting equipment spaces; Determine the target local path subgraphs corresponding to the spaces between two intersecting devices, and add target intersection nodes in the target local path subgraphs; Determine the adjacent first path points of the target intersection nodes, and update the target local path subgraph based on the target intersection nodes and adjacent first path points.

[0114] In some optional implementations, the third processing module 1203 is further configured to: Based on spatial geometric relationships, identify the occupancy status of each free space unit; For each free space cell, if the free space cell is detected to be occupied based on the occupancy status, the local path subgraph corresponding to that free space cell is deleted.

[0115] In some optional implementations, the third processing module 1203 is further configured to: Identify the adjacent free space units of each free space unit in free space; For each free space cell, if it is detected that the adjacent free space cells of the free space cell are not occupied, then a third path edge is generated based on the third path point corresponding to the free space cell and the adjacent free space cell respectively, and the node association relationship between the local path subgraphs corresponding to the free space cell and the adjacent free space cell is determined based on the third path edge.

[0116] In some optional implementations, the third processing module 1203 is further configured to: Based on spatial geometric relationships, at least one set of two intersecting first equipment space and first free space units are identified, and the third path point corresponding to the first free space unit and the equipment space edge intersecting with the first free space unit in the first equipment space are determined. Based on the intersecting space edges between devices, the coordinates of the third path points corresponding to the first free space unit are corrected, and the local path subgraph corresponding to the first free space unit is updated based on the corrected coordinates of the third path points.

[0117] In some optional implementations, the third processing module 1203 is further configured to: For each channel edge in the channel space, based on spatial geometric relationships, identify the target space model adjacent to that channel edge; the target space model includes the second equipment room space or the second free space unit. For each channel edge in the channel space, if a target path point in the target space model is detected to be within the neighborhood of that channel edge, a new target path point is added to the second path point set corresponding to that channel edge, and the local path subgraph corresponding to the channel space is updated; the target path point includes the first path point in the second device space or the third path point in the second free space unit.

[0118] The path mapping construction apparatus provided in this embodiment of the invention can execute the path mapping construction method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method. Further functional descriptions of the various modules and units are the same as in the corresponding embodiments described above, and will not be repeated here.

[0119] Figure 13 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0120] The following is a detailed reference. Figure 13 This diagram illustrates a suitable structural schematic for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 1301, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1302 or a program loaded from memory 1308 into random access memory (RAM) 1303. The RAM 1303 also stores various programs and data required for the operation of the electronic device. The processor 1301, ROM 1302, and RAM 1303 are interconnected via a bus 1304. An input / output (I / O) interface 1305 is also connected to the bus 1304.

[0121] Typically, the following devices can be connected to I / O interface 1305: input devices 1306 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 1307 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 1308 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1309. Communication device 1309 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 13 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0122] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 1309, or installed from a memory 1308, or installed from a ROM 1302. When the computer program is executed by the processor 1301, it performs the functions defined in the method for constructing the path graph according to embodiments of the present invention.

[0123] Figure 13 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0124] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the method for constructing the pathway graph shown in the above embodiments is implemented.

[0125] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0126] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for constructing a travel path map, characterized in that, The method includes: The target area is spatially divided to obtain multiple spatial models; the categories of the spatial models include the space between equipment areas, the space between passages occupied by passage areas, and unoccupied free space. For each spatial model, a local path subgraph is constructed within the spatial model in a manner that matches the category of the spatial model; Based on the spatial geometric relationships between different spatial models, the corresponding local path subgraphs are updated, and the node association relationships between the corresponding local path subgraphs are determined; wherein, the spatial geometric relationships include intersection relationships and adjacency relationships; A global path graph is generated based on the updated local path subgraph and the node relationships, and a travel path graph for the target area is constructed based on the global path graph.

2. The method for constructing a travel path map according to claim 1, characterized in that, The step of constructing a local path subgraph within the spatial model in a manner that matches the category of the spatial model includes: If the category of the spatial model is inter-device space, first path points are generated based on the contour corner points of the inter-device space, and first path edges are generated based on the contour edges of the inter-device space; based on the first path points and the first path edges, a local path subgraph corresponding to the inter-device space is constructed. If the category of the spatial model is channel space, a second path point is generated based on the contour corner point and the midpoint of the contour edge of the channel space, and a second path edge is generated based on the contour edge of the channel space and the line connecting the midpoints of the opposite contour edges; based on the second path point and the second path edge, a local path subgraph corresponding to the channel space is constructed. If the spatial model is classified as free space, the free space is divided into grids, and a third path point is generated based on the obtained free space units; based on the third path point, a local path subgraph corresponding to each free space unit is constructed.

3. The method for constructing a travel route map according to claim 2, characterized in that, The updating of the corresponding local path subgraph based on the spatial geometric relationships between different spatial models includes: Based on the spatial geometric relationship, at least one set of two intersecting equipment spaces is identified, and the target intersection node between the two intersecting equipment spaces is determined; Determine the target local path subgraphs corresponding to the spaces between the two intersecting devices, and add the target intersecting nodes to the target local path subgraphs; The adjacent first path points of the target intersecting node are determined, and the target local path subgraph is updated based on the target intersecting node and the adjacent first path points.

4. The method for constructing a travel path map according to claim 2, characterized in that, Based on the spatial geometric relationships between different spatial models, the corresponding local path subgraphs are updated, including: Based on the aforementioned spatial geometric relationships, the occupancy status of each free space unit is identified; For each free space unit, if the free space unit is detected to be occupied based on the occupancy status, the local path subgraph corresponding to the free space unit is deleted.

5. The method for constructing a travel path map according to claim 4, characterized in that, Determining the node association relationships between the corresponding local path subgraphs includes: Identify the adjacent free space units of each free space unit in free space; For each free space cell, if it is detected that the adjacent free space cells of the free space cell are not occupied, a third path edge is generated based on the third path point corresponding to the free space cell and the adjacent free space cell respectively, and the node association relationship between the local path subgraphs corresponding to the free space cell and the adjacent free space cell is determined based on the third path edge.

6. The method for constructing a travel path map according to claim 2, characterized in that, The updating of the corresponding local path subgraph based on the spatial geometric relationships between different spatial models includes: Based on the spatial geometric relationship, at least one set of two intersecting first equipment space and first free space unit is identified, and the third path point corresponding to the first free space unit and the equipment space edge in the first equipment space that intersects with the first free space unit are determined. Based on the intersecting space edges between devices, the coordinates of the third path points corresponding to the first free space unit are corrected, and the local path subgraph corresponding to the first free space unit is updated based on the corrected coordinates of the third path points.

7. The method for constructing a travel path map according to claim 2, characterized in that, The updating of the corresponding local path subgraph based on the spatial geometric relationships between different spatial models includes: For each channel edge in the channel space, based on the spatial geometric relationship, a target space model adjacent to the channel edge is identified; the target space model includes a second equipment room space or a second free space unit. For each channel edge in the channel space, if a target path point in the target space model is detected to be located in the neighborhood of the channel edge, the target path point is added to the second path point set corresponding to the channel edge, and the local path subgraph corresponding to the channel space is updated; the target path point includes a first path point in the second device space or a third path point in the second free space unit.

8. A device for constructing a travel route map, characterized in that, The device includes: The first processing module is used to spatially divide the target area to obtain multiple spatial models; the categories of the spatial models include the space between devices occupied by the device area, the channel space occupied by the channel area, and the unoccupied free space. The second processing module is used to construct a local path subgraph within each spatial model in a manner that matches the category of the spatial model. The third processing module is used to update the corresponding local path subgraphs based on the spatial geometric relationships between different spatial models, and to determine the node association relationships between the corresponding local path subgraphs; wherein, the spatial geometric relationships include intersection relationships and adjacency relationships; The fourth processing module is used to generate a global path graph based on the updated local path subgraph and the node association relationship, and to construct a travel path graph for the target area based on the global path graph.

9. An electronic device, characterized in that, include: A memory and a processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the method for constructing a path map according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to execute the method for constructing a path map according to any one of claims 1 to 7.

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