CN114323024A - Indoor navigation method and system based on Building Information Model (BIM) - Google Patents
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Abstract
The invention provides an indoor navigation method and system based on a Building Information Model (BIM), wherein the indoor navigation method based on the BIM comprises the following steps: dividing connected domains of indoor areas displayed by a building information model BIM, and determining the logical relationship among the connected domains; when a navigation request is received, determining key connected domains which are necessary to pass from an initial position in the navigation request to a target position in the navigation request according to the logical relationship among the connected domains, wherein the navigation request comprises position information of the initial position and position information of the target position; and calculating the optimal navigation path from the initial position to the target position according to the key connected domain. According to the method, the connected domain division is carried out on the indoor area displayed by the BIM, so that the key connected domain which is necessary to pass from the starting position to the target position can be determined, the optimal navigation path from the starting position to the target position is calculated based on the key connected domain, and the calculated optimal navigation path is more accurate.
Description
Technical Field
The invention relates to the technical field of indoor navigation, in particular to an indoor navigation method and system based on a Building Information Model (BIM).
Background
At present, in public buildings where people gather, such as shopping malls, hospitals, high-rise office buildings, exhibition halls, underground garages and the like, people often need to know the position of the people and how to quickly reach the appointed shops, wards, offices, exhibition halls and vehicles. In the field of emergency rescue, the safe evacuation of people trapped in a building and the efficient rescue of firefighters can not be supported by the indoor navigation technology. In most navigation scenes, the identity authority is granted and verified by equipment such as entrance guard, elevator control and the like when the user arrives at the designated position. Currently adopted permission granting modes comprise methods such as visitor codes, one-card-pass, face recognition, iris verification and the like. The method gives a certain password to the visitor, and the password is distinguished by different levels of authority. The method has certain stereotypy, the given permission is higher, so that the visitor can choose wrong ways and can enter in a branch, the given permission is lower, so that the visitor only has the entrance guard permission on the optimal path, and the possibility that the visitor chooses the equivalent line is limited.
However, due to the complex structure of the internal space of the building, the high requirement for precision, and the weak signal of the conventional GPS and BDS based navigation positioning technology because the indoor is shielded by obstacles, the outdoor navigation technology cannot be directly applied to indoor navigation, and thus the navigation of the indoor environment of the building occupying 70% -80% of the activity space of people is slow.
At present, the research of indoor navigation path planning mainly focuses on relying on two-dimensional plane building drawings or drawing an indoor map to find the shortest path by means of artificial measurement, because basic data information of a building is lacked, an indoor barrier entity cannot be considered, and the precision of the indoor map drawn by measurement is difficult to guarantee, so that a great number of errors exist in the path planning, the path is shortest but not optimal, and in addition, because of the limitation of a two-dimensional plane expression form, the intuitiveness and the practicability of the path expression can also be influenced.
Disclosure of Invention
In view of the above problems, the present invention has been made to provide an indoor navigation method and system based on a building information model BIM that overcomes or at least partially solves the above problems.
In one aspect, the present invention provides an indoor navigation method based on a building information model BIM, including:
dividing connected domains of indoor areas displayed by a building information model BIM, and determining the logical relationship among the connected domains;
when a navigation request is received, determining key connected domains which are necessary to pass from an initial position in the navigation request to a target position in the navigation request according to the logical relationship among the connected domains, wherein the navigation request comprises position information of the initial position and position information of the target position;
and calculating an optimal navigation path from the starting position to the target position according to the key connected domain.
Further, the determining the logical relationship between the connected domains includes:
and determining the logical relationship among all connected domains in the building by taking the access control, the barrier gate and/or the elevator as control nodes, wherein the logical relationship comprises a progressive relationship and a parallel relationship.
Further, before determining the key connected domain necessary to pass from the starting position in the navigation request to the target position in the navigation request according to the logical relationship between the connected domains, the method further comprises:
acquiring image monitoring data of each connected domain, and analyzing personnel density information of each connected domain according to the image monitoring data;
and performing personnel density assignment on each connected domain according to the personnel density information of each connected domain.
Further, the determining a key connected domain which is necessary to pass from the starting position in the navigation request to the target position in the navigation request according to the logical relationship among the connected domains includes:
determining an initial connected domain where the initial position is located according to the position information of the initial position;
determining a target connected domain where the target position is located according to the position information of the target position;
determining at least one connected domain passage from the starting connected domain to a target connected domain;
and selecting a connected domain contained in a target connected domain passage from the at least one connected domain passage as a necessary key connected domain according to the personnel density assignment of each connected domain, wherein the target connected domain passage is a connected domain passage containing a connected domain with the highest personnel density or a connected domain passage containing each connected domain with the highest personnel density sum.
Further, the method further comprises:
and correcting the selected key connected domain according to the real-time information of the personnel density assignment of each connected domain.
Further, the calculating an optimal navigation path from the starting position to the target position according to the key connected domain includes:
and calculating the optimal navigation path from the starting position to the target position by adopting a greedy algorithm between adjacent key connected domains.
Further, after the calculating the optimal navigation path from the starting position to the target position according to the key connected domain, the method further comprises:
and identifying the optimal navigation path in the BIM, and sending the BIM with the optimal navigation path to a client for path navigation.
In another aspect, the present invention provides an indoor navigation system based on a building information model BIM, the system including:
the BIM subsystem is used for dividing connected domains of indoor areas displayed by the BIM and determining the logical relationship among the connected domains;
the decision-making subsystem is used for determining a key connected domain which is necessary to pass from an initial position in the navigation request to a target position in the navigation request according to the logical relation among all connected domains when the navigation request is received, wherein the navigation request comprises the position information of the initial position and the position information of the target position;
and the calculation subsystem is used for calculating the optimal navigation path from the starting position to the target position according to the key connected domain.
Further, the system further comprises:
the video processing and analyzing subsystem is used for acquiring the image monitoring data of each connected domain before the decision-making subsystem determines the key connected domain which is necessary to pass from the initial position in the navigation request to the target position in the navigation request according to the logical relation among the connected domains, and analyzing the personnel density information of each connected domain according to the image monitoring data; and performing personnel density assignment on each connected domain according to the personnel density information of each connected domain.
Further, the decision making subsystem includes:
the first processing module is used for determining an initial connected domain where the initial position is located according to the position information of the initial position;
the second processing module is used for determining a target connected domain where the target position is located according to the position information of the target position;
a third processing module for determining at least one connected domain path from the starting connected domain to a target connected domain;
and the decision module is used for selecting a connected domain contained in a target connected domain passage from the at least one connected domain passage as a necessary key connected domain according to the personnel density assignment of each connected domain, wherein the target connected domain passage is a connected domain passage containing a connected domain with the highest personnel density or a connected domain passage containing each connected domain with the highest personnel density sum.
Further, the system further comprises:
and the output subsystem is used for identifying the optimal navigation path in the BIM after the calculation subsystem calculates the optimal navigation path from the starting position to the target position according to the key connected domain, and sending the BIM identified with the optimal navigation path to the client for path navigation.
According to the indoor navigation method and system based on the BIM, provided by the invention, the connected domain division is carried out on the indoor area displayed by the BIM, so that the key connected domain which is necessary from the starting position to the target position is determined, and the optimal navigation path from the starting position to the target position is calculated based on the key connected domain, so that the calculated optimal navigation path is more accurate.
Drawings
FIG. 1 is a flow chart of an indoor navigation method based on BIM of a building information model according to the present invention;
fig. 2 is a block diagram of an indoor navigation system based on a building information model BIM according to 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The indoor path planning is used as the core of the indoor navigation service, and the indoor path planning, the indoor positioning technology and the space display technology together form a complete indoor navigation system, which is the premise and the basis for realizing the indoor navigation service and has different index requirements for different application scenes. Compared with the environment of roads outside buildings, users mainly using vehicles can only run on a planned road network, and the environment of rooms mainly using individuals can freely move in passable areas, for example, in a shopping mall, people can require to plan an optimal path according to their shopping demands, and when an emergency situation needs to escape, the path planning also needs to have corresponding flexibility according to different indoor environment changes due to changes of road damage, elevator unavailability and the like. For the application requirements of the deeper level, the indoor path should be adjusted correspondingly according to the passing authorities of different entrances and exits. Therefore, research on indoor path planning needs to comprehensively consider distribution of indoor obstacles, opening and closing states of room doors and abundant semantic information of indoor components, and also needs to consider physical connection of vertical stairs, escalators and the like between floors for path planning requirements across floors. Therefore, the invention provides an indoor navigation method based on a Building Information Model (BIM), which can utilize the latest model information of a building to perform optimal path navigation, reduce navigation failures caused by partition wall bodies and opening and closing changes of entrances and exits in the building due to the use of a building drawing, determine a key connected domain which must pass from an initial position to a target position by performing logic division on the connected domain, calculate the optimal navigation path from the initial position to the target position based on the key connected domain, and enable the calculated optimal navigation path to be more accurate.
Fig. 1 is a schematic flow chart of an indoor navigation method based on a building information model BIM according to an embodiment of the present invention. The indoor navigation method based on the building information model BIM provided by the embodiment of the invention specifically comprises the following steps:
and S11, performing connected domain division on the indoor areas displayed by the BIM, and determining the logical relationship among the connected domains.
The building information model BIM is used as a static background of the whole system and is responsible for scene display and spatial structure calculation. The BIM is updated regularly or timely when the indoor environment changes.
In this embodiment of the present invention, the determining the logical relationship between the connected domains in step S11 specifically includes: and for different connected domains in the BIM, determining the logical relationship among the connected domains in the building by taking the access control, the barrier gate and/or the elevator and the like as control nodes. Wherein the logical relationship comprises a progressive relationship and a parallel relationship. Specifically, the progressive relationship is that two connected domains are communicated, and the parallel relationship is that two connected domains are complementarily communicated, but the two are communicated with the third connected domain.
S12, when a navigation request is received, determining a key connected domain which must pass from a starting position in the navigation request to a target position in the navigation request according to the logic relation among the connected domains, wherein the navigation request comprises the position information of the starting position and the position information of the target position.
And S13, calculating the optimal navigation path from the starting position to the target position according to the key connected domain.
In this embodiment of the present invention, the step S31 of calculating the optimal navigation path from the start position to the target position according to the key connected domain specifically includes: and calculating the optimal navigation path from the starting position to the target position by adopting a greedy algorithm between adjacent key connected domains. According to the method, logical division of the connected domains is performed based on the BIM model, so that key connected domain nodes which must pass from the initial position to the target position are determined, and an optimal navigation path is calculated between adjacent key connected domains by adopting a greedy algorithm, so that the calculation result of the greedy algorithm is more accurate.
According to the indoor navigation method based on the building information model BIM, the connected domain division is carried out on the indoor area displayed by the building information model BIM, so that the key connected domain which is necessary to pass from the starting position to the target position is determined, the optimal navigation path from the starting position to the target position is calculated based on the key connected domain, and the calculated optimal navigation path is more accurate.
Further, after the optimal navigation path from the starting position to the target position is calculated according to the key connected domain, the optimal navigation path is identified in the BIM, the BIM with the optimal navigation path is sent to the client side for path navigation, and then the planned complete path is presented on a user terminal guidance system through the BIM model, so that indoor navigation is realized.
In an embodiment of the present invention, before determining the key connected domain that must pass from the starting position in the navigation request to the target position in the navigation request according to the logical relationship between the connected domains, the method further includes: acquiring image monitoring data of each connected domain, and analyzing personnel density information of each connected domain according to the image monitoring data; and performing personnel density assignment on each connected domain according to the personnel density information of each connected domain.
Further, in the embodiment of the present invention, determining the key connected domain that must pass from the start position in the navigation request to the target position in the navigation request according to the logical relationship between the connected domains specifically includes the following steps:
s121, determining an initial connected domain where the initial position is located according to the position information of the initial position;
s122, determining a target connected domain where the target position is located according to the position information of the target position;
s123, determining at least one connected domain passage from the starting connected domain to the target connected domain;
and S124, selecting a connected domain contained in the target connected domain passage from the at least one connected domain passage as a necessary key connected domain according to the personnel density assignment of each connected domain. The target connected domain passage is a connected domain passage containing a connected domain with the highest personnel density, or a connected domain passage containing each connected domain with the highest personnel density sum.
The method can also correct the selected key connected domain according to the real-time information of the personnel density assignment of each connected domain, thereby realizing the real-time path correction of the optimal navigation path.
According to the embodiment of the invention, through the technologies of a visual method, image recognition, segmentation, counting and the like, the personnel density information of each connected domain is determined based on the acquired image monitoring data of each connected domain, and personnel density assignment is carried out on all the connected domains, so that the real-time performance and the effectiveness of the optimal path can be effectively ensured.
For simplicity of explanation, the method embodiments are described as a series of acts or combinations, but those skilled in the art will appreciate that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the embodiments of the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Fig. 2 schematically shows a structural diagram of an indoor navigation system based on a building information model BIM according to an embodiment of the present invention. Referring to fig. 2, the building information model BIM-based indoor navigation system of the embodiment of the present invention specifically includes a BIM model subsystem 201, a decision-making subsystem 202, and a computation subsystem 203, wherein:
the BIM subsystem 201 is used for dividing connected domains of indoor areas displayed by the BIM and determining the logical relationship among the connected domains;
a decision subsystem 202, configured to determine, when a navigation request is received, a key connected domain that must pass from an initial position in the navigation request to a target position in the navigation request according to a logical relationship between connected domains, where the navigation request includes position information of the initial position and position information of the target position;
and the calculation subsystem 203 is used for calculating the optimal navigation path from the starting position to the target position according to the key connected domain.
In the embodiment of the present invention, the system further includes a video processing and analyzing subsystem not shown in the drawing, where the video processing and analyzing subsystem is configured to obtain image monitoring data of each connected domain before the decision subsystem determines a key connected domain that must pass from a start position in the navigation request to a target position in the navigation request according to a logical relationship between the connected domains, and analyze the person density information of each connected domain according to the image monitoring data; and performing personnel density assignment on each connected domain according to the personnel density information of each connected domain.
Further, the decision subsystem specifically includes a first processing module, a second processing module, a third processing module and a decision module, wherein:
the first processing module is used for determining an initial connected domain where the initial position is located according to the position information of the initial position;
the second processing module is used for determining a target connected domain where the target position is located according to the position information of the target position;
a third processing module for determining at least one connected domain path from the starting connected domain to a target connected domain;
and the decision module is used for selecting a connected domain contained in a target connected domain passage from the at least one connected domain passage as a necessary key connected domain according to the personnel density assignment of each connected domain, wherein the target connected domain passage is a connected domain passage containing a connected domain with the highest personnel density or a connected domain passage containing each connected domain with the highest personnel density sum.
In the embodiment of the present invention, the system further includes an output subsystem not shown in the drawing, where the output subsystem is configured to identify the optimal navigation path in the BIM after the computing subsystem computes the optimal navigation path from the start position to the target position according to the key connected domain, and send the BIM identified with the optimal navigation path to the client for path navigation.
According to the indoor navigation method and system based on the BIM provided by the invention, the indoor navigation can be carried out by utilizing the latest model information of the building based on the navigation mode of the BIM, so that the navigation failure caused by the partition wall in the building and the opening and closing change of the entrance and the exit caused by using the building drawing is reduced; in addition, the invention can determine the necessary key connected domain from the starting position to the target position by dividing the connected domain of the indoor area displayed by the BIM, and calculate the optimal navigation path from the starting position to the target position based on the key connected domain, so that the calculated optimal navigation path is more accurate.
The above-described embodiments of the apparatus 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.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, any of the claimed embodiments may be used in any combination.
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. An indoor navigation method based on a Building Information Model (BIM), which is characterized by comprising the following steps:
dividing connected domains of indoor areas displayed by a building information model BIM, and determining the logical relationship among the connected domains;
when a navigation request is received, determining key connected domains which are necessary to pass from an initial position in the navigation request to a target position in the navigation request according to the logical relationship among the connected domains, wherein the navigation request comprises position information of the initial position and position information of the target position;
and calculating an optimal navigation path from the starting position to the target position according to the key connected domain.
2. The method of claim 1, wherein the determining the logical relationship between the connected domains comprises:
and determining the logical relationship among all connected domains in the building by taking the access control, the barrier gate and/or the elevator as control nodes, wherein the logical relationship comprises a progressive relationship and a parallel relationship.
3. The method of claim 1, wherein prior to determining the key connected domain that must pass from the starting location in the navigation request to the target location in the navigation request based on the logical relationship between the connected domains, the method further comprises:
acquiring image monitoring data of each connected domain, and analyzing personnel density information of each connected domain according to the image monitoring data;
and performing personnel density assignment on each connected domain according to the personnel density information of each connected domain.
4. The method of claim 3, wherein determining key connected domains that must be traversed from a starting location in the navigation request to a target location in the navigation request based on logical relationships between the connected domains comprises:
determining an initial connected domain where the initial position is located according to the position information of the initial position;
determining a target connected domain where the target position is located according to the position information of the target position;
determining at least one connected domain passage from the starting connected domain to a target connected domain;
and selecting a connected domain contained in a target connected domain passage from the at least one connected domain passage as a necessary key connected domain according to the personnel density assignment of each connected domain, wherein the target connected domain passage is a connected domain passage containing a connected domain with the highest personnel density or a connected domain passage containing each connected domain with the highest personnel density sum.
5. The method of claim 1, wherein said computing an optimal navigation path from the starting location to the target location according to the key connected components comprises:
and calculating the optimal navigation path from the starting position to the target position by adopting a greedy algorithm between adjacent key connected domains.
6. The method of any one of claims 1-5, wherein after said computing an optimal navigation path from the starting location to the target location according to the critical connected components, the method further comprises:
and identifying the optimal navigation path in the BIM, and sending the BIM with the optimal navigation path to a client for path navigation.
7. An indoor navigation system based on Building Information Model (BIM), the system comprising:
the BIM subsystem is used for dividing connected domains of indoor areas displayed by the BIM and determining the logical relationship among the connected domains;
the decision-making subsystem is used for determining a key connected domain which is necessary to pass from an initial position in the navigation request to a target position in the navigation request according to the logical relation among all connected domains when the navigation request is received, wherein the navigation request comprises the position information of the initial position and the position information of the target position;
and the calculation subsystem is used for calculating the optimal navigation path from the starting position to the target position according to the key connected domain.
8. The system of claim 7, wherein the system further comprises:
the video processing and analyzing subsystem is used for acquiring the image monitoring data of each connected domain before the decision-making subsystem determines the key connected domain which is necessary to pass from the initial position in the navigation request to the target position in the navigation request according to the logical relation among the connected domains, and analyzing the personnel density information of each connected domain according to the image monitoring data; and performing personnel density assignment on each connected domain according to the personnel density information of each connected domain.
9. The system of claim 8, wherein the decision subsystem comprises:
the first processing module is used for determining an initial connected domain where the initial position is located according to the position information of the initial position;
the second processing module is used for determining a target connected domain where the target position is located according to the position information of the target position;
a third processing module for determining at least one connected domain path from the starting connected domain to a target connected domain;
and the decision module is used for selecting a connected domain contained in a target connected domain passage from the at least one connected domain passage as a necessary key connected domain according to the personnel density assignment of each connected domain, wherein the target connected domain passage is a connected domain passage containing a connected domain with the highest personnel density or a connected domain passage containing each connected domain with the highest personnel density sum.
10. The system of claim 7, wherein the system further comprises:
and the output subsystem is used for identifying the optimal navigation path in the BIM after the calculation subsystem calculates the optimal navigation path from the starting position to the target position according to the key connected domain, and sending the BIM identified with the optimal navigation path to the client for path navigation.
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