CN108227929B - Augmented reality lofting system based on BIM technology and implementation method - Google Patents
Augmented reality lofting system based on BIM technology and implementation method Download PDFInfo
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- CN108227929B CN108227929B CN201810034164.4A CN201810034164A CN108227929B CN 108227929 B CN108227929 B CN 108227929B CN 201810034164 A CN201810034164 A CN 201810034164A CN 108227929 B CN108227929 B CN 108227929B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/013—Eye tracking input arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0045—Transmission from base station to mobile station
- G01S5/0063—Transmission from base station to mobile station of measured values, i.e. measurement on base station and position calculation on mobile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/08—Construction
Abstract
The invention discloses an augmented reality lofting system and method based on a BIM technology. The method comprises the following steps: enabling a construction site to be in a positioning and tracking range of a positioning device, measuring and positioning a working space of the positioning device by using a standard ruler, and establishing a measurement coordinate system; respectively determining the coordinates of the design key positions A/B/C in a measurement coordinate system; determining a coordinate conversion parameter for converting a construction design coordinate system into a measurement coordinate system; and carrying out coordinate transformation on the BIM by utilizing the coordinate transformation parameters, then loading the BIM subjected to the coordinate transformation into the augmented reality equipment, and when a user wears the augmented reality equipment to observe a construction site, displaying the BIM in the construction site and correspondingly overlapping each design key position of the BIM with each construction key position of the construction site one by one. The invention can accurately determine the mapping relation between the construction site and the BIM model, so that the BIM three-dimensional design result of a design unit can be accurately superposed on the construction site by utilizing the augmented reality technology.
Description
Technical Field
The invention relates to a building information processing technology, in particular to an augmented reality lofting system based on a BIM technology and an implementation method.
Background
Augmented Reality (AR) is a technology for calculating the position and posture of a camera image in real time and adding a corresponding image, and the technology aims to superimpose a virtual world on a real world on a screen and perform interaction. In order to realize perfect combination of virtual and real scenes, the virtual adding information generated by the computer needs to keep accurate alignment relation with the real scenes through a three-dimensional tracking registration algorithm.
In an augmented reality system, tracking registration is a basic technology for constructing the augmented reality system and is also a key for determining the performance of the augmented reality system. Wherein, the registration mainly refers to the omnibearing alignment of a virtual object generated by a computer and the real environment around a user; tracking refers to ensuring that a computer-generated virtual object maintains a correct alignment during the motion of the real environment. The practical optical augmented reality tracking and registering technology mainly has two types:
one is identity-based tracking registration. The tracking registration based on the identifier needs to put an identifier in a real scene in advance as a reference for tracking registration, and the tracking registration process based on the identifier generally includes: firstly, an augmented reality system carries out image analysis by capturing a video of a real scene, and carries out extraction, detection and identification of an identifier on the image so as to identify the ID of the identifier; then the augmented reality system calculates the position and the orientation of the camera relative to the marker, namely an external parameter matrix of the camera; and then generating a 3D virtual object corresponding to the ID according to the ID of the identification. The tracking registration technology based on the identification can realize the purpose that the design result model is registered in the augmented reality system according to the BIM coordinate system in the implementation field. The pose of the marker in the BIM coordinate system is measured by using the traditional measurement technology, and the augmented reality system can calculate the pose of the augmented reality equipment in the BIM coordinate system according to the imaging of the marker in the camera, so that the design result model is registered in the augmented reality system coordinate system according to the BIM coordinate system. However, in the identification-based tracking registration technique, the size of the identification limits the enhanced registration accuracy and tracking range. Although it is possible to place a plurality of markers in a large space to improve registration accuracy and expand a tracking range, it takes a lot of time to measure the coordinates and posture of each marker, and there is a great limitation in practical application.
The other is no identification tracking registration. The non-identification tracking registration system calculates and solves the position and the posture of a target or a camera according to a target characteristic 2D projection image obtained from each frame of the camera by utilizing a natural scene image or a reconstructed scene model (such as an SLAM technology). Motion capture is performed by monitoring and tracking of target feature points from different angles by multiple high-speed cameras. In theory, for any point in space, the position of that point in space at that moment can be determined, as long as it can be seen by both cameras at the same time. The precision of the optical motion capture technology can reach sub-millimeter, and because of the high-precision performance, the technology is applied to the tracking of a virtual reality system by national green pupil vision and Rayleigh vision companies at present.
With the development of the augmented reality technology, the SLAM (abbreviation of simultaneous localization and mapping) technology of the augmented reality system becomes the mainstream of the tracking and positioning technology, for example, the SLAM technology is adopted by the Hololens augmented reality glasses of microsoft corporation to perform tracking and positioning. The SLAM positioning technology can enable the augmented reality system to realize the tracking of a large indoor and outdoor space range without spending a large amount of time to arrange the markers and measure the coordinates and postures of the markers in advance. However, the SLAM technology is developed on the basis of the robot vision, the algorithm of the SLAM technology is not specially developed for high-precision measurement positioning, and other SLAM positioning technologies except for expensive laser radar SLAM cannot meet the precision requirement of engineering measurement.
The current high precision positioning technology is mainly the optical motion capture technology for VR (virtual reality) systems and the indoor gps (igps) system for industrial positioning.
Virtual reality system positioning employs an optical motion capture technique for motion capture by monitoring and tracking of target feature points from different angles by multiple high-speed cameras. In theory, for any point in space, the position of that point in space at that moment can be determined, as long as it can be seen by both cameras at the same time. The precision of the optical motion capture technology can reach sub-millimeter, and because of the high-precision performance, the technology is applied to the tracking of a virtual reality system by national green pupil vision and Rayleigh vision companies at present.
The Indoor GPS (iGPS) mainly comprises a measuring base station and a receiver, and more than two measuring base stations can measure the three-dimensional coordinates of the position of the receiver by using the measuring principle of angle intersection. Indoor GPS is characterized by sub-millimeter tracking accuracy and large area tracking range. The method has wide application in manufacturing, detecting and equipping airplanes and ships.
Building Information Modeling (Building Information Modeling, BIM for short is a Building full life cycle informatization management technology, has five characteristics of visualization, coordination, simulation, optimization and drawing, BIM is a brand-new Building design, construction and management method, based on a three-dimensional digital Information technology, data Information of planning, design, construction, operation and other stages is completely contained in a 3D model, so that workers in any stage in the whole life cycle of a Building can make effective and correct decisions according to accurate and complete data when using the model, the current three-dimensional model of BIM can only be called on a computer and a smart phone, and field construction lofting still guides construction positioning and paying-off by the labeled dimension on a drawing, so that a designer spends a great deal of time and labels three-dimensional positioning Information in the BIM model as the dimension on a two-dimensional drawing, and the constructor measures and lofts the information on the two-dimensional drawings by using the traditional measuring technology, so that the application value of the BIM is greatly shrunk, and the application of the BIM in the construction industry is hindered.
Disclosure of Invention
Aiming at the technical problem that the BIM model cannot be subjected to augmented reality lofting in the prior art, the invention discloses an augmented reality lofting system based on a BIM technology and an implementation method thereof, so that the BIM model can be accurately superposed on a construction site by utilizing the augmented reality technology to meet the actual requirement.
The invention provides an augmented reality lofting method based on a BIM technology, which comprises the following steps:
a, enabling a construction site to be in a positioning and tracking range of a positioning device, measuring and positioning a working space of the positioning device by using a standard ruler, and establishing a measurement coordinate system;
generating a light spot in the augmented reality device using the augmented reality coordinate system;
c, wearing the augmented reality equipment by a user, determining the light spot as the line of sight of the human eye when the light spot is coincided and aimed with a calibration position with a preset known coordinate in a construction site, and converting a linear equation of the line of sight of the human eye in an augmented reality coordinate system;
d, the coordinates of 3 design key positions A/B/C which are not on the same straight line in the BIM model and the coordinates of 3 construction key positions A '/B '/C ' in a construction site have a one-to-one correspondence, and the coordinates of the design key positions A/B/C in a measurement coordinate system are respectively determined in the following modes: d1. when a user observes that the light spot is overlapped with the construction key position A '/B'/C 'through the augmented reality equipment, a straight line between the light spot and the construction key position A'/B '/C' is set as a first sight line, a first pose of the augmented reality equipment in a measurement coordinate system when the augmented reality equipment is positioned in the first sight line is recorded, and the first pose is substituted into the linear equation to obtain a first equation; d2. when the light spot is observed to coincide with the construction key position A '/B'/C 'again on the construction site at the side of the first sight line, setting a straight line between the light spot and the construction key position A'/B '/C' as a second sight line, recording a second pose of the augmented reality device in a measurement coordinate system when the augmented reality device is positioned in the second sight line, and substituting the second pose into the linear equation to obtain a second equation; d3. calculating a common perpendicular line between a straight line where the first equation is located and a straight line where the second equation is located, and when the length of the common perpendicular line meets a preset error requirement, taking the coordinate of the midpoint of the common perpendicular line as the coordinate of the design key position A/B/C in a measurement coordinate system;
e, determining coordinate conversion parameters for converting the construction design coordinate system into the measurement coordinate system according to the coordinates of the design key position A/B/C in the construction design coordinate system used by the BIM model or the construction site and the coordinates of the design key position A/B/C in the measurement coordinate system;
and f, carrying out coordinate transformation on the BIM by using the coordinate transformation parameters, then loading the BIM subjected to the coordinate transformation into the augmented reality equipment, and when a user wears the augmented reality equipment to observe a construction site, displaying the BIM in the construction site and correspondingly overlapping each design key position of the BIM with each construction key position of the construction site one by one.
Wherein, step c specifically includes:
c1. a user wears the augmented reality equipment to observe a construction site, when the light spot is observed to coincide with the calibration position, the augmented reality equipment generates a mark point which coincides with the light spot and records the first pose of the augmented reality equipment in a measurement coordinate system, and the first coordinate (x 1, y1, z 1) of the mark point in the measurement coordinate system is calculated according to the coordinate of the light spot in the augmented reality equipment and the first pose of the augmented reality equipment in the measurement coordinate system;
c2. the vision of the user moves along the sight line direction of the human eyes determined by the mark point and the light point, the three points of the light point, the mark point and the calibration position are kept on the same straight line, the pose of the augmented reality device in the measurement coordinate system is recorded at the moment, and the second coordinate (x 2, y2, z 2) of the light point in the measurement coordinate system at the moment is calculated according to the pose and the coordinate of the light point in the augmented reality coordinate system;
c3. and deriving a linear equation of the human eye sight line passing through the light point in the measurement coordinate system from the first coordinate (x 1, y1, z 1) and the second coordinate (x 2, y2, z 2), and converting the linear equation of the human eye sight line in the augmented reality coordinate system.
The positioning device comprises two motion capture cameras, the lenses of the two motion capture cameras are in intersection angles with two sight lines between the augmented reality equipment respectively, and the augmented reality equipment is provided with a plurality of optical identification points which can be monitored and tracked by the motion capture cameras.
Wherein, positioner includes two indoor GPS laser emission basic stations, and these two indoor GPS laser emission basic stations have the angle of intersection respectively towards between the laser that augmented reality equipment sent, augmented reality equipment installs the sensor that can receive indoor GPS laser emission basic station.
Wherein the intersection angle is between 60 DEG and 120 deg.
If the length of the plumb line in the step d3 does not meet the preset error requirement, repeating the steps d 1-d 3 to recalculate the length of the plumb line.
Wherein, an included angle exists between the first sight line and the second sight line. The included angle is 30-150 degrees.
Wherein, the user wears augmented reality equipment, observes the job site with same monocular.
The invention also provides an augmented reality lofting system based on the BIM technology, which uses the lofting method.
In summary, compared with the prior art, the invention has the following beneficial technical effects:
1. the invention can accurately determine the mapping relation between the construction site and the BIM model, so that the BIM three-dimensional design result of a design unit can be accurately superposed in the construction site by using the augmented reality technology, the misunderstanding of the design intention by site constructors is avoided, and the supervision of the construction process of the construction unit by a Party A and a supervision unit is facilitated.
2. The invention adopts the optical motion capture technology and the indoor GPS technology with the positioning precision reaching sub-millimeter, thereby ensuring the precision of the augmented reality system.
3. According to the technical scheme, a coordinate system of the working space measuring and positioning system is established by using a standard ruler, and then the coordinate conversion parameters of the BIM coordinate system and the working space measuring and positioning system are obtained by aligning the construction key positions of a plurality of known coordinate points in a construction site, so that leveling and point setting of a motion capture camera or a laser emission base station are not needed, rear-view orientation is also not needed, the accuracy is improved, and the working efficiency of lofting treatment is greatly improved.
4. The technical scheme of the invention is also suitable for the video perspective type augmented reality equipment and has the characteristic of good adaptability. Since the camera position of the video perspective type augmented reality device does not vary with respect to the augmented reality device like the human eye, the calibration can be performed in the production stage by using the steps S5 and S6, which will not be described in detail herein.
Drawings
FIG. 1 is a schematic diagram of an augmented reality lofting system based on BIM technology;
FIG. 2 is a schematic flow chart diagram of one embodiment of the present invention;
FIG. 3 is a schematic view of a user wearing an augmented reality device first aiming at a calibration location a in a job site;
FIG. 4 is a schematic view of a user wearing an augmented reality device while re-aiming at a calibration location a in a job site;
fig. 5 is a schematic diagram of a user wearing an augmented reality device aiming at a construction critical position a'.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The invention discloses an augmented reality lofting system based on a BIM technology, which is used for simulating lofting of a designed BIM model in a construction site through the augmented reality technology, so that the corresponding mapping relation between each design position in the BIM model and the construction site is defined, the misunderstanding of a site constructor on the design intention expressed by the BIM model can be avoided, and the construction supervision of the construction site by a Party A and a supervision unit is facilitated.
As shown in fig. 1, the augmented reality lofting system includes a positioning device 1 and an augmented reality device 3 worn by a user 2, and performs positioning tracking on the augmented reality device 3 by using the positioning device 1 to realize lofting operation of a BIM model 4 in a real scene. Among them, the user 2 is a site operator, a first party, a construction supervisor of a supervision unit, and the like.
The augmented reality device 3 is an optical see-through or video see-through augmented reality device. The positioning device 1 comprises two motion capture cameras, an intersection angle of 60-120 degrees exists between two sight lines between the lenses of the two motion capture cameras and the augmented reality equipment, and the augmented reality equipment 3 is provided with a plurality of optical identification points which can be monitored and tracked by the motion capture cameras. Or, the positioning device 1 includes two indoor GPS laser emitting base stations, an intersection angle between 60 ° to 120 ° exists between the lasers emitted by the two indoor GPS laser emitting base stations respectively toward the augmented reality device, and the augmented reality device 3 is installed with a sensor capable of receiving the indoor GPS laser emitting base stations.
The positioning device 1, the augmented reality device 3, and the BIM model 4 have three coordinate systems with different coordinate origins. In order to make the following clear description of the structure and operation principle of the present invention, three coordinate systems are introduced: the positioning device 1 has a measurement coordinate system 11 of Xa-Ya-Za. The augmented reality device 3 has an augmented reality coordinate system 31 of Xb-Yb-Zb, and the augmented reality coordinate system 31 uses the center of the augmented reality device 3 as the origin of coordinates. Since the BIM model 4 is constructed by the software used for the design, and the BIM model 4 needs to be constructed by the construction site 5, the same coordinate system is used for the BIM model 4 and the construction site 5, and there is no coordinate conversion between them.
Further referring to fig. 2, one embodiment of the present invention implements the lofting process for BIM model 4 by:
step S1, as shown in fig. 1, the positioning device 1 is installed on one side of the construction site 5, and the construction site 5 is completely within the imaging range of the motion capture camera of the positioning device 1 or the coverage range of the laser of the transmitting base station. Namely, an intersection angle between two lines of sight between the lenses of the two motion capture cameras and the augmented reality device is 60-120 degrees, or an intersection angle between lasers emitted by the two laser emission base stations towards the augmented reality device is 60-120 degrees.
Step S2, using the standard ruler to establish the measurement coordinate system 11 for the working space measurement positioning of the positioning device 1.
The position and the posture of two motion capture cameras or a laser emission base station in a measurement coordinate system are calibrated by using a standard ruler (the calibration method by using the standard ruler is a mature photogrammetry method, and can refer to Chinese patent application CN 1023201147770), a measurement coordinate system 11 of Xa-Ya-Za is established, and at the moment, a conversion relation is not established between the coordinate system and a BIM model 4 or a construction design coordinate system 41 of a construction site 5.
In the optical perspective type augmented reality system, the position of human eyes affects the position of a virtual image displayed on a screen in the augmented reality system, and the following steps calibrate the position of the human eyes by aligning each design key position in a real scene and simultaneously determine the conversion relation between a measurement coordinate system 11 and a construction design coordinate system 41.
The coordinates of each construction key position (A, B, C and D in FIG. 1 have a position corresponding relationship with A ', B', C 'and D' respectively, for example, the construction key position A 'corresponds to the design key position A in the BIM model 4 and represents the leftmost position of the outer wall of the building, the construction key positions B' and C 'represent the largest floor space position on the left side and the largest floor space position on the right side of the building respectively, and the construction key position D' represents the rightmost position of the outer wall of the building) which is determined in the construction site 5 in advance according to each design key position (for example, the design key position A, the design key position B, the design key position C and the design key position D in FIG. 1) related to the BIM model 4. In fact, as long as three design key positions of the BIM model 4 which are not on the same straight line are respectively determined at each construction key position in the construction site 5, the BIM model 4 can be lofted in the construction site 5.
Step S3, the augmented reality device 3 is turned on, and the two motion capture cameras/two laser emitting base stations of the positioning apparatus 1 are used to track through the optical identification points/sensors on the augmented reality device 3. At the same time, BIM model 4 is loaded into the augmented reality system of augmented reality device 3, and BIM model 4 is displayed in first position 4a in measurement coordinate system 11 of positioning apparatus 1 by augmented reality device 3 and cannot be accurately displayed in the correct application position of construction site 5.
Therefore, it is necessary to find the conversion parameters between the measurement coordinate system 11 and the construction design coordinate system 41, establish an accurate alignment relationship between the BIM model 4 and the positioning device 1, and determine the coordinates of each design key position in the BIM model 4 in the measurement coordinate system 11.
In step S4, as shown in fig. 3, a light spot 32 is generated in the augmented reality coordinate system 31 of the augmented reality device 3, where the light spot 32 is a sub-object of the augmented reality device 3, and the display position of the light spot 32 on the display screen of the augmented reality device 3 is unchanged regardless of the change of the head 21 of the user 2.
In step S5, one of the construction critical positions is selected as a calibration position a in the construction site 5 in advance (for example, the construction critical position a' corresponding to the design critical position a is selected as the calibration position a, so the coordinates of the calibration position a in the construction site 5 are known), and the calibration position is used for calibrating the human eye position of the augmented reality device 3.
As shown in fig. 3, the construction site 5 is imaged by the augmented reality device 3, and when the light spot 32 is observed (for ensuring accuracy, the user 2 is recommended to aim with the same single eye in each step of the present invention) to coincide with the calibration position a in the construction site 5, the recording key of the augmented reality device 3 is pressed, the augmented reality device 3 generates a mark point 33 mark coinciding with the light spot 32, and records the first pose of the augmented reality device 3 in the measurement coordinate system 11 at that time (since the measurement coordinate system 11 is established in step S2, the positioning and tracking of the augmented reality device 3 by the positioning device 1 can record and obtain the pose (position and direction) of the augmented reality device 3 in the measurement coordinate system 11).
Since the marker 33 is set as a sub-object that is not the augmented reality device 3, the coordinates of the marker 33 in the measurement coordinate system 11 are not changed and do not follow the change and change of the head 21 of the user 2 of the augmented reality device 3. At this time, the first coordinates (x 1, y1, z 1) of the marker point 33 in the measurement coordinate system 11 may be calculated from the coordinates of the light point 32 in the augmented reality device 3 and the first pose of the augmented reality device 3 in the measurement coordinate system 11.
As shown in fig. 4, the vision of the user moves along the direction of the human eye sight line 34 defined by the mark point 33 and the light point 32, and keeps the three points of the light point 32, the mark point 33 and the calibration position a in a straight line, and at this time, the recording key of the augmented reality device 3 is pressed, and the pose of the augmented reality device 3 in the measurement coordinate system 11 is recorded again. And calculates a second coordinate (x 2, y2, z 2) of the light spot 32 in the measurement coordinate system 11 at this time, based on the pose of the augmented reality device 3 in the measurement coordinate system 11 again and the coordinates of the light spot 32 in the augmented reality coordinate system 31.
Since the coordinates (x 1, y1, z 1) and the coordinates (x 2, y2, z 2) of the marker point 33 in the measurement coordinate system 11 are obtained in step S5, the equation of the straight line of the human eye line 34 passing through the light point 32 in the measurement coordinate system 11 can be obtained from the coordinates (x 1, y1, z 1) and the coordinates (x 2, y2, z 2), the equation of the straight line of the human eye line 34 in the augmented reality coordinate system 31 can be converted, and the calibration of the augmented reality device 3 on the position of the human eye can be completed.
And each design critical position in BIM model 4 determines its coordinates in measurement coordinate system 11 according to step S6 described below. Since each design key position has a one-to-one correspondence with each construction key position in the construction site 5, the following description will continue with the construction key position a' as an example. The step S6 includes a step S6-1, a step S6-2 and a step S6-3.
Step S6-1, as shown in fig. 5, performing camera observation on the construction site 5 by using the augmented reality device 3, setting the light point 32 and the construction key position as a first sight line when the construction key position a' is observed to coincide, pressing a recording key of the augmented reality device 3, recording a first pose of the augmented reality device 3 in the measurement coordinate system 11 when the augmented reality device 3 is in the first sight line 34a, and substituting the first pose into the linear equation of the human eye sight line 34 in the augmented reality coordinate system 31 obtained in step S5, thereby calculating a first equation of the first sight line 34a corresponding to the augmented reality measurement coordinate system 31.
Step S6-2, moving the augmented reality device 3 to one side relative to the construction site 5 at the side of the first sight line 34a, so that the light spot 32 coincides with the construction critical position a 'in the construction site 5 again, the line of the human eye through the light spot 32 to the construction critical position a' is the second sight line 34b, and an included angle is formed between the first sight line 34a and the second sight line 34b, and the included angle is 30-150 °. At this time, the recording button of the augmented reality device 3 is pressed, the second position of the augmented reality device 3 in the measurement coordinate system 11 when the augmented reality device 3 is in the second line of sight 34b is recorded, and the second position is substituted into the linear equation of the human eye line of sight 34 in the augmented reality coordinate system 31 obtained in step S5, so that the second equation of the second line of sight 34b in the measurement coordinate system 11 is calculated.
Step S6-3, calculating a common perpendicular line between the straight line of the first equation and the straight line of the second equation according to the first equation and the second equation of the first sight line 34 and the second sight line 34a of the user' S eye passing through the light spot 32 in the measurement coordinate system 11, which are obtained in steps S6 and S7, where the length of the common perpendicular line is an error caused by two misalignments. When the error meets the preset error requirement, the coordinate of the midpoint of the common perpendicular line is calculated as the coordinate of the construction key position A' (or the design key position A in the BIM model 4) in the measurement coordinate system 11.
Step S7, determining coordinate transformation parameters (which may be transformed by using the boolean-sha seven parameter method) for transforming the construction design coordinate system 41 into the measurement coordinate system 11 according to the coordinates of the determined design key positions in the measurement coordinate system 11 (at least 3 design key positions that are not on the same straight line are required).
And step S8, performing coordinate transformation on the BIM model 4 by using the coordinate transformation parameters obtained in the step S7, and then loading the BIM model 4 after the coordinate transformation into the enhanced display device 3, wherein the BIM model 4 is just displayed in the construction site 5 at the moment, and each design key position is respectively superposed with the corresponding construction key position one by one, so that the purpose of accurately enhancing and displaying the BIM model on the construction site is realized, and the construction lofting requirement of the BIM model is met.
In summary, compared with the prior art, the invention has the following beneficial technical effects:
1. the invention can accurately determine the mapping relation between the construction site and the BIM model, so that the BIM three-dimensional design result of a design unit can be accurately superposed in the construction site by using the augmented reality technology, the misunderstanding of the design intention by site constructors is avoided, and the supervision of the construction process of the construction unit by a Party A and a supervision unit is facilitated.
2. The invention adopts the optical motion capture technology and the indoor GPS technology with the positioning precision reaching sub-millimeter, thereby ensuring the precision of the augmented reality system.
3. According to the technical scheme, a coordinate system of the working space measuring and positioning system is established by using a standard ruler, and then the coordinate conversion parameters of the BIM coordinate system and the working space measuring and positioning system are obtained by aligning the construction key positions of a plurality of known coordinate points in a construction site, so that leveling and point setting of a motion capture camera or a laser emission base station are not needed, rear-view orientation is also not needed, the accuracy is improved, and the working efficiency of lofting treatment is greatly improved.
4. The technical scheme of the invention is also suitable for the video perspective type augmented reality equipment and has the characteristic of good adaptability. Since the camera position of the video perspective type augmented reality device does not vary with respect to the augmented reality device like the human eye, the calibration can be performed in the production stage by using the steps S5 and S6, which will not be described in detail herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An augmented reality lofting method based on a BIM technology is characterized by comprising the following steps:
a, enabling a construction site to be in a positioning and tracking range of a positioning device, measuring and positioning a working space of the positioning device by using a standard ruler, and establishing a measurement coordinate system;
generating a light spot in the augmented reality device using the augmented reality coordinate system;
c, wearing the augmented reality equipment by a user, determining the light spot as the line of sight of the human eye when the light spot is coincided and aimed with a calibration position with a preset known coordinate in a construction site, and converting a linear equation of the line of sight of the human eye in an augmented reality coordinate system;
d, the coordinates of 3 design key positions A/B/C which are not on the same straight line in the BIM model and the coordinates of 3 construction key positions A '/B '/C ' in a construction site have a one-to-one correspondence, and the coordinates of the design key positions A/B/C in a measurement coordinate system are respectively determined in the following modes: d1. when a user observes that the light spot is overlapped with the construction key position A '/B'/C 'through the augmented reality equipment, a straight line between the light spot and the construction key position A'/B '/C' is set as a first sight line, a first pose of the augmented reality equipment in a measurement coordinate system when the augmented reality equipment is positioned in the first sight line is recorded, and the first pose is substituted into the linear equation to obtain a first equation; d2. when the light spot is observed to coincide with the construction key position A '/B'/C 'again on the construction site at the side of the first sight line, setting a straight line between the light spot and the construction key position A'/B '/C' as a second sight line, recording a second pose of the augmented reality device in a measurement coordinate system when the augmented reality device is positioned in the second sight line, and substituting the second pose into the linear equation to obtain a second equation; d3. calculating a common perpendicular line between a straight line where the first equation is located and a straight line where the second equation is located, and when the length of the common perpendicular line meets a preset error requirement, taking the coordinate of the midpoint of the common perpendicular line as the coordinate of the design key position A/B/C in a measurement coordinate system;
e, determining coordinate conversion parameters for converting the construction design coordinate system into the measurement coordinate system according to the coordinates of the design key position A/B/C in the construction design coordinate system used by the BIM model or the construction site and the coordinates of the design key position A/B/C in the measurement coordinate system;
and f, carrying out coordinate transformation on the BIM by using the coordinate transformation parameters, then loading the BIM subjected to the coordinate transformation into the augmented reality equipment, and when a user wears the augmented reality equipment to observe a construction site, displaying the BIM in the construction site and correspondingly overlapping each design key position of the BIM with each construction key position of the construction site one by one.
2. The BIM technology-based augmented reality lofting method according to claim 1, wherein the step c specifically comprises:
c1. a user wears the augmented reality equipment to observe a construction site, when the light spot is observed to coincide with the calibration position, the augmented reality equipment generates a mark point which coincides with the light spot and records the first pose of the augmented reality equipment in a measurement coordinate system, and the first coordinate (x 1, y1, z 1) of the mark point in the measurement coordinate system is calculated according to the coordinate of the light spot in the augmented reality equipment and the first pose of the augmented reality equipment in the measurement coordinate system;
c2. the vision of the user moves along the sight line direction of the human eyes determined by the mark point and the light point, the three points of the light point, the mark point and the calibration position are kept on the same straight line, the pose of the augmented reality device in the measurement coordinate system is recorded at the moment, and the second coordinate (x 2, y2, z 2) of the light point in the measurement coordinate system at the moment is calculated according to the pose and the coordinate of the light point in the augmented reality coordinate system;
c3. and deriving a linear equation of the human eye sight line passing through the light point in the measurement coordinate system from the first coordinate (x 1, y1, z 1) and the second coordinate (x 2, y2, z 2), and converting the linear equation of the human eye sight line in the augmented reality coordinate system.
3. The BIM-technology-based augmented reality lofting method according to claim 1, wherein the positioning device comprises two motion capture cameras, and the lenses of the two motion capture cameras respectively have an intersection angle with two lines of sight between the augmented reality device, and the augmented reality device is installed with a plurality of optical identification points which can be monitored and tracked by the motion capture cameras.
4. The BIM technology-based augmented reality lofting method according to claim 1, wherein the positioning device comprises two indoor GPS laser emission base stations, the two indoor GPS laser emission base stations respectively emit laser beams towards the augmented reality device, and the augmented reality device is provided with a sensor capable of receiving the indoor GPS laser emission base stations.
5. The BIM technology-based augmented reality lofting method of claim 3 or 4, wherein the intersection angle is between 60 ° and 120 °.
6. The BIM technology-based augmented reality lofting method of claim 1, wherein if the length of the public vertical line in the step d3 does not meet a preset error requirement, the steps d 1-d 3 are repeated to recalculate the length of the public vertical line.
7. The BIM technology-based augmented reality lofting method of claim 1, wherein an included angle exists between the first line of sight and the second line of sight.
8. The BIM technology-based augmented reality lofting method of claim 7, wherein the included angle is between 30 ° and 150 °.
9. The BIM technology-based augmented reality lofting method of claim 1, wherein the user wears the augmented reality device and observes the construction site with the same single eye.
10. An augmented reality lofting system based on BIM technology, characterized in that the method of any one of claims 1-9 is used.
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