CN112465968A - Building map mixed data model construction method for positioning navigation - Google Patents
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Abstract
The embodiment of the invention provides a building map mixed data model construction method for positioning and navigation, which comprises the following steps: extracting a spatial topological relation of spatial nodes of a target building from a lightweight BIM model and extracting spatial coordinate information of each spatial node from the BIM model to construct a road network organization in the horizontal direction and the vertical direction to obtain a network model; selecting a building component representation space with boundary relation belonging to a specific space based on the geometric information extracted by the BIM model to obtain an entity model; linking and mixing the entity model and the network model based on a preset linking rule to obtain a building map mixed data model; the preset linking rule comprises linking and mapping based on semantic relations between building components in the entity model and space nodes in the network model. The method provided by the embodiment of the invention realizes that the modeled mixed data model has an entity display function and can provide a more convenient and high-precision positioning navigation function.
Description
Technical Field
The invention relates to the technical field of map model construction, in particular to a construction method of a building map mixed data model for positioning and navigation.
Background
The building map is a base and an information carrier of indoor position service application, and markers and context information in the map can be used for correcting indoor positioning errors and planning indoor navigation paths. In the research of building maps, various models have been proposed to construct a map for indoor positioning navigation, mainly including a network model, a grid model and a solid model.
(1) And selecting space abstractions as nodes in the network model, wherein topological relation abstractions between spaces are edges. The Geometric Network Model (GNM) based on the central axis transformation (MAT) developed from the Combined Data Model (CDM) based on poincare the most widely accepted and used model in network models.
(2) The choice is made in the mesh model to organize the representation in a particular way by dividing the room space into meshes. The size of the grid determines the fineness of the indoor space information presentation, but the more grids, the more storage space required, and the less efficient. Meanwhile, the mesh model is divided into a regular mesh model (RGM), an irregular mesh model and a three-dimensional voxel model according to the shape and dimension of the mesh.
(3) The solid model expresses an indoor space using a solid having geometric information. In the current research, there are two main forms of solid models, one is a geometric boundary solid model representing an indoor space unit by a volume shape, and the other is a three-dimensional building model constructed by three-dimensional modeling software. In contrast, the former focuses on indoor space units (rooms, corridors, etc.) differently, and the latter focuses more on indoor building components (walls, doors, windows, etc.).
Networks and mesh models represent spatial connectivity well and are therefore often used to compute navigation paths. The former has good visibility but poor flexibility. The latter is less visible but has better flexibility and is often used to plan paths with obstacles. However, many of them are expressed in two dimensions as abstract representations of indoor spaces, and cannot simulate the reality of three-dimensional indoor spaces. Being a three-dimensional model, a solid model has further advantages in representing three-dimensional space indoors. However, since the spatial relationship has a weak expression ability, the path planning cannot be performed directly. To compensate for the limitations of individual models, scholars have proposed various hybrid models to improve the balance of the models. In view of the particularity of the building map, the building method for the building map hybrid model can be classified into the following two categories.
The first category is based on a mixture of individual models constructed using different indoor space modeling methods. Including formal models of composite maps and multi-level spatial models (MLSM) based on a structured spatial model framework. An indoor space is divided into an original space and a dual space in a multi-layered space model, and is expressed using different models in different spaces.
The second category, GIS mixed with BIM. Unlike outdoor spaces, which are located in natural environments, indoor spaces are mostly located in building environments. Therefore, research on building map models is involved in both the geographic information system science field (GIS) and the architecture field (AEC). Building Information Model (BIM) is the most frequently discussed model in the AEC industry. Obviously, the BIM contains a large amount of geometric and semantic indoor information of buildings, which is the basis for building an indoor map model. The most prominent indoor map model standards discussed in the GIS field are OGC CityGML and IndoorGML. Most particularly with respect to CityGML it defines five different "levels of detail (LOD)" for describing the building. IndoorGML is the model proposed by OGC for indoor positioning and navigation, but can only be used as an auxiliary model since it has no complete geometric information. It can be seen that the indoor building map model belongs to the intersection of the GIS and the AEC. Therefore, the combination of BIM and GIS has become a trend to solve the building map problem in recent years.
Undoubtedly, the hybrid model containing more data information is more beneficial to the construction of the building map model and the application of the building map model in the indoor positioning service. However, the current hybrid model of the building map focuses more on the accuracy and modeling algorithm of model construction, and omits deep discussion on the relationship between the building map and the indoor positioning navigation, so that at present, no universal hybrid building map model suitable for mobile phone indoor positioning navigation application exists.
Therefore, how to avoid the problem that the conventional map modeling cannot provide a convenient and high-precision positioning navigation function and cannot simultaneously have a three-dimensional entity display function is still an urgent need to solve by the technical personnel in the field.
Disclosure of Invention
The embodiment of the invention provides a building map mixed data model construction method for positioning navigation, which is used for solving the problems that the conventional map modeling cannot provide a positioning navigation function with convenience and high precision, and the modeling cannot have an entity display function at the same time.
In a first aspect, an embodiment of the present invention provides a method for constructing a building map hybrid data model for positioning navigation, including:
acquiring engineering data of a target building, performing three-dimensional modeling by using Revit software to obtain an original model, and determining a lightweight BIM (building information modeling) model of the target building based on the original model;
extracting a spatial topological relation of a spatial node of the target building based on the gbxml derived by Revit software, and extracting spatial coordinate information of the spatial node from the lightweight BIM model by Blender software to construct a road network organization in the horizontal direction and the vertical direction to obtain a network model;
selecting a building component representation space with boundary relation belonging to a specific space based on the geometric information extracted by the lightweight BIM model to obtain a solid model;
based on a preset link rule, carrying out link mixing on the entity model and the network model to obtain a building map mixed data model;
wherein the preset linking rules include linking and mapping based on semantic relationships between building elements in the solid model and spatial nodes in the network model.
The method further comprises the following steps:
setting walking nodes on the building map hybrid data model, wherein the walking nodes comprise walking end nodes and walking anchor nodes;
the walking end nodes are set based on the space nodes in the network model and semantic information required by indoor navigation, and the walking anchor nodes are nodes which are set between any adjacent walking end nodes at equal preset step length distances.
In the method, the setting of the walking end node based on the space node in the network model and the semantic information required for indoor navigation specifically includes:
setting spatial nodes in the network model as walking end nodes;
setting a turning node corresponding to any node in the walking end nodes as a walking end node;
setting a corridor centerline end in the network model as a walking end node.
In the method, the Blender software extracts the spatial coordinate information of the spatial node from the lightweight BIM model, and specifically includes:
converting the lightweight BIM model to FBX format;
importing the light BIM model in FBX format into the Blender software, and extracting the space coordinate information of the space node;
and exporting the space coordinate information of the space nodes, cleaning the data and storing the data in a database.
In the method, the step of conducting data cleaning after deriving the spatial coordinate information of the spatial nodes and storing the spatial coordinate information in a database specifically includes:
storing the space coordinate information of the space nodes of all floors in the same scene in the horizontal direction of the target building into the same database table file;
and respectively and independently extracting and storing the spatial coordinate information of the spatial nodes positioned in the stair scene and the elevator scene in the target building into a database table file.
In the method, the raw materials are mixed,
the spatial nodes in the horizontal direction in the road network organization are composed of target nodes and connected nodes, the target nodes are elements used for being retrieved or representing route end points in the road network, the connected nodes are used for representing whether the routes where the connected nodes are located can pass or not, and the edges in the horizontal direction in the road network organization are composed of corridors and spatial relations;
the space nodes in the vertical direction in the road network organization are composed of stair nodes and elevator virtual nodes, the stair nodes comprise stair platform nodes, stair section nodes and stair door nodes, and the elevator virtual nodes are obtained by abstracting elevators on each layer into nodes.
In the method, the raw materials are mixed,
the spatial relationships include three types of relationships: a corridor to door to room relationship, a room to door to room relationship, and a corridor to indoor facility build relationship.
In a second aspect, an embodiment of the present invention provides an apparatus for constructing a building map hybrid data model for positioning navigation, including:
the system comprises an acquisition unit, a data processing unit and a data processing unit, wherein the acquisition unit is used for acquiring engineering data of a target building, performing three-dimensional modeling by using Revit software to obtain an original model, and determining a lightweight BIM (building information model) of the target building based on the original model;
the network model unit is used for extracting the spatial topological relation of the space nodes of the target building based on the gbxml derived by the Revit software and extracting the spatial coordinate information of the space nodes from the lightweight BIM model by the Blender software to construct a road network organization in the horizontal direction and the vertical direction to obtain a network model;
the solid model unit is used for selecting a building component representation space with a boundary relation, belonging to a specific space, based on the geometric information extracted by the light weight BIM model to obtain a solid model;
the mixed model unit is used for carrying out link mixing on the entity model and the network model based on a preset link rule to obtain a building map mixed data model;
wherein the preset linking rules include linking and mapping based on semantic relationships between building elements in the solid model and spatial nodes in the network model.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement the steps of the building map hybrid data model construction method for positioning and navigation, as provided in the first aspect.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the building map hybrid data model construction method for positioning and navigation as provided in the first aspect.
The method provided by the embodiment of the invention comprises the steps of collecting engineering data of a target building, carrying out three-dimensional modeling by using Revit software to obtain an original model, and determining a lightweight BIM (building information modeling) model of the target building based on the original model; extracting a spatial topological relation of a spatial node of the target building based on the gbxml derived by Revit software, and extracting spatial coordinate information of the spatial node from the lightweight BIM model by Blender software to construct a road network organization in the horizontal direction and the vertical direction to obtain a network model; selecting a building component representation space with boundary relation belonging to a specific space based on the geometric information extracted by the lightweight BIM model to obtain a solid model; based on a preset link rule, carrying out link mixing on the entity model and the network model to obtain a building map mixed data model; wherein the preset linking rules include linking and mapping based on semantic relationships between building elements in the solid model and spatial nodes in the network model. The solid model part is represented by a three-dimensional building component and is mainly used for providing component information and visualization purposes; the network model part is represented by spatial elements and topological relations thereof, is used for calculating a required navigation path and can also be used as a spatial constraint reference for indoor positioning, and the linkage of the entity model and the network model is realized through semantic information of the elements, so that the hybrid model can be used for providing a high-precision and more convenient navigation path for positioning navigation and simultaneously can be used for more intuitively displaying the map condition in the building. Therefore, the method provided by the embodiment of the invention realizes that the modeled mixed data model has an entity display function and can provide a more convenient and high-precision positioning navigation function.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the technical solutions in the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a building map hybrid data model construction method for positioning and navigation according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a principle of setting a walking end node according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a building map hybrid data model construction device for positioning navigation according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of experimental construction of a hybrid data model according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a mobile phone interface display map model with an experimental effect according to an embodiment of the present invention;
fig. 6 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The existing building map modeling generally has the problems that the positioning and navigation functions with convenience and high precision cannot be provided, and the three-dimensional entity display function cannot be possessed at the same time. Therefore, the embodiment of the invention provides a building map mixed data model construction method for positioning navigation. Fig. 1 is a schematic flow chart of a method for constructing a building map hybrid data model for positioning and navigation according to an embodiment of the present invention, as shown in fig. 1, the method includes:
and 110, acquiring engineering data of a target building, performing three-dimensional modeling by using Revit software to obtain an original model, and determining a lightweight BIM (building information model) of the target building based on the original model.
Specifically, the primary condition for three-dimensional map modeling of a target building is to acquire original engineering data of the target building, the original engineering data including an engineering drawing, a component table, and the like used when the target building is constructed, and a real image acquired by a camera after the target building is completed, input the original engineering data into Revit software for three-dimensional modeling to obtain an original model, and then determine a lightweight BIM model of the target building based on the original model, the BIM model being rich in description information but containing much redundant information that is unnecessary for positioning and navigation, thereby reducing transmission efficiency of computers and mobile devices, and therefore, it is necessary to simplify the BIM model before extracting information, the lightweight BIM model in the embodiment of the present invention is mainly directed to a complicated wall structure, unnecessary lines and surfaces, and redundant structural information and the like are deleted, redundant internal structural information in the BIM is deleted through bridging, welding, sealing, deleting and other operations in the lightweight process of the BIM, and geometrical information such as vertexes, normals and the like of the original model is reserved.
And 120, extracting the spatial topological relation of the spatial nodes of the target building based on the gbxml derived by the Revit software, and extracting the spatial coordinate information of the spatial nodes from the lightweight BIM model by the Blender software to construct a road network organization in the horizontal direction and the vertical direction to obtain a network model.
Specifically, Revit is the name of a set of series software of Autodesk company, and the Revit series software is constructed for BIM (Building Information Modeling), and can help architects to design, build and maintain buildings with better quality and higher energy efficiency. The gbxml is an open standard of the BIM, and mainly functions to allow different 3D Building Information Models (BIMs) and building/engineering analysis software to share information with each other, covers the spatial topological relation of the main elements of the building, and has good building information sharing performance. The Blender software is a free open-source three-dimensional creation suite, and supports modeling, assembly, animation, simulation, rendering, composition and motion tracking of the whole three-dimensional pipeline, even video editing and game creation. The BIM model has abundant indoor three-dimensional features, and can provide spatial information of the indoor environment of a target building, including geometric and topological relations, and certain internal components such as openings, facilities and surfaces. The BIM model is suitable for various applications and can acquire connectivity among spaces required by people to pass through, but extraction and organization of data such as semantic, geometric and spatial topological relations contained in the BIM model are important problems in building map model construction. The embodiment of the invention puts the spatial topological relation and the geometric information contained in the network model into the network model. The target building is a building for which a building map hybrid data model for positioning navigation needs to be constructed. The spatial nodes of the target building are nodes representing all parts of the target building in a light-weight BIM model, such as window nodes, room nodes, stair nodes and the like. The spatial topological relation of the spatial nodes refers to the position incidence relation among the spatial nodes. The spatial coordinate information of each spatial node includes spatial coordinate information of corridor, stair, elevator and room nodes, but is not limited to the spatial coordinate information of the nodes. According to the embodiment of the invention, the space topological relation of the space nodes of the target building is extracted through the gbxml derived by Revit software, and the space coordinate information of the space nodes is extracted from the lightweight BIM model based on the Blender software to construct a road network organization in the horizontal direction and the vertical direction to obtain the network model.
And 120, selecting a building component representation space with a boundary relation and belonging to a specific space based on the geometric information extracted after the lightweight BIM model is lightened to obtain a solid model.
Specifically, the solid model is composed of three-dimensional building element solid elements with a spatial concept. In a practical building indoor environment, the space is usually surrounded by three-dimensional building element entities such as walls, columns, etc. Thus, with reference to the spatial representation in the geometric boundary model, building elements having boundary relationships belonging to a particular space are selected to represent a certain space. In other words, in the solid model described in the patent, the space is expressed in dependence on the boundary relationship with the surrounding building constituent elements, which can be queried as objects in a space query operation.
wherein the preset linking rules include linking and mapping based on semantic relationships between building elements in the solid model and spatial nodes in the network model.
Specifically, the link between the network model and the entity model is mainly used for completing the link and mapping between the space node in the network model and the three-dimensional entity component element in the entity model. Their connection mode depends on the semantic relationship between them, and there are mainly two kinds of relationships: one is a direct relationship and the other is an indirect relationship. The direct relation exists between the communication node in the network model and the target node of the indoor facility component abstraction, and the direct relation and the relation of the building entity component in the entity model are in one-to-one correspondence. The indirect relationship is mainly due to the difference in spatial expression between the network model and the solid model. In the network model, a space is abstracted as one node, and in the solid model, the space is composed of a plurality of building constituent elements. Therefore, the expression of indirect relationships needs to be linked to space. The specific description is to establish the relationship between the space and the elements in the network model and the relationship between the space and the elements in the entity model respectively. And then establishing an indirect relation between the network model and the entity model by taking the space elements as media. In the network model, since it is a direct abstract representation of space, the relationship between elements and space elements in the network model is one-to-one and therefore simpler. In a mockup, the relationship between an element and a spatial element can be divided into an inclusion relationship, a boundary relationship, and a spatial relationship, wherein the inclusion relationship represents a relationship in which the spatial element includes a mockup element, for example, a lobby space includes a display mockup element, and the boundary relationship refers to a boundary between the mockup element and the spatial element, and the spatial relationship: for example, the boundaries of room space elements are composed of solid model elements such as doors and walls.
According to the method provided by the embodiment of the invention, the space topological relation of the space node of the target building is extracted based on the gbxml derived by Revit software, and the Blender software extracts the space coordinate information of the space node from the lightweight BIM model to construct a road network organization in the horizontal direction and the vertical direction to obtain a network model; selecting a building component representing space with a boundary relation belonging to a specific space based on the geometric information extracted after the lightweight BIM model is lightened to obtain a solid model; based on a preset link rule, carrying out link mixing on the entity model and the network model to obtain a building map mixed data model; wherein the preset linking rules include linking and mapping based on semantic relationships between building elements in the solid model and spatial nodes in the network model. The solid model part is represented by a three-dimensional building component and is mainly used for providing component information and visualization purposes; the network model part is represented by spatial elements and topological relations thereof, is used for calculating a required navigation path and can also be used as a spatial constraint reference for indoor positioning, and the linkage of the entity model and the network model is realized through semantic information of the elements, so that the hybrid model can be used for providing a high-precision and more convenient navigation path for positioning navigation and simultaneously can be used for more intuitively displaying a three-dimensional space environment in a building. Therefore, the method provided by the embodiment of the invention realizes that the modeled mixed data model has an entity display function and can provide a more convenient and high-precision positioning navigation function.
Based on the above-described embodiments, in this method,
setting walking nodes on the building map hybrid data model, wherein the walking nodes comprise walking end nodes and walking anchor nodes;
the walking end nodes are set based on the space nodes in the network model and semantic information required by indoor navigation, and the walking anchor nodes are nodes which are set between any adjacent walking end nodes at equal preset step length distances.
Specifically, for indoor navigation, the building map model is not only a visual carrier of indoor positioning results and road information, but also plays an auxiliary role in indoor positioning error correction and indoor navigation path planning. Therefore, in addition to data organization and information expression, consideration must be given to how to assist indoor positioning and navigation in the model building process. In the embodiment of the present invention, the concept of a Step Node is proposed based on a network model, and is further divided into a Step anchor Node and a Step end Node, in which,
the walking anchor node is a node added to the edge of the network model on the basis of the existing space node in the network model. The method is only used for improving the accuracy of map matching and is used as an edge weight reference value to assist navigation, and semantic information is not available. The pitch of the walk anchor nodes is the key to adding walk anchor nodes at the edge of the network model. Considering that walking is a main dependence of human body position change in an indoor environment, the step distance of a pedestrian is selected as a criterion of the walking anchor node distance. In the vertical direction, since the variable distance of each step of the pedestrian is one step, a walking anchor point is arranged on each step of the stairs. In the horizontal direction, since the step size varies from person to person, the interval of any adjacent walking anchor node in the horizontal direction is set to an average step size of 0.5m for a pedestrian by referring to relevant documents and actual measurement of statistics.
And the walking end node consists of the existing space nodes in the network model and has semantic information required by indoor positioning and navigation. The walking end node is used to indicate whether the end of the path has been reached or whether another branch path needs to be diverted. The walking end node is disposed at the end of an edge or at a hand-over or turn location where both edges are in different directions. The semantic information and the function of the navigation system are different according to positions, and the semantic information carried by the navigation system can warn the change of the path direction in navigation at the node where two edges in different directions intersect or turn; while the nodes at the end of the edge consist of the end of the corridor centerline and the target nodes in the network model. In addition to the semantic information that the target node itself has, the walking end node at the edge end also has semantic information indicating that it has reached the end of the destination or road.
The method provided by the embodiment of the invention has the advantages that the walking node concept is provided to assist the indoor positioning navigation, so that the hybrid data model can also assist the map matching of the indoor positioning and the estimation of the time and the walking distance in the indoor navigation.
Based on any of the above embodiments, in the method, setting a walking end node based on semantic information required by the space node and the indoor navigation in the network model specifically includes:
setting spatial nodes in the network model as walking end nodes;
setting a turning node corresponding to any node in the walking end nodes as a walking end node;
setting a corridor centerline end in the network model as a walking end node.
Specifically, the setting flow of the walking end node is further defined herein: firstly, setting all the existing space nodes in the network model as walking end nodes, then finding out a turning node corresponding to each walking end node as a walking end node, wherein the turning node is a point on the center line of the corridor, and the connecting line of the turning node and the walking end node corresponding to the turning node is vertical to the center line of the corridor. Finally, the corridor centerline end is also set as a walking end node. Fig. 2 is a schematic diagram of the principle of setting a walking end node according to an embodiment of the present invention, as shown in fig. 2, a solid circle represents a walking anchor node, a hollow circle represents a walking end node, a leftmost dashed line frame represents a setting of a walking node in a staircase, the staircase includes a walking end node and a walking anchor node, each step is set as a walking anchor node, the layout of a floor in a target building is arranged above, the floor is further composed of a corridor located in the middle, rooms arranged in sequence along two sides of the corridor, and two stairways, the two sides of the room are sectorized to construct a door representing the price of a house, the centerline of the corridor is represented by a bold line in the middle axis of the corridor, and the communication relationship between any nodes is represented by a thin line. Firstly, determining a first part of walking end nodes according to the existing space nodes in the network model, then determining turning nodes corresponding to each node in the first part of walking end nodes as second part of walking end nodes, finally, setting the ends of the center line of the corridor in the network model as the last part of walking end nodes, such as the ends at two ends of the corridor in fig. 2, namely the points where the center line of the corridor intersects with the wall, and finally taking all the parts of walking end nodes as the whole walking end nodes.
Based on the concept of the walking end node and the setting method of the walking end node and the walking anchor node provided by the hybrid data model, indoor positioning navigation of the target building can be assisted, and the following processes can be referred to for specific positioning navigation:
1. map matching
The basic idea of map matching based on walking nodes between the indoor positioning result and the network model is as follows: after the positioning point and the map are confirmed to be located in the same coordinate system, a buffer area is created by taking the positioning point as the center. And determining the walking node closest to the positioning point as a positioning point matching position in the network model by calculating the distance. The specific process is as follows:
(1) determining the floor for positioning through a height value z0(x0, y0, z0) of a positioning point p 0;
(2) and (4) creating a buffer zone by taking the anchor point p0 as a center and taking the maximum error range plus the step size as a radius, obtaining the walking nodes positioned in the buffer zone, and marking the walking nodes as p 1-pn.
(3) The distance between the anchor point p0(x0, y0, z0) and the point p1-pn located in the buffer is calculated, resulting in D1-Dn.
(4) Obtaining pt (xt, yt, zt) which is closest to the positioning result in the indoor path network model through a minimum value Dt from D1 to Dn;
(5) the localization result is displayed at the position of pt (xt, yt, zt), and the distance difference Dt between pt and p0 is reserved for error correction.
2. Estimation of time and walking distance
In the patent, we propose a method of estimating walking distance and walking time in the horizontal direction and the vertical direction, respectively, according to the actual situation and based on the walking nodes.
In the horizontal direction, the step distance and time in the horizontal direction can be estimated by calculating the number of position nodes passing through the horizontal direction. The walk distance is the total number of nodes traversed by the travel times the interval of the adjacent walk anchor nodes of 0.5m, and the time is the total number of nodes traversed by the travel times the time it takes for the pedestrian to travel one step.
In the vertical direction, two vertical transportation modes, i.e., an elevator and a staircase, are mainly described. When using an elevator, the pedestrian hardly needs to walk, and thus there is no walking distance in the vertical direction. The time spent on the elevator needs to take into account the current position of the elevator and the travel time of the elevator between each floor. When using stairs, the estimated time spent is the same as the time spent in the horizontal direction, which can be obtained by multiplying the number of walking nodes passed by the walking speed of the user. In contrast, the estimation of walking distance is relatively complex. The stairway is divided into a bench and a landing, which need to be calculated separately. The landing walking distance is calculated in the same way as the distance is calculated in the horizontal direction, since the part of the flight is regarded as an inclined upper surface, the walking distance calculation thereof needs to take both the vertical height difference and the horizontal distance into account.
The time calculation formula of the elevator is as follows:
T＝|Fc-Fl|×td+|Fa-Fl|×td+(S+2)×ts
wherein, FcIndicating the floor on which the elevator was before being triggered to start by the user, FlIndicating the floor on which the user is currently located, FaFor indicatingThe destination floor to which the user needs to go, S represents the number of floors to which the elevator needs to stop midway, tdIndicating the speed of travel, t, of the elevatorsIndicating the landing time of the elevator at each floor;
the distance calculation formula of the stairs is as follows:
Di＝(Sn-|Fl-Fc|×(Pi×2))×0.5
wherein D isiRepresenting the walking distance of the landing, DpIndicating the step distance of the stairway, HiIndicating the height of the step, ViIndicates the width of the step, PiRepresenting the number of steps, S, of each stepnRepresenting the number of walking nodes in the vertical direction, FcIndicating the floor on which the user is currently located, FlIndicating the destination floor to which the user needs to go.
Based on any one of the above embodiments, in the method, the extracting, by the Blender software, the spatial coordinate information of the spatial node from the lightweight BIM model specifically includes:
converting the lightweight BIM model to FBX format;
importing the light BIM model in FBX format into the Blender software, and extracting the space coordinate information of the space node;
and exporting the space coordinate information of the space nodes, cleaning the data and storing the data in a database.
Specifically, the BIM model is converted into FBX format. Autodesk FBX is a free three-dimensional authoring and interchange format software for cross-platform products from Autodesk corporation, through which users can access three-dimensional files from most three-dimensional suppliers. The FBX file format supports all major three-dimensional data elements as well as two-dimensional, audio and video media elements. Then, the BIM model in FBX format is led into the Blender software, such as Blender V2.78, and spatial coordinate information which is not a node, mainly including spatial coordinate information of nodes such as corridors, stairs, elevators, rooms and the like, is extracted through the Blender software, and the extracted spatial coordinate is led out, and then data cleaning is carried out and stored in a database. It should be noted here that the method for extracting the spatial coordinate information of the spatial node is a method that combines python secondary development and manual interpretation, and the spatial coordinate information of the spatial node is extracted semi-automatically.
Based on any of the above embodiments, in the method, the step of performing data cleaning after deriving the spatial coordinate information of the spatial node and storing the spatial coordinate information in a database specifically includes:
storing the space coordinate information of the space nodes of all floors in the same scene in the horizontal direction of the target building into the same database table file;
and respectively and independently extracting and storing the spatial coordinate information of the spatial nodes positioned in the stair scene and the elevator scene in the target building into a database table file.
Specifically, because the doors, the corridors and the elevators at each floor in the target building are in the same horizontal space, the same database table file can be extracted, and the spatial coordinates in the corridors are separately extracted into the database table file to obtain the data in the database table file.
In accordance with any of the above embodiments, in the method,
the spatial nodes in the horizontal direction in the road network organization are composed of target nodes and connected nodes, the target nodes are elements used for being retrieved or representing route end points in the road network, the connected nodes are used for representing whether the routes where the connected nodes are located can pass or not, and the edges in the horizontal direction in the road network organization are composed of corridors and spatial relations;
the space nodes in the vertical direction in the road network organization are composed of stair nodes and elevator virtual nodes, the stair nodes comprise stair platform nodes, stair section nodes and stair door nodes, and the elevator virtual nodes are obtained by abstracting elevators on each layer into nodes.
Specifically, the network model needs to be constructed in consideration of the road network organization modes in the horizontal direction and the vertical direction. In the construction of a horizontal single-layer road network model, the selection of the spatial nodes based on the spatial abstract expression plays an important role. In consideration of the current user's habits, the spatial nodes in the horizontal direction are divided into target nodes and connected nodes. The target nodes are used to abstract elements of the building map that are used to retrieve for space or to represent route ends, including indoor construction components such as rooms, doors, and fire hydrants. The setting of the connection nodes is used to indicate connectivity between spaces, the availability of which is related to whether the path can pass or not. There are two kinds of connected nodes in the horizontal direction: a door node and a window node. A door node is a special type of node because doors can be used as targets for navigation and also must meet room requirements for indoor passage or other room connectivity. Except for emergency situations, the window nodes are not used in normal navigation. An edge is another important element in addition to a node. The horizontal edge is composed of two parts: corridors and relationships. A corridor is a special space whose function differs from other horizontal spaces. As one of the main ways of spatial connection in the horizontal direction, abstracting a corridor as a centerline is more appropriate than a point, which can reasonably reflect a corridor as a traffic route in a navigation network.
The road network in the vertical direction needs different construction modes according to different traffic modes, and in the patent, two vertical traffic modes, namely stairs and elevators, are mainly discussed. Stairways are the most common vertical connections in buildings, including railings, platforms and flights. The ladder nodes are arranged at the starting point and the end point of the ladder section, and two ladder platform nodes are arranged on the central shaft of the ladder platform. These nodes are then connected in sequence to form a complete ladder network. Wherein, the landing nodes of each layer are respectively connected with the landing door nodes of the floor. Elevators are another common connection for indoor spaces. Its modeling is simpler than stairs: the elevator of each floor is abstracted into a virtual node, and the elevator nodes of the adjacent floors are connected to form vertical connection. The vertical road network of the elevator and the stairs is integrated with the horizontal road network of each single layer through elevator doors and staircase door nodes in the horizontal direction to form a complete three-dimensional road network structure.
In accordance with any of the above embodiments, in the method,
the spatial relationships include three types of relationships: a corridor to door to room relationship, a room to door to room relationship, and a corridor to indoor facility build relationship.
Specifically, the horizontal relationships are divided into three types: hallway-door-room, room-door-room and hallway-indoor facility components.
Based on any one of the above embodiments, an embodiment of the present invention provides a building map mixed data model building device for positioning and navigation, and fig. 3 is a schematic structural diagram of the building map mixed data model building device for positioning and navigation provided by the embodiment of the present invention. As shown in fig. 3, the apparatus includes an acquisition unit 310, a network model unit 320, a solid model unit 330, and a hybrid model unit 340, wherein,
the acquisition unit 310 is configured to acquire engineering data of a target building, perform three-dimensional modeling by using Revit software to obtain an original model, and determine a lightweight BIM model of the target building based on the original model;
the network model unit 320 is configured to extract a spatial topological relation of a spatial node of the target building based on the gbxml derived by the Revit software, and extract spatial coordinate information of the spatial node from the lightweight BIM model by the Blender software to construct a road network organization in a horizontal direction and a vertical direction to obtain a network model;
the solid model unit 330 is configured to select a building component representation space with a boundary relationship, which belongs to a specific space, based on the geometric information extracted by the light weight BIM model to obtain a solid model;
the hybrid model unit 340 is configured to perform link mixing on the entity model and the network model based on a preset link rule to obtain a building map hybrid data model;
wherein the preset linking rules include linking and mapping based on semantic relationships between building elements in the solid model and spatial nodes in the network model.
The device provided by the embodiment of the invention is used for acquiring engineering data of a target building, performing three-dimensional modeling by using Revit software to obtain an original model, and determining a lightweight BIM (building information modeling) model of the target building based on the original model; extracting a spatial topological relation of a spatial node of the target building based on the gbxml derived by Revit software, and extracting spatial coordinate information of the spatial node from the lightweight BIM model by Blender software to construct a road network organization in the horizontal direction and the vertical direction to obtain a network model; selecting a building component representation space with boundary relation belonging to a specific space based on the geometric information extracted by the lightweight BIM model to obtain a solid model; based on a preset link rule, carrying out link mixing on the entity model and the network model to obtain a building map mixed data model; wherein the preset linking rules include linking and mapping based on semantic relationships between building elements in the solid model and spatial nodes in the network model. The solid model part is represented by a three-dimensional building component and is mainly used for providing component information and visualization purposes; the network model part is represented by spatial elements and topological relations thereof, is used for calculating a required navigation path and can also be used as a spatial constraint reference for indoor positioning, and the linkage of the entity model and the network model is realized through semantic information of the elements, so that the hybrid model can be used for providing a high-precision and more convenient navigation path for positioning navigation and simultaneously can be used for more intuitively displaying a three-dimensional space environment in a building. Therefore, the device provided by the embodiment of the invention realizes that the modeled mixed data model has an entity display function and can provide a more convenient and high-precision positioning navigation function.
Based on any embodiment, the apparatus further includes a walking node setting unit, configured to:
setting walking nodes on the building map hybrid data model, wherein the walking nodes comprise walking end nodes and walking anchor nodes;
the walking end nodes are set based on the space nodes in the network model and semantic information required by indoor navigation, and the walking anchor nodes are nodes which are set between any adjacent walking end nodes at equal preset step length distances.
The device provided by the embodiment of the invention provides the walking node concept to assist the indoor positioning navigation, so that the hybrid data model can also assist the map matching of the indoor positioning and the estimation of the time and the walking distance in the indoor navigation.
Based on any one of the above embodiments, in the apparatus, the setting a walking end node based on the spatial node in the network model and the semantic information required for indoor navigation specifically includes:
setting spatial nodes in the network model as walking end nodes;
setting a turning node corresponding to any node in the walking end nodes as a batch walking end node;
setting a corridor centerline end in the network model as a walking end node.
Based on any one of the above embodiments, in the apparatus, the extracting, by the Blender software, the spatial coordinate information of the spatial node from the lightweight BIM model specifically includes:
converting the lightweight BIM model to FBX format;
importing the light BIM model in FBX format into the Blender software, and extracting the space coordinate information of the space node;
and exporting the space coordinate information of the space nodes, cleaning the data and storing the data in a database.
Based on any of the above embodiments, in the apparatus, the deriving the spatial coordinate information of the spatial node, performing data cleaning, and storing the data cleaning in a database specifically includes:
storing the space coordinate information of the space nodes of all floors in the same scene in the horizontal direction of the target building into the same database table file;
and respectively and independently extracting and storing the spatial coordinate information of the spatial nodes positioned in the stair scene and the elevator scene in the target building into a database table file.
In accordance with any of the above embodiments, in the apparatus,
the spatial nodes in the horizontal direction in the road network organization are composed of target nodes and connected nodes, the target nodes are elements used for being retrieved or representing route end points in the road network, the connected nodes are used for representing whether the routes where the connected nodes are located can pass or not, and the edges in the horizontal direction in the road network organization are composed of corridors and spatial relations;
the space nodes in the vertical direction in the road network organization are composed of stair nodes and elevator virtual nodes, the stair nodes comprise stair platform nodes, stair section nodes and stair door nodes, and the elevator virtual nodes are obtained by abstracting elevators on each layer into nodes.
In accordance with any of the above embodiments, in the apparatus,
the spatial relationships include three types of relationships: a corridor to door to room relationship, a room to door to room relationship, and a corridor to indoor facility build relationship.
In order to show the technical effect of the method in practical engineering application, the construction information model data of a college building of a scientific research institution to which the inventor belongs is adopted to carry out engineering experiment demonstration.
BIM indoor data collection in the experiment was from building F (latitude and longitude: 116.29606, 39.751892) of the university of Beijing university of construction, Daxing school district surveying and mapping institute. The building has six floors, five floors above the ground and one floor below the ground. And collecting the building construction CAD basic data corresponding to the BIM data. BIM data from Autodesk
2014 software environment.
The experimental results are as follows:
1. construction of building map mixed data model
Fig. 4 is a schematic flow chart of experimental construction of a mixed data model according to an embodiment of the present invention. As shown in fig. 4, the elements in the solid model are mainly from the geometric information in the BIM. And after the BIM data is lightened and data is recombined, selecting gltf as a storage file format of the geometric information after the model is subjected to lightweight processing. To reduce redundancy of the gltf file, non-geometric data is also deleted with reference to the data structure. The construction of the network model is a semi-automatic work, the main content is the extraction of key node information, and the construction of the edge can be automatically completed through the topological relation among the nodes. The extraction of the node information is completed on the Blender, which is a free open source 3D creation toolkit. And importing the BIM model data into the Blender, sequentially extracting a target node and a communication node in the horizontal direction and a node of a stair and an elevator in the vertical direction, and storing information such as coordinates, semantics and the like of the nodes in a database. The node information in the database is respectively stored according to different horizontal and vertical directions, and is further classified and stored according to floors in the horizontal direction and different traffic modes in the vertical direction. Open database connections (gbxml) are standard application programming interfaces for accessing databases and support the SQL language for extracting attribute information from BIM data. The Blender extraction node determines node data and provides node information through Python secondary development and manual interpretation, and finally, the node data is cleaned and stored in PostgreSQL. The BIM extracts a gltf file, json data and gbxml data through data analysis, wherein the gltf file corresponds to geometric information, the json data corresponds to semantic attributes, and the gbxml is an open standard of BIM and can acquire a spatial topological relation of building elements. And the semantic attributes and the spatial topological relations of each entity member of the target building are cleaned and sorted through data, then the data are imported into a database for storage, the semantic attributes are used for completing the linkage of the hybrid model, and the three-dimensional hybrid model of the building is established.
In order to verify the effect of the proposed hybrid model in mobile application, a mobile phone indoor navigation application system is designed and developed as a display platform of the model in experiments. The system is based on an integrated architecture of a smart Android mobile phone and an M/S (mobile/server). The main development languages are Java and WebGL (WebGL is a technology for drawing, displaying and interacting with three-dimensional computer graphics in browsers). Due to the complexity of the WebGL API and the difficulty of direct programming, we choose to visualize the architectural map model through the WebGL based three. The system can simulate a real three-dimensional scene using a building hybrid map model, display the user's location and plan an indoor path. Fig. 5 is a schematic diagram of a mobile phone interface displaying map model with experimental effects provided by an embodiment of the present invention, and as shown in fig. 5, four mobile phone interfaces sequentially show a network model, an entity model, a hybrid model, and an indoor positioning navigation situation from left to right.
Fig. 6 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 6, the electronic device may include: a processor (processor)601, a communication Interface (Communications Interface)602, a memory (memory)603 and a communication bus 604, wherein the processor 601, the communication Interface 602 and the memory 603 complete communication with each other through the communication bus 604. The processor 601 may call a computer program stored on the memory 603 and operable on the processor 601 to execute the building map hybrid data model construction method for positioning and navigation provided by the above embodiments, for example, including acquiring engineering data of a target building and performing three-dimensional modeling using Revit software to obtain an original model, and determining a lightweight BIM model of the target building based on the original model; extracting a spatial topological relation of a spatial node of the target building based on the gbxml derived by Revit software, and extracting spatial coordinate information of the spatial node from the lightweight BIM model by Blender software to construct a road network organization in the horizontal direction and the vertical direction to obtain a network model; selecting a building component representation space with boundary relation belonging to a specific space based on the geometric information extracted by the lightweight BIM model to obtain a solid model; based on a preset link rule, carrying out link mixing on the entity model and the network model to obtain a building map mixed data model; wherein the preset linking rules include linking and mapping based on semantic relationships between building elements in the solid model and spatial nodes in the network model.
In addition, the logic instructions in the memory 603 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or make a contribution to the prior art, or may be implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, is implemented to perform the method for constructing a building map mixed data model for positioning and navigation, which is provided in the above embodiments, for example, the method includes acquiring engineering data of a target building, performing three-dimensional modeling using Revit software to obtain an original model, and determining a lightweight BIM model of the target building based on the original model; extracting a spatial topological relation of a spatial node of the target building based on the gbxml derived by Revit software, and extracting spatial coordinate information of the spatial node from the lightweight BIM model by Blender software to construct a road network organization in the horizontal direction and the vertical direction to obtain a network model; selecting a building component representation space with boundary relation belonging to a specific space based on the geometric information extracted by the lightweight BIM model to obtain a solid model; based on a preset link rule, carrying out link mixing on the entity model and the network model to obtain a building map mixed data model; wherein the preset linking rules include linking and mapping based on semantic relationships between building elements in the solid model and spatial nodes in the network model.
The above-described system embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A building map mixed data model construction method for positioning navigation is characterized by comprising the following steps:
acquiring engineering data of a target building, performing three-dimensional modeling by using Revit software to obtain an original model, and determining a lightweight BIM (building information modeling) model of the target building based on the original model;
extracting a spatial topological relation of a spatial node of the target building based on the gbxml derived by Revit software, and extracting spatial coordinate information of the spatial node from the lightweight BIM model by Blender software to construct a road network organization in the horizontal direction and the vertical direction to obtain a network model;
selecting a building component representation space with boundary relation belonging to a specific space based on the geometric information extracted by the lightweight BIM model to obtain a solid model;
based on a preset link rule, carrying out link mixing on the entity model and the network model to obtain a building map mixed data model;
wherein the preset linking rules include linking and mapping based on semantic relationships between building elements in the solid model and spatial nodes in the network model.
2. The building map hybrid data model for positioning navigation according to claim 1, further comprising:
setting walking nodes on the building map hybrid data model, wherein the walking nodes comprise walking end nodes and walking anchor nodes;
the walking end nodes are set based on the space nodes in the network model and semantic information required by indoor navigation, and the walking anchor nodes are nodes which are set between any adjacent walking end nodes at equal preset step length distances.
3. The method for constructing the building map hybrid data model for positioning navigation according to claim 2, wherein the setting of the walking end node based on the spatial nodes in the network model and the semantic information required for indoor navigation specifically comprises:
setting spatial nodes in the network model as walking end nodes;
setting a turning node corresponding to any node in the walking end nodes as a walking end node;
setting a corridor centerline end in the network model as a walking end node.
4. The method for constructing the building map hybrid data model for positioning and navigation according to claim 1, wherein the blend software extracts the spatial coordinate information of the spatial node from the lightweight BIM model, and specifically comprises:
converting the lightweight BIM model to FBX format;
importing the light BIM model in FBX format into the Blender software, and extracting the space coordinate information of the space node;
and exporting the space coordinate information of the space nodes, cleaning the data and storing the data in a database.
5. The method according to claim 4, wherein the deriving the spatial coordinate information of the spatial nodes, performing data cleaning, and storing the data cleaning in a database specifically includes:
storing the space coordinate information of the space nodes of all floors in the same scene in the horizontal direction of the target building into the same database table file;
and respectively and independently extracting and storing the spatial coordinate information of the spatial nodes positioned in the stair scene and the elevator scene in the target building into a database table file.
6. The building map hybrid data model for positioning navigation according to any one of claims 1 to 5,
the spatial nodes in the horizontal direction in the road network organization are composed of target nodes and connected nodes, the target nodes are elements used for being retrieved or representing route end points in the road network, the connected nodes are used for representing whether the routes where the connected nodes are located can pass or not, and the edges in the horizontal direction in the road network organization are composed of corridors and spatial relations;
the space nodes in the vertical direction in the road network organization are composed of stair nodes and elevator virtual nodes, the stair nodes comprise stair platform nodes, stair section nodes and stair door nodes, and the elevator virtual nodes are obtained by abstracting elevators on each layer into nodes.
7. The building map hybrid data model for positioning navigation as claimed in claim 6,
the spatial relationships include three types of relationships: a corridor to door to room relationship, a room to door to room relationship, and a corridor to indoor facility build relationship.
8. An apparatus for constructing a building map hybrid data model for positioning navigation, comprising:
the system comprises an acquisition unit, a data processing unit and a data processing unit, wherein the acquisition unit is used for acquiring engineering data of a target building, performing three-dimensional modeling by using Revit software to obtain an original model, and determining a lightweight BIM (building information model) of the target building based on the original model;
the network model unit is used for extracting the spatial topological relation of the space nodes of the target building based on the gbxml derived by the Revit software and extracting the spatial coordinate information of the space nodes from the lightweight BIM model by the Blender software to construct a road network organization in the horizontal direction and the vertical direction to obtain a network model;
the solid model unit is used for selecting a building component representation space with a boundary relation, belonging to a specific space, based on the geometric information extracted by the light weight BIM model to obtain a solid model;
the mixed model unit is used for carrying out link mixing on the entity model and the network model based on a preset link rule to obtain a building map mixed data model;
wherein the preset linking rules include linking and mapping based on semantic relationships between building elements in the solid model and spatial nodes in the network model.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the building map hybrid data model construction method for position location navigation according to any one of claims 1 to 7.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for constructing a building map hybrid data model for position finding navigation according to any one of claims 1 to 7.
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