CN106017436B - BIM augmented reality setting-out system based on total station and photogrammetric technology - Google Patents
BIM augmented reality setting-out system based on total station and photogrammetric technology Download PDFInfo
- Publication number
- CN106017436B CN106017436B CN201610599183.2A CN201610599183A CN106017436B CN 106017436 B CN106017436 B CN 106017436B CN 201610599183 A CN201610599183 A CN 201610599183A CN 106017436 B CN106017436 B CN 106017436B
- Authority
- CN
- China
- Prior art keywords
- augmented reality
- total station
- positioning device
- coordinate
- posture
- 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
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Processing Or Creating Images (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to measuring technique, the BIM augmented reality setting-out systems based on total station and photogrammetric technology that the invention discloses a kind of comprising augmented reality equipment, total station, positioning device and marker to be measured；The marker to be measured or augmented reality equipment are fixed with positioning device；1 optical indicia points are set on the total station；The positioning device includes video camera, the video camera is for obtaining imaging of the optical indicia point being arranged on total station in video camera, and the relative attitude of optical indicia point and positioning device is calculated, posture of the positioning device in engineering survey coordinate system is calculated according to the relative attitude of optical indicia point and positioning device；The total station is used to obtain the coordinate of positioning device；Augmented reality equipment calculates coordinate, absolute altitude and the posture of marker or augmented reality equipment in engineering survey coordinate system, to realize the fusion of coordinate according to marker to be measured or the relative distance and posture of augmented reality equipment and positioning device.
Description
Technical field
The present invention relates to measuring technique, in particular to a kind of BIM augmented reality based on total station and photogrammetric technology
Setting-out system.
Background technique
BIM is the abbreviation of Building Information Modeling, is usually translated into Building Information Model.
BIM is a kind of building Life cycle information system management technology, has visualization, harmony, simulation, optimization property and can go out to scheme
Five big features.BIM is that a kind of completely new architectural design, construction, management method will be advised based on three-dimensional digital information technology
Draw, design, build, the data information in each stage such as operation is integrally incorporated among 3D model, allow building whole life cycle
In any stage staff when using the model, effective, correct decision can be made according to accurate completely data.
The threedimensional model of BIM can only call on computer and smart phone at present, and site operation setting-out is then still by drawing
On dimensioning guiding construction line setting, taken a significant amount of time after causing designer to build BIM model with energy BIM mould
Three-dimensional localization information labeling in type is that the size on two-dimentional drawing hinders BIM so that the application value of BIM is substantially shunk
In the application of construction industry.Although Tian Bao company and opening up general Kanggong department and having developed special application program and make the mapping machine of its brand
Device people can survey the three-dimensional coordinate point set out in BIM model, but can only survey set out a point every time, and the point released is not intuitive,
Need to indicate each point by marking；And each point is discontinuous, and it, must for needing to survey the case where setting complex curve and curved surface
It must survey to set out largely to put and could release smooth curve and curved surface.
Total station, i.e. whole station type electronic distance meter (Electronic Total Station) are collection horizontal angles, vertical
Angle, distance (oblique distance, flat away from), vertical survey function are in the instrument of surveying and mapping system of one.Total station single measurement can only measure
The three-dimensional coordinate of a single point, the posture without can be measured measurement object.
The posture of measurement object is measured using total station, it is necessary to which then the coordinate for measuring three points on measurement object converts
At the posture of measurement object.Calculated attitude accuracy is dependent on opposite between the measurement accuracy of three-dimensional coordinate and these three points
Distance, if the range accuracy of total station is 2mm, it is ensured that the error of attitude angle was less than 10 seconds, (three under unfavorable posture
The determined plane of point is perpendicular to total station telescope collimation axis), measure on object that distance must between three measurement point any two points
41.253 meters must be greater than.
Augmented reality (Augmented Reality, abbreviation AR), be a kind of position for calculating camera image in real time and
Angle and the technology for adding respective image, the target of this technology is that virtual world is covered in real world and carried out on the screen
Interaction.Augmented reality system is to realize virtually with the perfect combination of real scene, and the virtual addition information that computer generates need to lead to
It crosses three-dimensional Tracing Registration algorithm and real scene keeps accurate aligned relationship.High-precision augmented reality system uses meter substantially
The method of calculation machine vision carries out the positioning of scene Tracing Registration, be divided into Tracing Registration based on mark with it is big without mark Tracing Registration two
Class.
Tracing Registration system based on mark is divided into inside and outside (inside-looking-out is abbreviated as IO) and outer interior again
(outside-looking-in is abbreviated as OI) two different system structures.Wherein I/O system refers to tracking optical camera
It is mounted on tracked object, and marker is fixed；OI system refers to that tracking optical camera is fixed, and marks
Know object to be mounted on tracked object.
Using natural scene image or model of place (such as SLAM technology) is rebuild without mark Tracing Registration system, according to camera shooting
Target signature 2D projected image obtained in the every frame of machine calculates position and the posture for solving target or video camera.
In order to make there is mark augmented reality system to obtain enough working ranges and precision based on IO, need in the scene
Multiple markers are set, and posture and posture of these markers in scene coordinate system are both needed to carry out precise measurement, to calculate
Coordinate and posture of the augmented reality video camera in scene coordinate system out.Each marker need to measure multiple data requirement and
The characteristics of total station survey technology, makes the arrangement efficiency and lack accuracy of more markers, and affect has mark to enhance based on IO
The popularization of reality technology.
There is mark augmented reality system only to realize augmented reality equipment relative to the opposite of tracking scene based on OI
The tracking of displacement and attitude angle variation；It is opposite that augmented reality system without mark Tracing Registration can solve augmented reality video camera
Change in the relative displacement of natural scene and attitude angle, but cannot be by natural scene image or in reconstruction model of place
Characteristic point engineering survey coordinate system coordinate registration go out camera position posture.Substantially positioning registration every time
A temporary coordinate system is just established, fails to calculate absolute coordinate and appearance of the augmented reality equipment in engineering survey coordinate system
It is existing to directly affect enhancing so that cannot establish corresponding relationship in BIM between the three-dimensional coordinate of model and engineering survey coordinate system for state
Practice and application of the real technology in the industries such as building, municipal administration.
BIM model is realized according to engineering survey coordinate system accurate superposition, have a premise: needs accurately measure mark
The initial coordinate and posture of object and augmented reality equipment under engineering survey coordinate system, however there is no such in the prior art
Method, so that site operation setting-out is then still by the dimensioning guiding construction line setting on two-dimentional drawing, this to design
Teacher takes a significant amount of time with energy the three-dimensional localization information labeling in BIM model after having built BIM model as on two-dimentional drawing
Size, use are extremely inconvenient.
Summary of the invention
It is an object of the invention to: for marker and augmented reality can be accurately measured without one kind in the prior art
The technical issues of initial coordinate and attitude system of the equipment under engineering survey coordinate system, the invention discloses one kind to be based on whole station
The BIM augmented reality setting-out system of instrument and photogrammetric technology.
The technical solution adopted by the present invention is that such:
The BIM augmented reality setting-out system based on total station and photogrammetric technology that the invention discloses a kind of is specific
Including augmented reality equipment, total station, positioning device and marker to be measured；The marker to be measured or augmented reality equipment with
Positioning device is fixed；1 optical indicia points are set on the total station；The positioning device includes video camera, institute
Video camera is stated for obtaining imaging of the optical indicia point being arranged on total station in video camera, and calculate optical indicia point with
The relative attitude of positioning device calculates positioning device in engineering survey according to the relative attitude of optical indicia point and positioning device
Posture in coordinate system；The total station is used to obtain the coordinate of positioning device；Augmented reality equipment according to marker to be measured or
The relative distance and posture of augmented reality equipment and positioning device calculate coordinate, the absolute altitude of marker or augmented reality equipment
And posture, to realize merging for augmented reality equipment and engineering survey coordinate system coordinate.And then obtain the BIM in augmented reality
The corresponding relationship of model and engineering survey coordinate system.
Further, above-mentioned optical indicia point is four, and four optical indicia points form a rectangle.
Further, above-mentioned positioning device further includes prism.
Further, above-mentioned positioning device, total station and augmented reality equipment are carried out data transmission by wireless network.
Further, above-mentioned augmented reality equipment is the optical perspective type augmented reality helmet, video perspective type enhances now
The real helmet, tablet computer or smart phone.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are: realize BIM model according to
Accurate display of the engineering survey coordinate system in augmented reality system, so as to compare real field using the position of dummy model
Object in scape plays the role of measurement and checks, can carry out rapid survey setting-out to complex building moulding.Determine with video camera
Position device is high (even if in the case where positioning device is far apart from total station) for the computational accuracy of posture, sets augmented reality
It is standby also to can guarantee certain precision in big use scope.Bid can be measured by total station and positioning device once-through operation
The three-dimensional coordinate and posture for knowing object, so as to efficiently accurately orient a large amount of markers, so that inside and outside based on mark
(IO) augmented reality equipment obtains enough working ranges and precision.Versatility is high, is adaptable to various augmented reality equipment.
Other than it can apply the augmented reality helmet, augmented reality can also be realized using tablet computer and smart phone.It is easy to accomplish from
The comprehensive application such as design, construction, management to final acceptance of construction and operation management, indoor navigation.It can make the Model Space in BIM
Between data comprehensively, be efficiently mapped to scene, ensure that the high efficiency and accuracy of construction, create item with no paper at all for design
Part.Measurement work is set to eliminate a large amount of Manual operation link, measurement process the degree of automation and intuitive degree are high, avoid tradition
There is a possibility that mistake in measuring technique manual record data.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of BIM augmented reality setting-out system based on total station and photogrammetric technology.
Fig. 2 is the attitude measurement schematic diagram based on end point.
Fig. 3 is the augmented reality setting-out system with tracking camera.
Fig. 4 is the structural schematic diagram based on " the augmented reality setting-out system of no mark ".
Specific embodiment
Combined with specific embodiments below, the present invention is described in detail.
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Embodiment 1
As shown in Figure 1, a kind of BIM augmented reality setting-out system based on total station and photogrammetric technology, including whole station
Instrument 1, positioning device 2, augmented reality equipment 3 and marker 4.Four optical indicia points 5 are set on total station, this 4 points constitute one
A rectangle.Positioning device includes prism 6 and video camera 7.The function of prism 6 is the survey reflecting total station distance-measuring equipment and emitting
Away from infrared light or laser, the total station having certainly does not need prism 6.
When carrying out initial coordinate and attitude orientation to marker, positioning device and marker are closely coupled to guarantee the two
Relative coordinate and posture it is constant.So that can relationship depending on the relative position as long as the posture and coordinate for obtaining positioning device
Calculate the posture and coordinate of marker.
Positioning device is calculated by the imaging of video camera 7 in positioning device according to four optical indicia points 5 on total station
Posture in engineering survey coordinate system.
Fig. 2 show the attitude measurement schematic diagram based on end point.
Video camera 7 uses national forest park in Xiaokeng, and camera coordinate system establishes Z axis and optical axis center at optical axis center
Direction is parallel, and video camera to scenery direction is positive direction, and X-direction takes image coordinate to increase direction along horizontal.In rectangle
P4 point is that origin establishes world coordinate system, and X-axis and Y-axis are parallel with two sides of rectangle respectively, and Z axis is perpendicular to rectangular target institute
Plane.
In figure, P4 is the origin of world coordinate system, and the direction of P4 to P3 is the X-axis of world coordinate system, the side of P4 to P1
To the Y-axis for world coordinate system.Imaging point of the P1-P4 on imaging plane is respectively Pi1-Pi4, parallel lines P1P2's and P4P3
End point is denoted as Pv1, and the end point of parallel lines P4P1 and P3P2 are denoted as Pv2. by the image coordinate of point P1-P4, can calculate
The image coordinate of end point Pv1 and Pv2.By the image coordinate of Pv1 and Pv2, it can be calculated in the focal length normalizing of video camera
Change the coordinate of the imaging point P1v1 and P1v2 of imaging plane.
End point Pv1 is both Pv1 in the position of camera coordinate system in the coordinate of the imaging point of focal length normalization imaging plane
Vector is set, and is the durection component of the X-axis of world coordinate system.Equally, Y-axis is also such.The available world after normalization
The component of X-axis and Y-axis of the coordinate system in camera coordinate system, and then calculate the component of Z axis.
Above-mentioned three sections are the attitude measurement principle based on end point, this principle is existing basic physical principle, Ke Yican
See " robot vision measurement and control ", be not belonging to technological improvement of the invention, the present invention is only the application of the principle.Cause
This, does not further spread out this and is described.
The measurement data of total station 1 and positioning device 2 can be transmitted by wireless network (such as wireless network of 2.4G)
Onto augmented reality equipment 3.Augmented reality equipment 3 is according to the pendulum website and backsight point of total station 1 in engineering survey coordinate system
Coordinate and absolute altitude (the two data be previously known), the horizontal angle of total station 1, vertical angle, electromagnetic positioning instrument reading with
And the posture of positioning device 2 derives the coordinate and posture of marker 4.And general total station can only obtain coordinate, but only
Coordinate be it is inadequate, have the attitude data of positioning device just can be carried out coordinate conversion, thus obtain marker engineering survey
Measure the coordinate and posture in coordinate system.
Augmented reality equipment 3 can calculate oneself in engineering survey coordinate system according to the coordinate and posture of marker 4
Real-time three-dimensional coordinate and posture, to realize accurate corresponding relationship of the BIM model in augmented reality system.Augmented reality is set
Standby upper with camera, augmented reality can calculate increasing in the imaging of the camera of augmented reality equipment according to marker
The coordinate and posture of strong reality camera.
Total station 1 and positioning device 2 can realize that once-through operation can measure the three-dimensional coordinate and posture of marker 4, from
And a large amount of marker 4 efficiently can be accurately oriented, so that the augmented reality equipment 3 based on (IO) inside and outside mark obtains
Enough working ranges and precision.
Embodiment 2
As shown in figure 3, a kind of BIM augmented reality setting-out system based on total station and photogrammetric technology, including whole station
Instrument 1, positioning device 2, augmented reality equipment 3, tracking camera 8 (described OI tracking system in outer, this i.e. system thus above
Concrete form, tracking optical camera it is fixed, marker is mounted on tracked object).Four are arranged on total station
Optical indicia point 5, one rectangle of this 4 points compositions.Positioning device includes prism 6 and video camera 7.
When carrying out initial coordinate and attitude orientation to augmented reality equipment, positioning device 2 and augmented reality equipment 3 pass through
Fixed device is closely coupled constant with the relative coordinate of both guarantees and posture.
Positioning device 2 calculates positioning dress according to imaging of four optical indicia points 5 in its video camera 7 on total station 1
Set three-dimensional coordinate and posture in engineering survey coordinate system, the measurement data of total station 1 and positioning device 2 passes through wireless network
(such as 2.4G wireless network) is transferred in augmented reality equipment 3.The software installed in augmented reality equipment 3 is according to total station 1
The coordinate and absolute altitude of website and backsight point in engineering survey coordinate system are put, is surveyed by the horizontal angle, vertical angle, electromagnetism of total station 1
The reading of distance meter and the posture of positioning device 2 derive the initial coordinate and posture of augmented reality equipment 3.Then tracking is utilized
Video camera shoots the identification point of real world devices 3, to calculate the coordinate of augmented reality equipment 3 and the increment variation number of posture
According to deriving real-time absolute coordinate and posture of the augmented reality equipment 3 in engineering survey coordinate system.To calculate BIM mould
Real-time corresponding relationship of the type in augmented reality system.Form a measuring system flexible.
Tracking camera can also be the tracking equipments such as laser tracker or Lighthouse, the video camera in positioning device
The video camera of virtual implementing helmet, tablet computer and smart phone can also be used to realize in function.(have currently on the market similar
The tracking equipment of Lighthouse has been applied to the positioning of the virtual helmet of HTC VIVE.Camera Positioning is Facebook
The location technology of virtual helmet Oculus.)
Embodiment 3
As shown in figure 3, another of a kind of BIM augmented reality setting-out system based on total station and photogrammetric technology
Implement structure comprising total station 1, positioning device 2, augmented reality equipment 3.Four optical indicia points 5 are set on total station, this
4 points of compositions, one rectangle.Positioning device includes prism 6 and video camera 7.
The implementation method of initial coordinate and posture of the augmented reality equipment 3 in engineering survey coordinate is the same as example 2.Enhancing is existing
Using natural scene image or model of place (such as SLAM technology) is rebuild without mark Tracing Registration system in real equipment 3, according to taking the photograph
Target signature 2D projected image obtained in the every frame of camera calculates the coordinate of augmented reality equipment 3 and the increment variation of posture
Data obtain BIM mould to derive real-time absolute coordinate and posture of the augmented reality equipment 3 in engineering survey coordinate system
Real-time corresponding relationship of the type in augmented reality system.Form a measuring system flexible.
Example 1 is the augmented reality system of tape identification, and example 2 is that the outer interior OI of not tape identification tracks augmented reality system.
Prism in above-mentioned 2 embodiments can all be replaced with total station reflector plate.
If total station is non-prism type, the reflector plate in positioning device can also not had to, but measurement distance and precision are corresponding
It reduces.
Four optical indicia points on total station are either self luminous dotted infrared light supply is also possible to reflect infrared light
Sphere, sphere by positioning device infrared light supply illuminate.
Can also on total station the optical indicia point of set-point five (as long as wherein any four identification point cannot conllinear), need
This coordinate of five optical indicia points in theodolite coordinate system is accurately measured, the posture of positioning device can be calculated.
Specific implementation process of the invention:
Step 1: setting up total station and rearscope respectively in two coordinate points, total station sights rearscope, simultaneously
Input coordinate value, absolute altitude and prism height, the total station height of two coordinate points；
Step 2: total station aligning positioning device prism centers and ranging, the coordinate and mark of prism are calculated with total station
It is high；
Step 3: the video camera of positioning device images total station, according to the imaging meter of the optical indicia point on total station
The posture relative to total station for calculating positioning device, because the posture of total station is it is known that can derive that positioning device is sat in engineering
Posture in mark system；
Step 4: calculating mark according to marker or the relative distance and posture of augmented reality equipment and positioning device
Object or the coordinate of augmented reality equipment, absolute altitude and posture.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (5)
1. a kind of BIM augmented reality setting-out system based on total station and photogrammetric technology, it is characterised in that specifically include increasing
Strong real world devices, total station, positioning device and marker to be measured；The marker to be measured or augmented reality equipment and positioning fill
It sets the relative coordinate being fixed be connected to guarantee the two and posture is constant；At least four optical indicias are set on the total station
Point；The positioning device includes video camera, and the video camera is for obtaining the optical indicia point being arranged on total station in video camera
In imaging, and the relative attitude of optical indicia point and positioning device is calculated, according to the phase of optical indicia point and positioning device
Posture of the positioning device in engineering survey coordinate system is gone out to Attitude Calculation；The total station is used to obtain the posture of positioning device
Coordinate；Augmented reality equipment is calculated according to marker to be measured or the relative distance and posture of augmented reality equipment and positioning device
Coordinate, absolute altitude and the posture of marker or augmented reality equipment in engineering survey coordinate system out, to realize that augmented reality is set
Standby merging with engineering survey coordinate system coordinate.
2. the BIM augmented reality setting-out system based on total station and photogrammetric technology, feature exist as described in claim 1
It is four in the optical indicia point, four optical indicia points form a rectangle.
3. the BIM augmented reality setting-out system based on total station and photogrammetric technology, feature exist as described in claim 1
In the positioning device further include prism.
4. the BIM augmented reality setting-out system based on total station and photogrammetric technology, feature exist as described in claim 1
Carried out data transmission in the positioning device, total station and augmented reality equipment by wireless network.
5. the BIM augmented reality setting-out system based on total station and photogrammetric technology, feature exist as described in claim 1
In the augmented reality equipment be the optical perspective type augmented reality helmet, the video perspective type augmented reality helmet, tablet computer or
Person's smart phone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610599183.2A CN106017436B (en) | 2016-07-27 | 2016-07-27 | BIM augmented reality setting-out system based on total station and photogrammetric technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610599183.2A CN106017436B (en) | 2016-07-27 | 2016-07-27 | BIM augmented reality setting-out system based on total station and photogrammetric technology |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106017436A CN106017436A (en) | 2016-10-12 |
| CN106017436B true CN106017436B (en) | 2019-05-21 |
Family
ID=57114176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610599183.2A Active CN106017436B (en) | 2016-07-27 | 2016-07-27 | BIM augmented reality setting-out system based on total station and photogrammetric technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106017436B (en) |
Families Citing this family (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106952312B (en) * | 2017-03-10 | 2020-06-05 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | Non-identification augmented reality registration method based on line feature description |
| CN106875494A (en) * | 2017-03-22 | 2017-06-20 | 朱海涛 | Model VR operating methods based on image and positioning |
| CN106887183B (en) * | 2017-03-24 | 2019-04-02 | 广西七三科技有限公司 | A kind of interactive demonstration method and system of BIM augmented reality in building sand table |
| CN107193517A (en) * | 2017-05-16 | 2017-09-22 | 非凡部落（北京）科技有限公司 | A kind of localization method and relevant apparatus for realizing augmented reality |
| EP3415866B1 (en) * | 2017-06-12 | 2020-06-03 | Hexagon Technology Center GmbH | Device, system, and method for displaying measurement gaps |
| CN107327143A (en) * | 2017-07-14 | 2017-11-07 | 同济大学 | A kind of special-shaped structures the construction line-putting method of landscape engineering |
| EP3460394B1 (en) | 2017-09-26 | 2020-06-03 | Hexagon Technology Center GmbH | Surveying instrument, augmented reality (ar)-system and method for referencing an ar-device relative to a reference system |
| CN107421520B (en) * | 2017-09-28 | 2023-10-31 | 杭州睿兴栋宇建筑科技有限公司 | Decoration paying-off device and method based on BIM technology |
| EP3524926B1 (en) | 2018-02-08 | 2020-05-20 | Leica Geosystems AG | Augmented reality-based system with perimeter definition functionality and corresponding inspection method |
| CN108427830A (en) * | 2018-02-09 | 2018-08-21 | 中建五局第三建设有限公司 | Method and device for guiding spatial lofting of structure by using mixed reality technology |
| CN110388049A (en) * | 2018-04-18 | 2019-10-29 | 中国建筑一局(集团)有限公司 | BIM technology based construction method for positioning and measuring preformed hole in irregular stand seat position |
| CN109297426B (en) * | 2018-09-05 | 2020-09-29 | 江苏省测绘工程院 | Large-scale precision industrial equipment deformation and servo angle detection method |
| CN109712249B (en) * | 2018-12-31 | 2023-05-26 | 成都纵横大鹏无人机科技有限公司 | Geographic element augmented reality method and device |
| CN109813219B (en) * | 2019-01-31 | 2020-09-29 | 北京市建筑工程研究院有限责任公司 | Method and system for acquiring and processing reinforcement information for existing structure detection and identification |
| CN111127656B (en) * | 2020-01-09 | 2020-11-24 | 中建一局集团第二建筑有限公司 | Special-shaped roof lofting construction method based on BIM model |
| CN112012495A (en) * | 2020-09-16 | 2020-12-01 | 中国化学工程第十三建设有限公司 | Spherical tank pre-welded part lofting device and construction method thereof |
| CN112328075B (en) * | 2020-11-03 | 2023-04-07 | 上海镱可思多媒体科技有限公司 | Three-dimensional space drawing method, system, terminal and medium |
| CN112504134B (en) * | 2020-11-27 | 2022-03-29 | 重庆康盛监理咨询有限公司 | Dynamic displacement monitoring system, method and device for steel structure net rack and storage medium |
| CN114279419B (en) * | 2021-12-17 | 2024-05-24 | 上海华测导航技术股份有限公司 | Lofting method and device, electronic equipment and storage medium |
| CN116399311B (en) * | 2023-04-12 | 2024-07-05 | 上海同增规划建筑设计事务所有限公司 | Measuring device for building planning design application |
| CN116628830B (en) * | 2023-07-24 | 2023-09-22 | 中建安装集团西安建设投资有限公司 | Positioning paying-off method and system based on BIM technology |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1475608A2 (en) * | 2003-05-09 | 2004-11-10 | HILTI Aktiengesellschaft | Electro-optical hand-held distance measuring apparatus |
| CN102317738A (en) * | 2009-02-11 | 2012-01-11 | 莱卡地球系统公开股份有限公司 | Geodetic measuring device |
| CN103278180A (en) * | 2013-05-24 | 2013-09-04 | 中国人民解放军国防科学技术大学 | Calibrating method of control-point-free camera measurement system in field of view based on total station |
| CN104482916A (en) * | 2014-12-04 | 2015-04-01 | 江苏沃迪建设工程有限公司 | Infrared guidance system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2226610A1 (en) * | 2009-03-06 | 2010-09-08 | Leica Geosystems AG | Geodesic measuring system and method for identifying a target unit with a geodesic measuring device |
| CN205209496U (en) * | 2015-12-24 | 2016-05-04 | 姜立芳 | Total station |
-
2016
- 2016-07-27 CN CN201610599183.2A patent/CN106017436B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1475608A2 (en) * | 2003-05-09 | 2004-11-10 | HILTI Aktiengesellschaft | Electro-optical hand-held distance measuring apparatus |
| CN102317738A (en) * | 2009-02-11 | 2012-01-11 | 莱卡地球系统公开股份有限公司 | Geodetic measuring device |
| CN103278180A (en) * | 2013-05-24 | 2013-09-04 | 中国人民解放军国防科学技术大学 | Calibrating method of control-point-free camera measurement system in field of view based on total station |
| CN104482916A (en) * | 2014-12-04 | 2015-04-01 | 江苏沃迪建设工程有限公司 | Infrared guidance system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106017436A (en) | 2016-10-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106017436B (en) | BIM augmented reality setting-out system based on total station and photogrammetric technology | |
| CN108227929B (en) | Augmented reality lofting system based on BIM technology and implementation method | |
| CN104200086B (en) | Wide-baseline visible light camera pose estimation method | |
| CN102914262B (en) | Non-cooperative target abutting measurement method based on additional sighting distance | |
| CN106408601B (en) | A kind of binocular fusion localization method and device based on GPS | |
| CN107782293B (en) | Spacecraft equipment posture information measurement method based on six degree of freedom laser tracking target | |
| CN108828555B (en) | Accurate measurement method, system and device based on coordinate transformation | |
| CN1329743C (en) | Combined measuring device using machine interference synthetic aperture radar base line | |
| CN103278177B (en) | Calibration method of inertial measurement unit based on camera network measurement | |
| CN107121124B (en) | A kind of satellite antenna machinery pointing accuracy method for fast measuring | |
| CN102222333B (en) | Method and device of mobile augmented reality of underground engineering based on mixed registration | |
| CN108269286A (en) | Polyphaser pose correlating method based on combination dimensional mark | |
| WO2016184255A1 (en) | Visual positioning device and three-dimensional mapping system and method based on same | |
| CN109297426B (en) | Large-scale precision industrial equipment deformation and servo angle detection method | |
| He et al. | Eccentricity error identification and compensation for high-accuracy 3D optical measurement | |
| CN106504287B (en) | Monocular vision object space positioning system based on template | |
| CN104567666A (en) | Measuring method for roller bearing block spatial position | |
| CN105424058A (en) | Digital camera projection center position precision calibration method based on photogrammetric technology | |
| CN101833115A (en) | Life detection and rescue system based on augment reality technology and realization method thereof | |
| CN110889873A (en) | Target positioning method and device, electronic equipment and storage medium | |
| CN108952742A (en) | A kind of shield machine guidance method and system based on machine vision | |
| CN108022267A (en) | A kind of camera calibration device and scaling method | |
| CN108132029A (en) | A kind of accurate measurement method and device of satellite antenna development system assembling | |
| CN111811462A (en) | Large-component portable visual ranging system and method in extreme environment | |
| CN104236455A (en) | On-line detecting system and method for honeycomb plate |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |