CN108917758B - Navigation method and system based on AR - Google Patents
Navigation method and system based on AR Download PDFInfo
- Publication number
- CN108917758B CN108917758B CN201810156724.3A CN201810156724A CN108917758B CN 108917758 B CN108917758 B CN 108917758B CN 201810156724 A CN201810156724 A CN 201810156724A CN 108917758 B CN108917758 B CN 108917758B
- Authority
- CN
- China
- Prior art keywords
- current position
- information
- mobile terminal
- equipment
- bluetooth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Graphics (AREA)
- Computer Hardware Design (AREA)
- General Engineering & Computer Science (AREA)
- Software Systems (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The invention discloses a navigation method and a system based on AR, wherein the method comprises the following steps: acquiring the current position of a mobile terminal; selecting a target position, and planning a path and a traveling direction between the current position of the mobile terminal and the target position based on a predetermined algorithm; acquiring coordinates and working information of surrounding equipment at the current position from an equipment database; and acquiring a surrounding environment image of the current position, and superposing a three-dimensional model of surrounding equipment of the current position, corresponding working information and a traveling direction in the surrounding environment image in a three-dimensional superposition mode. The invention can superimpose the real information and the virtual information on the same picture for display so as to determine the position and the direction of the personnel.
Description
Technical Field
The invention belongs to the technical field of augmented reality, and particularly relates to an AR-based navigation method and system.
Background
Augmented Reality (AR) is a technology for calculating the position and angle of a camera image in real time and adding a corresponding image, and aims to overlap a virtual world on a screen in the real world and interact with the virtual world. The technology is proposed in 1990, and with the improvement of the operational capability of portable electronic products, the application of augmented reality is expected to be wider and wider.
In the prior art, a navigation function is usually realized in a two-dimensional map mode in a GIS (geographic information system), and cannot be displayed in a three-dimensional superposition mode, so that personnel cannot intuitively judge the source position and the advancing direction of information.
Disclosure of Invention
In order to solve the technical problems, the invention provides an AR-based navigation method and an AR-based navigation system, which are used for displaying real information and virtual information by overlaying the real information and the virtual information on the same picture so as to determine the position and the direction of a person.
According to an aspect of the present invention, there is provided an AR-based navigation method, including:
acquiring the current position of a mobile terminal;
selecting a target position, and planning a path and a traveling direction between the current position of the mobile terminal and the target position based on a predetermined algorithm;
acquiring coordinates and working information of surrounding equipment at the current position from an equipment database;
and acquiring a surrounding environment image of the current position, and superposing a three-dimensional model of surrounding equipment of the current position, corresponding working information and the traveling direction in the surrounding environment image in a three-dimensional superposition mode.
According to an embodiment of the present invention, the obtaining the current position of the mobile terminal further includes:
acquiring a Bluetooth signal which is sent by a Bluetooth positioning module arranged around the current position of a mobile terminal and comprises positioning information of the Bluetooth positioning module;
calculating the distance between the current position and the Bluetooth positioning module which sends the Bluetooth signal according to the signal intensity of the received Bluetooth signal;
and determining the coordinates of the current position based on a triangulation positioning principle according to the positioning information in the received Bluetooth signal and the distance between the current position and the Bluetooth positioning module sending the Bluetooth signal.
According to one embodiment of the present invention, planning a path and a direction of travel between the current location and the target location based on a predetermined algorithm further comprises:
selecting a target position, and acquiring a planned path between the current position and the target position based on a predetermined algorithm;
selecting a path, and calculating an azimuth angle between a node where the current position is located and a next node of the selected path according to the selected path;
and judging the current posture of the mobile terminal, and determining the advancing direction according to the current posture and the current position of the mobile terminal and the azimuth angle of the next node.
According to an embodiment of the present invention, acquiring a surrounding image of a current location, and superimposing a three-dimensional model of a surrounding device of the current location, corresponding work information, and the traveling direction in the surrounding image in a three-dimensional superimposition manner, further includes:
acquiring a surrounding environment image of the current position of the mobile terminal;
converting the coordinates of the peripheral equipment at the current position in the first coordinate system into the coordinates in a second coordinate system in which the peripheral environment image is located;
drawing and superposing a corresponding equipment three-dimensional model by using a three-dimensional engine at a coordinate position of the surrounding equipment corresponding to the second coordinate system;
at the position of the equipment three-dimensional model at the current position of the superposition display, the working information of the corresponding equipment obtained from the equipment database is superposed and displayed;
and drawing a guide arrow along the traveling direction at the current position in the surrounding environment image by using a three-dimensional engine and superposing the guide arrow in the surrounding environment image to indicate the traveling direction.
According to an embodiment of the present invention, before obtaining the relevant information of the devices around the current location from the device database, the method further includes:
and collecting coordinate information and equipment related information of all equipment in a preset range, and storing the coordinate information and the equipment related information in the equipment database.
According to another aspect of the present invention, there is also provided an AR-based navigation system including:
the position acquisition module is configured to acquire the current position of the mobile terminal;
a path planning module configured to select a target position, plan a path and a traveling direction between a current position of the mobile terminal and the target position based on a predetermined algorithm;
the equipment information acquisition module is configured to acquire coordinates and working information of surrounding equipment at the current position from an equipment database;
and the information superposition module is configured to acquire the surrounding environment image of the current position, and superpose the three-dimensional model of the surrounding equipment of the current position, the corresponding working information and the traveling direction in the surrounding environment image in a three-dimensional superposition mode.
According to an embodiment of the present invention, the position acquisition module further includes:
a Bluetooth signal acquisition unit configured to acquire a Bluetooth signal including positioning information of a Bluetooth positioning module transmitted by the Bluetooth positioning module disposed around a current position of the mobile terminal;
the distance calculation unit is configured to calculate the distance between the current position and the Bluetooth positioning module which sends the Bluetooth signal according to the signal intensity of the received Bluetooth signal;
and the current position calculating unit is configured to determine the coordinates of the current position based on a triangulation principle according to the positioning information in the received Bluetooth signals and the distance between the current position and the Bluetooth positioning module sending the Bluetooth signals.
According to an embodiment of the invention, the path planning module further comprises:
a path planning unit configured to select a target position, and obtain a planned path between a current position and the target position based on a predetermined algorithm;
the azimuth angle calculation unit is configured to select a path and calculate an azimuth angle between a node where the current position is located and a next node of the selected path according to the selected path;
and the advancing direction determining unit is configured to judge the current posture of the mobile terminal and determine the advancing direction according to the current posture and the current position of the mobile terminal and the azimuth angle of the next node.
According to an embodiment of the present invention, the information superposition module further includes:
an environment image acquisition unit configured to acquire a surrounding environment image of a current position of the mobile terminal;
a coordinate conversion unit configured to convert coordinates of the peripheral device at the current position in the first coordinate system into coordinates in a second coordinate system in which the surrounding environment image is located;
the three-dimensional model drawing unit is configured to draw, overlap and display a corresponding equipment three-dimensional model by using a three-dimensional engine at a coordinate position of the surrounding equipment under a second coordinate system;
a working information acquisition unit configured to superimpose and display working information of the corresponding device acquired from the device database at a device three-dimensional model at which the current position is superimposed and displayed;
a travel direction drawing unit configured to draw a guide arrow with a three-dimensional engine along the travel direction at a current position in the surrounding image and superimpose the guide arrow in the surrounding image to indicate the travel direction.
According to an embodiment of the present invention, the mobile terminal further includes an information collecting module configured to collect coordinate information and device-related information of all devices within a predetermined range, and store the coordinate information and the device-related information in the device database.
The invention has the following beneficial effects:
in the invention, the real information and the virtual information are superposed on the same picture for display, so that the position and the direction of a person can be determined, and the auxiliary action route can be plotted in a three-dimensional superposition mode according with a perspective rule, thereby performing auxiliary planning on the action route.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow diagram of an AR based navigation method according to one embodiment of the present invention;
FIG. 2 is a block diagram of an AR based navigation system in accordance with one embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
Aiming at the problems that the navigation function is usually realized in a GIS in a two-dimensional map mode in the prior art, the navigation function cannot be displayed in a three-dimensional superposition mode, and related personnel cannot intuitively judge the position and the advancing direction of an information source, the invention provides the navigation method and the navigation system based on the AR, which can be used for determining the position and the direction of the personnel in a factory area and plotting an auxiliary action route in a three-dimensional superposition mode according with a perspective rule, thereby carrying out auxiliary planning on the action route.
First embodiment
According to an aspect of the present invention, an AR-based navigation method is provided, as shown in fig. 1, which is a flowchart of an AR-based navigation method according to an embodiment of the present invention, and the method is described in detail below with reference to fig. 1.
First, in step S110, the current position of the mobile terminal is acquired. In the present invention, the bluetooth positioning method is taken as an example to position the mobile terminal, and the mobile terminal is taken as an example with a signal transceiving process and an image capturing and displaying device (such as a mobile phone).
The obtaining of the current position of the mobile terminal specifically includes the following steps. Firstly, densely deploying Bluetooth positioning modules in a factory area for navigation, and positioning a mobile terminal by using the Bluetooth positioning modules. Specifically, the bluetooth positioning module is deployed according to the vertex of an inscribed equilateral triangle in a circular area with the radius of 10 meters, and all bluetooth points form an ordered array. The Bluetooth positioning module is low in cost, the service life of a general battery is half a year, and the Bluetooth positioning module is replaceable and can meet the requirement of large-scale deployment.
Then, a Bluetooth signal including positioning information of a corresponding Bluetooth positioning module, which is transmitted by a Bluetooth positioning module disposed around the current position of the mobile terminal, is acquired. Specifically, the bluetooth positioning modules pre-store their own identification information and their respective coordinate information, and transmit bluetooth signals including their own identifications and coordinate information according to a predetermined period. The mobile terminal around the Bluetooth positioning module receives the Bluetooth signal and can obtain the positioning information of each Bluetooth positioning module by analyzing the Bluetooth signal.
And then, calculating the distance between the current position and the corresponding Bluetooth positioning module which sends the Bluetooth signal according to the signal intensity of the received Bluetooth signal. Specifically, the distance between the current position and the corresponding bluetooth positioning module that sends the bluetooth signal can be calculated according to the relationship between the received signal power strength and the signal propagation distance.
And finally, determining the coordinates of the current position based on a triangulation positioning principle according to the coordinate information in the received Bluetooth signals and the distance between the current position and the corresponding Bluetooth positioning module which sends out the Bluetooth signals. Specifically, the mobile terminal receives the bluetooth signals sent by the bluetooth positioning modules, selects three bluetooth positioning modules from the bluetooth signals, and can calculate the coordinates of the current position of the mobile terminal according to the coordinate information of the three bluetooth positioning modules and the distances between the three bluetooth positioning modules and the mobile terminal.
Because in closed or semi-closed spaces such as factory, can't receive signals such as GPS, big dipper satellite or have influences such as multipath effect in the receiving process, cause the positioning result to have great error, utilize bluetooth signal to fix a position and can reduce positioning error greatly in the inside of factory.
Then, in step S120, a target position is selected, and a path and a traveling direction are planned between the current position of the mobile terminal and the target position based on a predetermined algorithm.
The method specifically comprises the following steps. Firstly, a target position is selected, and a planned path between the current position and the target position is obtained based on a predetermined algorithm. Specifically, the target position is selected by taking the current position as a reference, and the path planning is realized by utilizing algorithms such as Djkstra and the like.
Then, a path is selected, and an azimuth angle between the node of the current position and the next node of the selected path is calculated according to the selected path. The azimuth angle, also called longitude and horizon, is one of the methods for measuring the angle difference between objects on a plane, and is the horizontal angle from the north-pointing direction line of a certain point to the target direction line along the clockwise direction. In an actual scene, a path from the current position to the target position is a set of a plurality of road segments which are not on the same straight line, and a certain azimuth angle is formed when the path is changed from the previous road segment (previous node) to the next road segment (next node).
And then, judging the current posture of the mobile terminal, and determining the advancing direction according to the current posture, the current position and the azimuth angle of the next node of the mobile terminal. Specifically, the current attitude of the mobile terminal can be judged by using an electronic gyroscope carried by the mobile terminal, and the current attitude comprises six parameters of a relative coordinate system x, y, z, a pitch angle, a rotation angle and a roll angle. The moving direction of the moving end can be determined by using the current posture and the current position of the moving end and the azimuth angle of the next node.
In step S130, coordinates and work information of surrounding devices at the current position are acquired from the device database.
Specifically, the device database stores therein coordinates of each device in the factory floor and related work information such as attributes and states of each device. Therefore, before obtaining the relevant information of the devices around the current position from the device database, the method further comprises the step of collecting the coordinates of all the devices within the preset range and the relevant information of the devices, and storing the coordinates and the relevant information of the devices in the device database. When the coordinates and related information of a certain device are needed, the device can be directly inquired in a device database.
Finally, in step S140, a surrounding image of the current location is obtained, and the three-dimensional model of the surrounding device of the current location, the corresponding work information, and the traveling direction are superimposed on the surrounding image in a three-dimensional superimposing manner.
The method specifically comprises the following steps. First, an image of the surrounding environment of the current position of the mobile terminal is acquired. Specifically, the camera of the mobile terminal can be used for acquiring the image of the surrounding environment at the current position, and the image of the surrounding environment at the current position can also be acquired by other image acquisition devices.
Next, the coordinates of the peripheral device at the current position in the first coordinate system are converted into coordinates in a second coordinate system in which the peripheral image is located. Specifically, the coordinates of the current position are calculated by the bluetooth positioning module, and the own coordinates stored by the bluetooth positioning module are usually based on the coordinates in the geodetic coordinate system (the first coordinate system), so the calculated coordinates of the current position are also the coordinates in the geodetic coordinate system (the coordinate system usually adopted by the three-dimensional engine). However, the coordinate system of the surrounding image acquired by the camera is different from the geodetic coordinate system, and the coordinate system of the surrounding image is the camera coordinate system (second coordinate system) of the camera. Therefore, the coordinates of the peripheral device at the current position are converted into the coordinates of the coordinate system of the peripheral image according to the conversion relationship between the two coordinate systems, so that the peripheral device at the current position can be correctly displayed in the coordinate system of the peripheral image.
And then, drawing and superposing a three-dimensional model of the corresponding equipment by using a three-dimensional engine at the coordinate position of the peripheral equipment corresponding to the second coordinate system. Specifically, a three-dimensional model of the corresponding device is drawn by using a three-dimensional engine at the coordinates of the peripheral device in the second coordinate system, and then the three-dimensional model is displayed in a superimposed manner at the coordinates of the peripheral device in the second coordinate system. In this way, it is possible to display devices near the current position in the surrounding image.
And then, overlapping and displaying the working information of the corresponding equipment, which is acquired from the equipment database, at the position of the three-dimensional model of the equipment at the current position of the overlapping and displaying. Specifically, the working information of the corresponding device is acquired and superimposed on the three-dimensional model displaying the corresponding device.
Finally, along the travel direction at the current position in the surrounding image, a guide arrow is drawn with the three-dimensional engine and superimposed in the surrounding image to indicate the travel direction. Specifically, an arrow indicating the traveling direction may be drawn in the surrounding image using the three-dimensional engine, and the direction of the arrow indicates the traveling direction. Of course, the entire planned route may also be displayed in the image of the surroundings, without the invention being limited thereto.
In the invention, real information (the current position of the mobile terminal, the surrounding environment image) and virtual information (equipment coordinates and working information) are superposed on the same picture for display, so that the position and the direction of a person can be determined, and the auxiliary action route can be plotted in a three-dimensional superposition mode according with a perspective rule, thereby carrying out auxiliary planning on the action route.
Second embodiment
According to another aspect of the present invention, there is also provided an AR-based navigation system, as shown in fig. 2, which is a block diagram of an AR-based navigation system according to an embodiment of the present invention, and the present invention is described in detail below with reference to fig. 2.
The navigation system based on the AR comprises a position acquisition module, a path planning module, an equipment information acquisition module and an information superposition module. The position acquisition module is configured to acquire the current position of the mobile terminal. The path planning module is configured to select a target position, and plan a path and a traveling direction between the current position of the mobile terminal and the target position based on a predetermined algorithm. The device information acquisition module is configured to acquire coordinates and work information of surrounding devices at the current location from a device database. The information superposition module is configured to acquire a surrounding environment image of the current position, and superpose the three-dimensional model of the surrounding equipment of the current position, the corresponding working information and the traveling direction in the surrounding environment image in a three-dimensional superposition mode.
In one embodiment of the present invention, the position acquisition module further includes a bluetooth signal acquisition unit, a distance calculation unit, and a current position calculation unit. The Bluetooth signal acquisition unit is configured to acquire a Bluetooth signal which is sent by a Bluetooth positioning module arranged around the current position of the mobile terminal and comprises positioning information of the Bluetooth positioning module. The distance calculation unit is configured to calculate the distance between the current position and the Bluetooth positioning module sending the Bluetooth signal according to the signal strength of the received Bluetooth signal. The current position calculating unit is configured to determine the current position coordinates based on a triangulation principle according to the positioning information in the received Bluetooth signals and the distance between the current position and the Bluetooth positioning module sending the Bluetooth signals.
And densely deploying the Bluetooth positioning modules in the factory area for navigation, and positioning the mobile terminal by using the Bluetooth positioning modules. Specifically, the bluetooth positioning module is deployed according to the vertex of an inscribed equilateral triangle in a circular area with the radius of 10 meters, and all bluetooth points form an ordered array. The Bluetooth positioning module is low in cost, the service life of a general battery is half a year, and the Bluetooth positioning module is replaceable and can meet the requirement of large-scale deployment.
Then, the Bluetooth signal acquisition unit acquires a Bluetooth signal including positioning information of a corresponding Bluetooth positioning module, which is transmitted by a Bluetooth positioning module disposed around the current position of the mobile terminal. Specifically, the bluetooth positioning modules pre-store their own identification information and their respective coordinate information, and transmit bluetooth signals including their own identifications and coordinate information according to a predetermined period. The mobile terminal around the Bluetooth positioning module receives the Bluetooth signal and can obtain the positioning information of each Bluetooth positioning module by analyzing the Bluetooth signal.
Then, the distance calculating unit calculates the distance between the current position and the corresponding Bluetooth positioning module which sends the Bluetooth signal according to the signal intensity of the received Bluetooth signal. Specifically, the distance between the current position and the corresponding bluetooth positioning module that sends the bluetooth signal can be calculated according to the relationship between the received signal power strength and the signal propagation distance.
And finally, the current position calculating unit determines the current position coordinate based on the triangulation positioning principle according to the coordinate information in the received Bluetooth signal and the distance between the current position and the corresponding Bluetooth positioning module which sends the Bluetooth signal. Specifically, the mobile terminal receives the bluetooth signals sent by the bluetooth positioning modules, selects three bluetooth positioning modules from the bluetooth signals, and can calculate the coordinates of the current position of the mobile terminal according to the coordinate information of the three bluetooth positioning modules and the distances between the three bluetooth positioning modules and the mobile terminal.
Because in closed or semi-closed spaces such as a factory, signals such as a GPS (global positioning system), a Beidou satellite and the like cannot be received or multipath effect and other influences exist in the receiving process, the positioning result has larger errors, and the positioning error can be greatly reduced by positioning in the factory by utilizing the Bluetooth signals
In one embodiment of the invention, the path planning module further comprises a path planning unit, an azimuth calculation unit and a direction of travel determination unit. The path planning unit is configured to select a target position and obtain a planned path between the current position and the target position based on a predetermined algorithm. The azimuth angle calculation unit is configured to be a selected path, and an azimuth angle between a node where the current position is located and a next node of the selected path is calculated according to the selected path. The advancing direction determining unit is configured to judge the current posture of the mobile terminal and determine the advancing direction according to the current posture, the current position and the azimuth angle of the next node of the mobile terminal.
Specifically, the path planning unit selects a target position, and acquires a planned path between the current position and the target position based on a predetermined algorithm. Specifically, the target position is selected by taking the current position as a reference, and the path planning is realized by utilizing algorithms such as Djkstra and the like.
Then, the azimuth calculation unit selects a path, and calculates an azimuth between the node where the current position is located and the next node of the selected path according to the selected path. The azimuth angle, also called longitude and horizon, is one of the methods for measuring the angle difference between objects on a plane, and is the horizontal angle from the north-pointing direction line of a certain point to the target direction line along the clockwise direction. In an actual scene, a path from the current position to the target position is a set of a plurality of road segments which are not on the same straight line, and a certain azimuth angle is formed when the path is changed from the previous road segment (previous node) to the next road segment (next node).
And finally, the advancing direction determining unit judges the current posture of the mobile terminal and determines the advancing direction according to the current posture and the current position of the mobile terminal and the azimuth angle of the next node. Specifically, the current attitude of the mobile terminal can be judged by using an electronic gyroscope carried by the mobile terminal, and the current attitude comprises six parameters of a relative coordinate system x, y, z, a pitch angle, a rotation angle and a roll angle. The moving direction of the moving end can be determined by using the current posture and the current position of the moving end and the azimuth angle of the next node.
In one embodiment of the present invention, the information superimposition module further includes an environment image acquisition unit, a coordinate conversion unit, a three-dimensional model drawing unit, a work information acquisition unit, and a travel direction drawing unit. The environment image acquisition unit is configured to acquire a surrounding environment image of the current position of the mobile terminal. The coordinate conversion unit is configured to convert coordinates of the peripheral device at the current position in the first coordinate system into coordinates in a second coordinate system in which the surrounding image is located. And the three-dimensional model drawing unit is configured to draw, superpose and display the corresponding equipment three-dimensional model by using the three-dimensional engine at the coordinate position of the surrounding equipment corresponding to the second coordinate system. The working information acquisition unit is configured to superpose and display the working information of the corresponding device acquired from the device database at the position where the three-dimensional model of the device at the current position is superposedly displayed. The travel direction drawing unit is configured to draw a guide arrow with the three-dimensional engine along the travel direction at a current position in the surrounding image and superimpose the guide arrow in the surrounding image to specify the travel direction.
Specifically, first, the environment image acquiring unit acquires a surrounding environment image of the current position of the mobile terminal. Specifically, the camera of the mobile terminal can be used for acquiring the image of the surrounding environment at the current position, and the image of the surrounding environment at the current position can also be acquired by other image acquisition devices.
Then, the coordinate conversion unit converts the coordinates of the peripheral device at the current position in the first coordinate system into coordinates in a second coordinate system in which the surrounding image is located. Specifically, the coordinates of the current position are calculated by the bluetooth positioning module, and the own coordinates stored by the bluetooth positioning module are usually based on the coordinates in the geodetic coordinate system (the first coordinate system), so the calculated coordinates of the current position are also the coordinates in the geodetic coordinate system (the coordinate system usually adopted by the three-dimensional engine). However, the coordinate system of the surrounding image acquired by the camera is different from the geodetic coordinate system, and the coordinate system of the surrounding image is the camera coordinate system (second coordinate system) of the camera. Therefore, the coordinates of the peripheral device at the current position are converted into the coordinates of the coordinate system of the peripheral image according to the conversion relationship between the two coordinate systems, so that the peripheral device at the current position can be correctly displayed in the coordinate system of the peripheral image.
And then, the three-dimensional model drawing unit draws and displays the three-dimensional model of the corresponding equipment in a superposition mode by using the three-dimensional engine at the coordinate position of the peripheral equipment corresponding to the second coordinate system. Specifically, a three-dimensional model of the corresponding device is drawn by using a three-dimensional engine at the coordinates of the peripheral device in the second coordinate system, and then the three-dimensional model is displayed in a superimposed manner at the coordinates of the peripheral device in the second coordinate system. In this way, it is possible to display devices near the current position in the surrounding image.
Then, the working information acquiring unit displays the working information of the corresponding device acquired from the device database at the position where the three-dimensional model of the device at the current position is displayed in an overlapping manner. Specifically, the working information of the corresponding device is acquired and superimposed on the three-dimensional model displaying the corresponding device.
Finally, the travel direction drawing unit draws a guide arrow with the three-dimensional engine along the travel direction at the current position in the surrounding image and superimposes it in the surrounding image to specify the travel direction. Specifically, an arrow indicating the traveling direction may be drawn in the surrounding image using the three-dimensional engine, and the direction of the arrow indicates the traveling direction. Of course, the entire planned route may also be displayed in the image of the surroundings, without the invention being limited thereto.
In one embodiment of the present invention, the system further includes an information collecting module configured to collect coordinate information of all devices within a predetermined range and device-related information, and store the coordinate information and the device-related information in the device database.
Those skilled in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Those skilled in the art will appreciate that the modules or steps of the invention described above can be implemented in a general purpose computing device, centralized on a single computing device or distributed across a network of computing devices, and optionally implemented in program code that is executable by a computing device, such that the modules or steps are stored in a memory device and executed by a computing device, fabricated separately into integrated circuit modules, or fabricated as a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. An AR-based navigation method, comprising:
acquiring the current position of a mobile terminal;
selecting a target position, and planning a path and a traveling direction between the current position of the mobile terminal and the target position based on a predetermined algorithm;
acquiring coordinates and working information of surrounding equipment at the current position from an equipment database;
acquiring a surrounding environment image of the current position of the mobile terminal;
converting the coordinates of the peripheral equipment at the current position in the first coordinate system into the coordinates in a second coordinate system in which the peripheral environment image is located;
drawing and superposing a corresponding equipment three-dimensional model by using a three-dimensional engine at a coordinate position of the surrounding equipment corresponding to the second coordinate system;
at the position of the equipment three-dimensional model at the current position of the superposition display, the working information of the corresponding equipment obtained from the equipment database is superposed and displayed;
and drawing a guide arrow along the traveling direction at the current position in the surrounding environment image by using a three-dimensional engine and superposing the guide arrow in the surrounding environment image to indicate the traveling direction.
2. The navigation method according to claim 1, wherein the obtaining the current position of the mobile terminal further comprises:
acquiring a Bluetooth signal which is sent by a Bluetooth positioning module arranged around the current position of a mobile terminal and comprises positioning information of the Bluetooth positioning module;
calculating the distance between the current position and the Bluetooth positioning module which sends the Bluetooth signal according to the signal intensity of the received Bluetooth signal;
and determining the coordinates of the current position based on a triangulation positioning principle according to the positioning information in the received Bluetooth signal and the distance between the current position and the Bluetooth positioning module sending the Bluetooth signal.
3. The navigation method according to claim 1 or 2, wherein planning the path and the traveling direction between the current position of the mobile terminal and the target position based on a predetermined algorithm further comprises:
selecting a target position, and acquiring a planned path between the current position and the target position based on a predetermined algorithm;
selecting a path, and calculating an azimuth angle between a node where the current position is located and a next node of the selected path according to the selected path;
and judging the current posture of the mobile terminal, and determining the advancing direction according to the current posture and the current position of the mobile terminal and the azimuth angle of the next node.
4. The navigation method of claim 1, further comprising, before obtaining coordinates and operational information of devices around the current location from the device database:
and collecting coordinate information and equipment related information of all equipment in a preset range, and storing the coordinate information and the equipment related information in the equipment database.
5. An AR-based navigation system comprising:
the position acquisition module is configured to acquire the current position of the mobile terminal;
a path planning module configured to select a target position, plan a path and a traveling direction between a current position of the mobile terminal and the target position based on a predetermined algorithm;
the equipment information acquisition module is configured to acquire coordinates and working information of surrounding equipment at the current position from an equipment database;
the information superposition module is configured to acquire a surrounding environment image of the current position, and superpose a three-dimensional model of surrounding equipment of the current position, corresponding working information and the traveling direction in the surrounding environment image in a three-dimensional superposition mode;
the information superposition module further comprises:
an environment image acquisition unit configured to acquire a surrounding environment image of a current position of the mobile terminal;
a coordinate conversion unit configured to convert coordinates of the peripheral device at the current position in the first coordinate system into coordinates in a second coordinate system in which the surrounding environment image is located;
the three-dimensional model drawing unit is configured to draw, overlap and display a corresponding equipment three-dimensional model by using a three-dimensional engine at a coordinate position of the surrounding equipment under a second coordinate system;
a working information acquisition unit configured to superimpose and display working information of the corresponding device acquired from the device database at a device three-dimensional model at which the current position is superimposed and displayed;
a travel direction drawing unit configured to draw a guide arrow with a three-dimensional engine along the travel direction at a current position in the surrounding image and superimpose the guide arrow in the surrounding image to indicate the travel direction.
6. The navigation system of claim 5, wherein the location acquisition module further comprises:
a Bluetooth signal acquisition unit configured to acquire a Bluetooth signal including positioning information of a Bluetooth positioning module transmitted by the Bluetooth positioning module disposed around a current position of the mobile terminal;
the distance calculation unit is configured to calculate the distance between the current position and the Bluetooth positioning module which sends the Bluetooth signal according to the signal intensity of the received Bluetooth signal;
and the current position calculating unit is configured to determine the coordinates of the current position based on a triangulation principle according to the positioning information in the received Bluetooth signals and the distance between the current position and the Bluetooth positioning module sending the Bluetooth signals.
7. The navigation system of claim 6, wherein the path planning module further comprises:
a path planning unit configured to select a target position, and obtain a planned path between a current position and the target position based on a predetermined algorithm;
the azimuth angle calculation unit is configured to select a path and calculate an azimuth angle between a node where the current position is located and a next node of the selected path according to the selected path;
and the advancing direction determining unit is configured to judge the current posture of the mobile terminal and determine the advancing direction according to the current posture and the current position of the mobile terminal and the azimuth angle of the next node.
8. The navigation system of claim 5, further comprising an information collection module configured to collect coordinate information and device-related information of all devices within a predetermined range and store in the device database.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810156724.3A CN108917758B (en) | 2018-02-24 | 2018-02-24 | Navigation method and system based on AR |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810156724.3A CN108917758B (en) | 2018-02-24 | 2018-02-24 | Navigation method and system based on AR |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108917758A CN108917758A (en) | 2018-11-30 |
| CN108917758B true CN108917758B (en) | 2021-10-01 |
Family
ID=64402795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810156724.3A Active CN108917758B (en) | 2018-02-24 | 2018-02-24 | Navigation method and system based on AR |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108917758B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109781136A (en) * | 2019-02-01 | 2019-05-21 | 谷东科技有限公司 | A kind of intelligent navigation method and system based on AR glasses |
| CN110599604A (en) * | 2019-09-20 | 2019-12-20 | 成都中科大旗软件股份有限公司 | Multimedia AR view sharing method |
| CN111156983B (en) * | 2019-11-19 | 2023-06-13 | 石化盈科信息技术有限责任公司 | Target equipment positioning method, device, storage medium and computer equipment |
| CN111157015A (en) * | 2020-04-07 | 2020-05-15 | 北京外号信息技术有限公司 | Method and system for creating path information |
| CN111521193A (en) * | 2020-04-23 | 2020-08-11 | 广东博智林机器人有限公司 | Live-action navigation method, live-action navigation device, storage medium and processor |
| CN111256701A (en) * | 2020-04-26 | 2020-06-09 | 北京外号信息技术有限公司 | Equipment positioning method and system |
| CN112923926B (en) * | 2021-01-27 | 2024-04-23 | 广东拓迪智能科技有限公司 | Library indoor navigation system and method |
| CN113456221B (en) * | 2021-06-30 | 2023-06-30 | 上海微创医疗机器人（集团）股份有限公司 | Positioning guiding method and system of movable equipment and surgical robot system |
| CN114305695B (en) * | 2021-12-06 | 2023-12-26 | 上海微创医疗机器人（集团）股份有限公司 | Mobile guidance method and system, readable storage medium, and surgical robot system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104748738A (en) * | 2013-12-31 | 2015-07-01 | 深圳先进技术研究院 | Indoor positioning navigation method and system |
| CN105371847A (en) * | 2015-10-27 | 2016-03-02 | 深圳大学 | Indoor live-action navigation method and system |
| CN107228681A (en) * | 2017-06-26 | 2017-10-03 | 上海驾馥电子科技有限公司 | A kind of navigation system for strengthening navigation feature by camera |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6084812B2 (en) * | 2012-10-29 | 2017-02-22 | 古野電気株式会社 | Tracking processing apparatus and tracking processing method |
-
2018
- 2018-02-24 CN CN201810156724.3A patent/CN108917758B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104748738A (en) * | 2013-12-31 | 2015-07-01 | 深圳先进技术研究院 | Indoor positioning navigation method and system |
| CN105371847A (en) * | 2015-10-27 | 2016-03-02 | 深圳大学 | Indoor live-action navigation method and system |
| CN107228681A (en) * | 2017-06-26 | 2017-10-03 | 上海驾馥电子科技有限公司 | A kind of navigation system for strengthening navigation feature by camera |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108917758A (en) | 2018-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108917758B (en) | Navigation method and system based on AR | |
| CN1755326B (en) | Navigation apparatus | |
| KR100997084B1 (en) | A method and system for providing real time information of underground object, and a sever and method for providing information of the same, and recording medium storing a program thereof | |
| CN102338639B (en) | Information processing device and information processing method | |
| US7925434B2 (en) | Image-related information displaying system | |
| CN109425365A (en) | Method, apparatus, equipment and the storage medium of Laser Scanning Equipment calibration | |
| CN105973236A (en) | Indoor positioning or navigation method and device, and map database generation method | |
| MX2013000158A (en) | Real-time moving platform management system. | |
| CN1979094A (en) | Electronic device, display processing method and program | |
| CN108445520A (en) | A kind of indoor and outdoor based on high in the clouds builds drawing method, device, electronic equipment and computer program product | |
| CN106940187B (en) | Navigation method and system for mine ground rapid inspection | |
| US20220282967A1 (en) | Method and mobile detection unit for detecting elements of infrastructure of an underground line network | |
| KR20060074601A (en) | Navigation service method and terminal of enabling the method | |
| KR20130089136A (en) | Apparatus and method for gathering indoor reference point and heterogeneous wireless infra measurement information | |
| CN112422653A (en) | Scene information pushing method, system, storage medium and equipment based on location service | |
| KR20160105628A (en) | Distance and position measurement method with beacon and acceleration sensor and indoor positioning system using the same | |
| JP5883723B2 (en) | 3D image display system | |
| CN103487059A (en) | Positioning and navigation system, device and method | |
| JP2016027328A (en) | Positioning system | |
| CN104063499A (en) | Space vector POI extracting method based on vehicle-mounted space information collection | |
| US20230334850A1 (en) | Map data co-registration and localization system and method | |
| CN112286228A (en) | Unmanned aerial vehicle three-dimensional visual obstacle avoidance method and system | |
| KR20140053622A (en) | Gps measurement system using mobile dcvice | |
| CN103335645B (en) | The pinpoint image acquiring method in space towards landscape planning | |
| CN114419571B (en) | Target detection and positioning method and system for unmanned vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |