CN109246195B - Intelligent management and control method and system for pipe network integrating augmented reality and virtual reality - Google Patents
Intelligent management and control method and system for pipe network integrating augmented reality and virtual reality Download PDFInfo
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Abstract
The invention belongs to the technical field of smart city information processing, and discloses a management and control method and a management and control system for intelligent network integrating augmented reality and virtual reality, wherein based on a three-dimensional virtual reality management and control technology, three-dimensional modeling, three-dimensional scene rendering and three-dimensional virtual reality roaming interaction of a pipe network and auxiliary facilities and sensors of the pipe network are performed, and visualization and query statistics of operation monitoring data of the pipe network are performed; finding out problems by sensing in advance; fusing the augmented reality with the Internet of things, and superposing ground live-action with the virtual model of the underground pipe network and real-time monitoring data of the Internet of things; in conjunction with location based services LBS, user location information is acquired in real time. The invention utilizes the position-based service LBS to realize the active pushing of the real-time monitoring system unit data of the underground pipe network; the invention improves the working efficiency of the pipe network inspection, maintenance and other businesses, changes the traditional underground pipe network management mode and realizes the innovation of the working mode.
Description
Technical Field
The invention belongs to the technical field of intelligent city information processing, and particularly relates to a management and control method and system for a management network integrating augmented reality and virtual reality.
Background
Currently, the current state of the art commonly used in the industry is as follows:
augmented Reality (AR) is to superimpose a three-dimensional model, a virtual scene, information, etc., generated by a computer, in a real scene by technologies such as image recognition, positioning, etc., so as to realize the augmentation of the real scene. Virtual objects, scenes or system prompt information are superimposed into the virtual objects, scenes or system prompt information through an augmented reality technology, so that the enhancement of the real world is realized. It superimposes computer-generated virtual objects or non-geometric information about real objects onto the real-world scene, enabling enhancements to the real world.
Augmented reality-based applications are emerging in the areas of travel, education, industry, navigation, etc. With the development of mobile terminals, intelligent terminals such as mobile phones and Pad provide new carriers as an augmented reality technology, and applications adopting the mobile augmented reality technology are already presented on mobile terminal platforms such as Android, iPhone at present.
Existing documents 1 and 2 design ways of presenting internet of things data based on augmented reality, but do not relate to technical content nor specific practice; patent 1 relates to an augmented reality positioning method and device for a location-based service (LBS), patent number: CN107450088A describes location service based augmented reality positioning techniques, but does not relate to fusion with the internet of things and push and presentation of internet of things data.
In the application fields of virtual reality and augmented reality technologies, documents 3 and 4 are respectively based on the internet of things and the augmented reality technology, and manage an underground pipe network, but do not relate to the fusion of the internet of things and the augmented reality technology; patent 2 a system of patrolling and examining based on augmented reality smart machine, patent number: CN107578487a and patent 3 augmented reality-based substation equipment operation and maintenance simulation training system and method, patent No.: CN107331220a describes the application of the augmented reality technology in inspection and equipment operation and maintenance management, and the implementation method of the three-dimensional visual display system for real-time running state of the intelligent power grid resource of patent 4, patent number: CN104239998A and patent 5 are three-dimensional visual monitoring methods of an LED bulb lamp assembly production line, patent no: CN104007730a presents internet of things data based on three-dimensional virtual reality technology.
At present, in the related technical field of augmented reality, research on data presentation and interactive contents of augmented reality and the internet of things appears.
However, reports about the application of the technology of the fusion of the augmented reality and the internet of things, especially at the city level, are not yet seen. The prior art has no application report, mainly the augmented reality technology starts abroad, the development in China is started for a few years, and the application in the industry is still in an attempt stage.
The current enhancement technology is mainly applied to the fields of games, travel and education in China. These applications are also public-grade, consumer-grade applications.
The augmented reality technology is really used in practice, particularly in auxiliary management, and at present, the user just starts in China, so that related reports are not seen. But from the development trend of the foreign augmented reality technology, the popularization and application of the technology are a trend. Augmented reality technology has been applied to NASA guiding space walking, assembly guidance of BMW, etc. Plays an important role.
One constraint of the augmented reality technology in practical application is that the augmented reality terminal (for example holonens) is expensive and is not used to wearing. The present invention solves this problem by using a smart phone as an augmented reality terminal.
Traditional visualization of the data of the Internet of things is carried out through configuration software by means of LEDs, meters, display screens and the like. However, the configuration software has strong professional operation, and the visual terminals such as LEDs, meters and display screens have limited user interaction experience and convenience, which brings limitation to data analysis and application based on the Internet of things.
The appearance of augmented reality can bring brand new modes for the presentation and the use of the data of the Internet of things. In particular, the combination of augmented reality and Location Based Services (LBS) has strong advantages in terms of convenience and human-computer interaction experience.
In the field of urban underground pipe network management, the application of technology based on three-dimensional virtual reality, augmented reality or Internet of things only appears at present,
however, fusion based on the technologies of augmented reality, internet of things and virtual reality is not reported when applied to urban underground pipe network management.
In summary, the problems of the prior art are:
(1) In the prior art, the underground pipe network intelligent management and control technology based on the fusion of the augmented reality and the Internet of things is not utilized, virtual objects, real-time monitoring information of the Internet of things and the like cannot be fused into a real environment, and real-time interaction experience of reality is not generated by a user by means of a location-based service LBS. Resulting in inability to enhance the intelligence of management of underground pipe networks.
(2) However, fusion based on the technologies of augmented reality, internet of things and virtual reality is not reported when applied to urban underground pipe network management.
(3) Urban underground management of the prior art cannot be applied to other internet of things monitoring technologies and application fields. The internet of things monitoring system cannot be fused with virtual reality and augmented reality technologies, so that the visualization, analysis and location-based service LBS of monitoring data cannot be realized based on the virtual reality terminal and the augmented reality terminal.
Difficulty and meaning for solving the technical problems:
difficulty:
the technical difficulty is that the augmented reality technology is used for auxiliary management, and the effect of the practical application depends on the accuracy of registration of a real scene and a virtual scene, namely the accuracy of a three-dimensional registration algorithm.
Meaning:
traditional visualization of the data of the Internet of things is carried out through configuration software by means of LEDs, meters, display screens and the like. However, the configuration software has strong professional operation, and the visual terminals such as LEDs, meters and display screens have limited user interaction experience and convenience, which brings limitation to data analysis and application based on the Internet of things.
The invention adopts three-dimensional virtual reality and augmented reality technology to present the data of the Internet of things, and can bring a brand new mode for the presentation and use of the data of the Internet of things.
The invention realizes browsing the whole view of the underground pipeline and the auxiliary facilities thereof in the forms of three-dimensional surrounding, flying, roaming, scaling and the like based on the three-dimensional virtual reality technology, comprehensively grasps the current situation of the underground pipe network, realizes the application of managing, inquiring, analyzing and the like of the real-time monitoring system data of the physical network in the three-dimensional virtual reality scene, and provides support for the management of the underground pipe network of the smart city.
The real-time monitoring data of the Internet of things and the real scene image acquired by the augmented reality terminal can be overlapped by adopting the augmented reality technology, and the data are projected into the real scene. In particular, the combination of augmented reality and Location Based Services (LBS) has strong advantages in terms of convenience of use and human-computer interaction experience. The method is used in the pipe network inspection process, the active pushing of the sensor data based on the position is realized, and the data query and use efficiency is improved.
Through the analysis of historical data in the real-time monitoring system of the Internet of things, the operation state and rule of a pipe network can be mastered, prediction of accidents can be facilitated, and active alarm is achieved through the augmented reality terminal and the three-dimensional virtual reality management and control system. The emergency response efficiency is improved.
1. Shen Ke, peng Taile. And the object recognition and virtual interaction based on the internet of things of augmented reality. And (5) computer engineering. 9 months 2010.
2. Sun Xiaohua, zhang Sheng. And the data presentation and interaction of the Internet of things based on the augmented reality technology. Packaging engineering, 10 months in 2017.
3. Ji Menli, ma Qing. The design and implementation of the municipal pipe network management system based on the Internet of things technology. Computer knowledge and technology, month 10 of 2017.
4. Chang Yong, he Zongyi, the information science edition of university of martial arts, 2005, based on the art kit of underground pipe network augmented reality research.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a management and control method and a management and control system for a management network integrating augmented reality and virtual reality.
The invention is realized in such a way that the intelligent management and control method of the pipe network integrating the augmented reality and the virtual reality comprises the following steps:
real-time monitoring of pipe network operation indexes is performed by utilizing the internet of things technology, three-dimensional modeling, three-dimensional scene rendering and three-dimensional virtual reality roaming interaction of pipe networks and pipe network auxiliary facilities and sensors are performed based on the three-dimensional virtual reality management and control technology, and visualization and query statistics of pipe network operation monitoring data are performed by integrating the internet of things real-time monitoring system data; in combination with statistical analysis of big data, problems (abnormal conditions such as running, leaking and the like of a pipe network are perceived in advance;
fusing the augmented reality with the Internet of things, and superposing ground live-action with the virtual model of the underground pipe network and real-time monitoring data of the Internet of things;
And combining with the location-based service LBS, acquiring the user location information in real time, and pushing the pipe network operation monitoring data to the augmented reality terminal.
The method specifically comprises the following steps:
(1) And adopting image information of the real scene in the current position and direction shot by the shooting module of the augmented reality terminal.
(2) Based on the three-dimensional registration algorithm component, the position relation between the real pipe network coordinate system and the virtual pipe network coordinate system is calculated, the position of the content to be overlapped in the real pipe network coordinate system under the virtual pipe network coordinate system is determined, and the registration of the coordinate systems is realized.
(3) Identifying the position coordinates and the movement track of the augmented reality terminal in real time through the positioning module of the augmented reality terminal; and calculating and updating the sensor number closest to the augmented reality terminal in real time.
(4) The communication module of the augmented reality system is used for realizing bidirectional connection and data transmission between the augmented reality system unit and the real-time monitoring system unit of the Internet of things; and transmitting the sensor number updated in real time to the server, and transmitting the sensor data closest to the augmented reality terminal from the server to the augmented reality terminal through the communication module by the server.
(5) After the data of the sensor is transmitted to the augmented reality terminal, the superposition display of the sensor information and the sensor three-dimensional model as well as the image of the real scene is realized through the data display module of the augmented reality system unit. The active pushing and presenting of the underground pipe network monitoring data are realized.
Further, in the real-time monitoring of the operation index of the pipe network by utilizing the internet of things technology, the three-dimensional virtual reality management and control method of the pipe network comprises the following steps:
(1) Establishing a three-dimensional model of a pipe network, a pipe network accessory facility and a sensor;
(2) And rendering a three-dimensional virtual reality scene formed by the pipe network, the pipe network accessory facilities and the sensors.
The method specifically comprises the following steps:
and establishing a communication module to realize bidirectional connection and data transmission between the three-dimensional virtual reality management and control system unit and the real-time monitoring system unit of the Internet of things.
The method comprises the steps of establishing a three-dimensional rendering module to perform three-dimensional rendering on a three-dimensional virtual reality scene formed by a pipeline network, auxiliary facilities, sensors and the like, adding light shadows and special effects, and improving visual effects;
establishing a three-dimensional roaming interaction module to realize virtual reality roaming, user interaction and information inquiry of a three-dimensional scene; the three-dimensional scene comprises a pipe network, auxiliary facilities, sensors and the like. The pipe network related information may include pipeline burial depth, remarks, numbers, maintenance record information, and the like. The sensor related information may include sensor numbers, location information, etc. In the three-dimensional scene, the pipe network model is clicked, the detailed attribute information and the attached drawing files of the pipe network model can be checked, the sensor three-dimensional model is clicked, and the attribute information, the real-time monitoring data and the real-time alarm information of the corresponding sensor of the equipment can be inquired.
And establishing a data statistics analysis module, and realizing visualization, inquiry and statistics analysis of real-time monitoring data of the Internet of things in an interactive mode in a three-dimensional virtual reality scene. Clicking the three-dimensional model of the sensor can query the corresponding historical monitoring data, the same-ratio analysis, the ring-ratio analysis and other statistical analysis charts of the equipment, and realize the statistical analysis of alarm data.
Further, the augmented reality is fused with the Internet of things, and the ground live-action is overlapped with the virtual model of the underground pipe network and the real-time monitoring data of the Internet of things, including the detection and extraction method of the marker,
firstly, inputting an original image, performing preprocessing such as binarization, threshold segmentation and the like on an identification point image, then performing feature detection and feature extraction, and finally outputting a result;
the method for integrating the augmented reality and the Internet of things comprises the steps of based on a three-dimensional registration method in the superposition of ground live-action, a virtual model of an underground pipe network and real-time monitoring data of the Internet of things:
converting the virtual scene coordinate system into a reference coordinate system by taking the real pipe network coordinate system as a reference; the two spatial coordinate systems are described by a rotation matrix, 3 translation components and a model scaling factor; assuming that the coordinates of a certain model point in the camera coordinate system are (X, Y, Z), the coordinates of a corresponding point in the coordinate system of the pipe network are (X T ，Y T ，Z T ) The mathematical expression for calculating the relative position between two coordinate systems is:
wherein X is 0 ，Y 0 ，Z 0 As an element of the translation matrix, the scaling factor λ is 1; r is a rotation matrix:
the method for displaying the data comprises the steps of fusing augmented reality with the Internet of things, and superposing ground live-action, a virtual model of an underground pipe network and real-time monitoring data of the Internet of things, wherein the method comprises the following steps:
the underground pipe network is overlapped with the real scene through the augmented reality system unit by the pipe network model and information display; the pipe network and the pipe network attribute information are subjected to augmented reality presentation, and interactive inquiry is carried out through an augmented reality terminal; the related information comprises pipeline burial depth, remarks, numbers and maintenance record information;
the sensor model and the information display are carried out, the three-dimensional model of the sensor of the Internet of things is overlapped with the image of the real scene through the augmented reality terminal, the augmented reality presentation of the information is carried out, and the interactive inquiry is carried out through the augmented reality terminal;
the real-time monitoring data of thing networking show, include: the sensor monitors data, equipment states and abnormal conditions in real time, and fusion of the three-dimensional model of the underground pipe network and the real-time monitoring data of the Internet of things of the three-dimensional model of the underground pipe network is realized; the method comprises the steps of carrying out fusion presentation of real-time operation data of an underground pipe network in a real-time monitoring system of the Internet of things through an augmented reality terminal, carrying out interactive query through the augmented reality terminal;
Displaying historical monitoring data of the Internet of things, superposing a real scene, a sensor three-dimensional model and the historical monitoring data, and carrying out interactive query on the historical data through an augmented reality terminal;
in combination with a location based service LBS, acquiring user location information in real time, pushing pipe network operation monitoring data to an augmented reality terminal, comprising:
image information in the current position and orientation is acquired,
and identifying the three-dimensional coordinates and the moving track of the position of the user, extracting the corresponding real-time position information of the user according to the positioning information, establishing communication connection with a server through a communication network, and acquiring the data of the sensor nearest to the user.
Based on a three-dimensional registration method, calculating the position relation between a real pipe network coordinate system and a virtual pipe network coordinate system, determining the position of the content to be overlapped in the pipe network coordinate system under the virtual pipe network coordinate system, and fusing the three-dimensional model of the underground pipe network, real-time monitoring data of the Internet of things and position data of a user;
in the process of moving the user position, sensor data at the nearest position of the user is pushed to the augmented reality terminal in real time, and active pushing and presentation of underground pipe network monitoring data are carried out.
The invention further aims at providing a computer program for realizing the intelligent management and control method of the pipe network fusing augmented reality and virtual reality.
The invention further aims to provide an information data processing terminal for realizing the management and control method of the management and control network integrating augmented reality and virtual reality.
Another object of the present invention is to provide a computer readable storage medium, which includes instructions that when executed on a computer, cause the computer to perform the converged augmented reality, virtual reality, network management and control method.
Another object of the present invention is to provide a converged augmented reality and virtual reality management and control system for implementing the converged augmented reality and virtual reality management and control method, where the converged augmented reality and virtual reality management and control system includes:
the system comprises a three-dimensional virtual reality management and control system unit, a three-dimensional virtual reality management and control system unit and a real-time monitoring system unit, wherein the three-dimensional virtual reality management and control system unit is used for establishing a three-dimensional model of a pipe network and auxiliary facilities thereof, carrying out three-dimensional modeling, three-dimensional scene rendering and three-dimensional virtual reality roaming interaction of the pipe network and auxiliary facilities of the pipe network, and carrying out visualization and query statistics on real-time monitoring system data of the Internet of things;
The real-time monitoring system unit of the Internet of things monitors the real-time running state of the pipe network by using sensor equipment, and uploads data to a server through network transmission so as to realize real-time data display, abnormal alarm and statistical analysis;
the augmented reality system unit is used for superposing the three-dimensional virtual reality model of the underground pipe network, the three-dimensional virtual reality model of the sensor and the pipe network operation monitoring information into a reality scene, and displaying the augmented reality effect of the pipe network and the pipe network operation monitoring data; the position of the augmented reality terminal is tracked in real time, and intelligent pushing of information is realized by adopting a position-based service LBS;
and the system integration unit is used for respectively realizing a data integration interface between the three-dimensional virtual reality management and control system unit and the real-time monitoring system unit of the Internet of things and a data integration interface between the augmented reality system and the real-time monitoring system unit of the Internet of things.
Further, a three-dimensional virtual reality management and control system unit includes: the system comprises a communication module, a three-dimensional rendering module, a three-dimensional roaming interaction module and a data statistics analysis module;
the communication module is used for realizing bidirectional connection and information flow interaction between the three-dimensional virtual reality management and control system unit and the real-time monitoring system unit of the Internet of things;
The three-dimensional rendering module is used for three-dimensionally rendering the three-dimensional virtual reality scene formed by the pipeline network, the auxiliary facilities, the sensors and the like;
the three-dimensional roaming interaction module is used for realizing virtual reality roaming, user interaction and information inquiry of the three-dimensional scene; the three-dimensional scene comprises a pipe network, auxiliary facilities, sensors and the like. The pipe network related information comprises pipe line burial depth, remarks, numbers and maintenance record information; the sensor related information comprises sensor numbers and position information;
the data statistics analysis module is used for carrying out visualization, query and statistics analysis on real-time monitoring data of the Internet of things in a three-dimensional virtual reality scene;
the real-time monitoring system unit of the Internet of things comprises: the system comprises sensor equipment, a server and a network transmission module;
the sensor equipment is in communication connection with the server, and real-time running state data of the water supply, fire control, heat, electric power, drainage, liquid level, security and other professions of the pipe network are collected in real time;
the server is used for storing data of the real-time monitoring system of the Internet of things and historical data;
the network transmission equipment is used for uploading real-time monitoring data acquired by the pipe network monitoring sensor to the server;
The augmented reality terminal comprises a smart phone and a tablet personal computer.
Further, the augmented reality system unit comprises a hardware module and a software system;
a hardware module, comprising: the camera shooting assembly, the positioning assembly and the display assembly;
the hardware module is arranged in the terminal equipment of the augmented reality system unit;
the camera shooting assembly is used for scanning the ground real scene at the position corresponding to the underground pipe network and the sensor, and obtaining the image of the ground real scene in real time.
The positioning component adopts a GPS positioning device or a WIFI positioning device and is used for acquiring the current spatial position information of the user and identifying the three-dimensional spatial coordinates of the position of the user;
the display component is used for fusion display of information such as a three-dimensional virtual reality scene, an actual scene and operation monitoring data of the pipe network in the augmented reality system;
the software system comprises: the system comprises an image processing module, a data display module, an LBS module and a communication module;
an image processing module comprising: a marker, an image recognition algorithm component, and a three-dimensional registration algorithm component;
the identifier adopts a two-dimensional code to identify the sensor;
the image recognition algorithm component completes recognition and feature extraction of the markers placed in the real scene;
The three-dimensional registration algorithm component superimposes the three-dimensional model of the pipe network and the sensor provided by the three-dimensional virtual reality management and control system unit into a real scene, and fusion display of the three-dimensional virtual reality scene and the actual scene of the underground pipe network is carried out;
the data display module is used for displaying:
1) Pipe network model and information; the system is used for superposing an underground pipe network with a real scene through the augmented reality system unit; the pipe network and the attribute information thereof are subjected to augmented reality presentation, and the interactive inquiry through an augmented reality terminal is supported; the related information comprises pipeline burial depth, remarks, numbers and maintenance record information;
2) The sensor model and the information are used for superposing a three-dimensional model of equipment such as an Internet of things sensor and a real scene image through the augmented reality terminal, so as to carry out augmented reality presentation of the information; performing interactive query through the augmented reality terminal;
3) The real-time monitoring data of thing networking includes: the sensor monitors data, equipment states and abnormal conditions in real time, and fusion of the three-dimensional model of the underground pipe network and real-time monitoring data of the Internet of things is realized; the method comprises the steps of carrying out fusion presentation of real-time operation data of an underground pipe network in a real-time monitoring system of the Internet of things through an augmented reality terminal, carrying out interactive query through the augmented reality terminal;
4) The internet of things historical monitoring data is used for superposing a real scene, a sensor three-dimensional model and the historical monitoring data and carrying out interactive query on the historical data through the augmented reality terminal;
the LBS module is used for fusing the three-dimensional model of the underground pipe network and the sensor, the real-time monitoring data of the Internet of things and the real-time position data of the user; performing location-based information pushing;
the communication module is used for performing bidirectional connection and information flow interaction between the augmented reality system unit and the real-time monitoring system unit of the Internet of things;
the system integration unit comprises:
interface with feedwater, fire control monitoring data: the system is used for acquiring data acquired by the sensor in real time, and accessing real-time and historical monitoring data and alarm information into the three-dimensional virtual reality management and control system unit;
interface with thermal monitoring data: the system is used for acquiring data acquired by pressure, temperature and flow sensors in real time, and accessing real-time and historical monitoring data and alarm information into a three-dimensional virtual reality management and control system unit;
interface with power monitoring data: the intelligent ammeter monitoring system is used for acquiring current amount data acquired by an intelligent ammeter sensor in real time, and accessing real-time and historical monitoring data and alarm information into a three-dimensional virtual reality management and control system unit;
Interface with liquid level monitoring data: the system is used for acquiring data acquired by the liquid level meter in real time, and accessing real-time and historical monitoring data and alarm information into the three-dimensional virtual reality management and control system unit;
interface with video monitoring device: the method comprises the steps of acquiring an IP address and numbering information of a video recorder in real time, and acquiring a video monitoring picture in a three-dimensional virtual reality management and control system unit;
a data integration interface, comprising: interface with feedwater, fire control monitoring data: the system is used for acquiring data acquired by the sensor in real time, and can access real-time monitoring data and alarm information in the augmented reality system unit;
interface with thermal monitoring data: the system is used for acquiring data acquired by pressure, temperature and flow sensors in real time, and accessing real-time monitoring data and alarm information into an augmented reality system unit;
interface with power monitoring data: the intelligent ammeter sensor is used for acquiring the current amount data acquired by the intelligent ammeter sensor in real time, and accessing real-time monitoring data and alarm information into the augmented reality system unit;
interface with liquid level monitoring data: the method is used for acquiring data acquired by the liquid level meter in real time, and accessing real-time monitoring data and alarm information into the augmented reality system unit.
The invention further aims to provide an Internet of things industrial control platform carrying the intelligent management and control system for the pipe network integrating augmented reality and virtual reality.
In summary, the invention has the advantages and positive effects that:
the invention provides an underground pipe network intelligent management and control technology based on the fusion of augmented reality and the Internet of things, the virtual object, the real-time monitoring information of the Internet of things and the like are fused into a real environment through the fusion of the augmented reality and the Internet of things, and then real-time interactive experience of reality is generated by a user by means of a location-based service LBS. The convenience of the data use of the Internet of things is enhanced, and the management intelligence of the underground pipe network is improved.
According to the invention, virtual models, attribute information, real-time monitoring data of the Internet of things and the like of the underground pipe network are fused with a real scene through virtual reality and augmented reality technologies. The management personnel can comprehensively grasp the position and information of the underground pipe network assets.
According to the invention, the virtual reality technology, the augmented reality technology and the Internet of things technology are fused, the Internet of things technology is utilized to realize real-time monitoring of pipe network operation indexes, and the problems are found by combining analysis and prediction of big data and perceiving in advance; the interactive roaming and the data visual analysis of the underground pipe network are realized by using the virtual reality technology, and the information enhancement of the superposition of the real-time monitoring data and the real scene of the virtual model of the underground pipe network and the Internet of things is realized by using the augmented reality technology. The management staff is assisted to master the real-time running condition, abnormal condition and the like of the pipe network at any time, so that the digital and intelligent level of underground pipe network management is improved;
And (3) utilizing the location-based service LBS to realize the active pushing of the real-time monitoring system unit data of the underground pipe network. The working efficiency of the pipe network inspection, maintenance and other businesses is improved, the traditional underground pipe network management mode is changed, and the innovation of the working mode is realized.
Drawings
Fig. 1 is a flowchart of a management and control method of a network intelligent management and control system integrating augmented reality and virtual reality, which is provided by the embodiment of the invention.
Fig. 2 is a schematic diagram of a pipe network intelligent management and control system integrating augmented reality and virtual reality provided by the embodiment of the invention.
In the figure: 1. a three-dimensional virtual reality management and control system unit; 2. the real-time monitoring system unit of the Internet of things; 3. an augmented reality system unit; 4. and a system integration unit.
Fig. 3 is a software and hardware structure of a management and control system of a network intelligent management and control system integrating augmented reality and virtual reality, which is provided by the embodiment of the invention.
Fig. 4 is a schematic diagram of an internet of things real-time monitoring system provided by an embodiment of the invention.
Fig. 5 is a block diagram of an augmented reality system unit according to an embodiment of the present invention.
Fig. 6 is a flowchart of the calculation of the image recognition algorithm component provided in the embodiment of the present invention.
Fig. 7 is a calculation flow chart of the present invention for combining the location-based service LBS with the method for acquiring the location information of the user in real time and pushing the monitoring data of the pipe network operation to the augmented reality terminal.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the prior art, the underground pipe network intelligent management and control technology based on the fusion of the augmented reality and the Internet of things is not utilized, virtual objects, real-time monitoring information of the Internet of things and the like cannot be fused into a real environment, and real-time interaction experience of reality is not generated by a user by means of a location-based service LBS. Resulting in inability to enhance the intelligence of management of underground pipe networks.
With the popularization of the augmented reality terminal and the reduction of the price, the augmented reality terminal provided by the invention can adopt hardware such as augmented reality glasses and the like, so that the user is more realistic and interactive.
On the basis of the invention, interaction with auxiliary facilities of the pipe network can be increased, and interaction with the pipe network and the auxiliary facilities thereof and control functions of facilities such as valves and the like are realized through the virtual reality terminal and the augmented reality terminal.
In the three-dimensional registration algorithm link of the registration of the real scene and the virtual scene, the algorithm can be further optimized, and the registration precision is improved.
The invention is further described in connection with specific analysis.
Fig. 1 is a schematic diagram of a management and control method for fusing augmented reality and virtual reality, which includes:
s101: real-time monitoring of pipe network operation indexes is realized by utilizing the technology of the Internet of things, three-dimensional modeling, three-dimensional scene rendering and three-dimensional virtual reality roaming interaction of pipe networks and pipe network auxiliary facilities and sensors are performed based on the technology of three-dimensional virtual reality management and control, and visualization and query statistics of pipe network operation monitoring data are performed by integrating the data of the real-time monitoring system of the Internet of things; combining with statistical analysis of big data, perceiving and finding problems in advance, and providing basic support for intelligent management and control;
s102: the augmented reality and the Internet of things are fused, and the superposition of ground live-action and the virtual model of the underground pipe network and real-time monitoring data of the Internet of things is realized. The method has the advantages that the enhancement of information is realized, so that a manager can know the position, the running condition, the abnormal condition and the like of the underground pipe network in real time, and the digitizing and intelligent level of the underground pipe network management is improved;
s103: the method and the system are combined with the location-based service LBS, user location information can be acquired in real time, pipe network operation monitoring data of the nearest sensor are pushed to the augmented reality terminal, work efficiency of pipe network management, inspection, operation and maintenance and other services is improved, a traditional underground pipe network management mode is changed, and innovation of a work mode is achieved.
The location-based service LBS is combined, the user location information is acquired in real time, the pipe network operation monitoring data is pushed to the augmented reality terminal, and the calculation steps are as shown in fig. 7.
The specific implementation steps are as follows:
(1) And adopting image information of the real scene in the current position and direction shot by the shooting module of the augmented reality terminal.
(2) Based on the three-dimensional registration algorithm component, the position relation between the real pipe network coordinate system and the virtual pipe network coordinate system is calculated, the position of the content to be overlapped in the real pipe network coordinate system under the virtual pipe network coordinate system is determined, and the registration of the coordinate systems is realized.
(3) Identifying the position coordinates and the movement track of the augmented reality terminal in real time through the positioning module of the augmented reality terminal; and calculating and updating the sensor number closest to the augmented reality terminal in real time.
(4) The communication module of the augmented reality system is used for realizing bidirectional connection and data transmission between the augmented reality system unit and the real-time monitoring system unit of the Internet of things; and transmitting the sensor number updated in real time to the server, and transmitting the sensor data closest to the augmented reality terminal from the server to the augmented reality terminal through the communication module by the server.
(5) After the data of the sensor is transmitted to the augmented reality terminal, the superposition display of the sensor information and the sensor three-dimensional model as well as the image of the real scene is realized through the data display module of the augmented reality system unit. The active pushing and presenting of the underground pipe network monitoring data are realized.
Fig. 2, the network intelligent management and control system integrating augmented reality and virtual reality provided by the embodiment of the invention,
comprising the following steps: the system comprises a three-dimensional virtual reality management and control system unit 1, an Internet of things real-time monitoring system unit 2, an augmented reality system unit 3 and a system integration unit 4.
The three-dimensional virtual reality management and control system unit 1 establishes a three-dimensional model of a pipe network and auxiliary facilities thereof, realizes three-dimensional modeling, three-dimensional scene rendering and three-dimensional virtual reality roaming interaction of the pipe network and the auxiliary facilities thereof, and visualizes and inquires and counts real-time monitoring system data of the Internet of things;
the real-time monitoring system unit 2 of the Internet of things monitors the real-time running state of a pipe network by using sensor equipment, and uploads data to a server through network transmission so as to realize the functions of real-time data display, abnormal alarm and statistical analysis;
the augmented reality system unit 3 is used for superposing the three-dimensional virtual reality model of the underground pipe network and the sensor and the pipe network operation monitoring information into a real scene, and displaying the augmented reality effect of the pipe network and the operation monitoring data thereof. And the position of the augmented reality terminal is tracked in real time, and intelligent pushing of information is realized by adopting a position-based service LBS.
The system integration unit 4 is used for respectively realizing a data integration interface between the three-dimensional virtual reality management and control system unit and the real-time monitoring system unit of the Internet of things and a data integration interface between the augmented reality system and the real-time monitoring system unit of the Internet of things.
The three-dimensional virtual reality management and control system unit comprises: the system comprises a communication module, a three-dimensional rendering module, a three-dimensional roaming interaction module and a data statistics analysis module.
The communication module realizes bidirectional connection and information flow interaction between the three-dimensional virtual reality management and control system unit and the real-time monitoring system unit of the Internet of things.
The three-dimensional rendering module performs three-dimensional rendering on a three-dimensional virtual reality scene formed by a pipeline network, auxiliary facilities, sensors and the like, so that visual effect is improved;
the three-dimensional roaming interaction module is used for realizing virtual reality roaming, user interaction and information inquiry of a three-dimensional scene; the three-dimensional scene comprises a pipe network, auxiliary facilities, sensors and the like. The pipe network related information may include pipeline burial depth, remarks, numbers, maintenance record information, and the like. The sensor related information may include sensor numbers, location information, etc.
The data statistics analysis module is used for realizing visualization, query and statistics analysis of real-time monitoring data of the Internet of things in a three-dimensional virtual reality scene.
The real-time monitoring system unit of the Internet of things comprises: sensor equipment, server, network transmission module.
The sensor equipment is in communication connection with the server, and real-time running state data of the water supply, fire control, heat power, electric power, drainage, liquid level, security protection and other professions of the pipe network are collected in real time;
the server is used for storing data of the real-time monitoring system of the Internet of things and historical data;
the network transmission equipment is used for uploading real-time monitoring data acquired by the pipe network monitoring sensor to the server;
the augmented reality system unit comprises, but is not limited to, intelligent terminal equipment such as a smart phone, a tablet personal computer and the like.
The augmented reality system unit, the augmented reality system unit comprising: hardware module and software system.
A hardware module in the augmented reality system unit, comprising: camera module, locating component and display module. The hardware module is built in the terminal equipment of the augmented reality system unit.
The camera shooting assembly is used for scanning the ground real scene at the position corresponding to the underground pipe network and the sensor, and obtaining the image of the ground real scene in real time.
The positioning component adopts a GPS positioning device or a WIFI positioning device and is used for acquiring the current spatial position information of the user and identifying the three-dimensional spatial coordinates of the position of the user.
The display component is used for fusion display of information such as a three-dimensional virtual reality scene, an actual scene and operation monitoring data of the pipe network in the augmented reality system.
The augmented reality system unit further comprises: the system comprises an image processing module, a data display module, an LBS module and a communication module.
An image processing module, the image processing assembly comprising: a marker, an image recognition algorithm component, and a three-dimensional registration algorithm component.
The identifier adopts a two-dimensional code to identify the sensor.
The image recognition algorithm component completes recognition and feature extraction of the markers placed in the real scene.
And the three-dimensional registration algorithm component superimposes the three-dimensional model of the pipe network and the sensor provided by the three-dimensional virtual reality management and control system unit into a real scene, so as to realize the fusion display of the underground pipe network three-dimensional virtual reality scene and the actual scene.
A data presentation module, the content presented in the data presentation module including, but not limited to:
1) Pipe network model and information. The superposition of the underground pipe network and the real scene through the augmented reality system unit is realized; and the pipe network and the attribute information thereof are subjected to augmented reality presentation, so that the interactive query through the augmented reality terminal is supported. The relevant information may include pipeline depth, remarks, numbers, service log information, etc.
2) Sensor model and information. And the augmented reality terminal can be used for overlaying a three-dimensional model of equipment such as an Internet of things sensor and the like with the image of the real scene to perform augmented reality presentation of information. And supporting interactive inquiry through the augmented reality terminal.
3) And the Internet of things monitors data in real time. Comprising the following steps: the sensor monitors data, equipment status, abnormal conditions, etc. in real time. The system can realize the fusion of the three-dimensional model of the underground pipe network and the real-time monitoring data of the Internet of things. Through the augmented reality terminal, the fusion presentation of the real-time operation data of the underground pipe network in the real-time monitoring system of the Internet of things is realized. And supporting interactive inquiry through the augmented reality terminal.
4) And historical monitoring data of the Internet of things. And overlapping the real scene, the sensor three-dimensional model and the historical monitoring data, and carrying out interactive query on the historical data through the augmented reality terminal.
And the LBS module is used for realizing fusion of the three-dimensional model of the underground pipe network and the sensor, the real-time monitoring data of the Internet of things and the real-time position data of the user. Location-based information pushing is achieved. Characterized by comprising:
(1) And pushing information. And (3) utilizing the location-based service LBS to realize the active pushing of the real-time monitoring system unit data of the underground pipe network. And identifying the position of the user by the positioning module of the augmented reality terminal, calculating the position of the sensor nearest to the user in real time, and pushing the data of the nearest neighbor sensor to the display component of the augmented reality system unit in an augmented reality mode in the process of moving the position of the user.
(2) And (5) interactive inquiry. Through the display component of the augmented reality system unit, the pipe network operation monitoring data, the virtual reality model of the pipe network and the sensor and the real scene are displayed in a superimposed mode, and the interactive inquiry of the pipe network operation monitoring data can be realized.
And the communication module is used for realizing bidirectional connection and information flow interaction between the augmented reality system unit and the real-time monitoring system unit of the Internet of things.
The invention is further described in connection with specific analysis.
The embodiment of the invention provides a management and control system integrating augmented reality and virtual reality, which is designed in the overall architecture. As shown in fig. 2. The system comprises a three-dimensional virtual reality management and control system unit, an Internet of things real-time monitoring system unit, an augmented reality system unit and a system integration unit.
Establishing a three-dimensional virtual reality management and control system unit, which comprises the following steps: and the three-dimensional building subsystem and the three-dimensional rendering subsystem are used for building the three-dimensional model. The three-dimensional modeling sub-system realizes three-dimensional pipe network modeling of three-dimensional virtual models of auxiliary facilities and sensors of the three-dimensional pipe network; the three-dimensional rendering subsystem performs three-dimensional rendering beautification on virtual models of the pipe network, the auxiliary facilities and the sensors;
and establishing an Internet of things real-time monitoring system unit, wherein the overall architecture of software and hardware is shown in figure 3. The monitoring of the real-time running state of the underground pipe network in the professions of water supply, fire control, heat, electric power, drainage, liquid level, security protection and the like is realized.
An augmented reality system unit is established, and the architecture is shown in fig. 5, and is composed of a hardware module and a software system. The hardware module in the augmented reality system unit is characterized by comprising: camera module, locating component and display module. The software system in the augmented reality system unit is characterized by comprising: image processing, data display and LBS.
And establishing a system integration unit, and respectively realizing a data integration interface between the three-dimensional virtual reality management and control system unit and the real-time monitoring system unit of the Internet of things and a data integration interface between the augmented reality system and the real-time monitoring system unit of the Internet of things.
Preferably, the technology and the system for intelligently managing and controlling the underground pipe network integrating the augmented reality, the Internet of things and the virtual reality realize a three-dimensional virtual reality managing and controlling system of the pipe network, and the specific implementation modes are as follows:
(1) Establishing a three-dimensional model of a pipe network, auxiliary facilities and sensors;
(2) Rendering a three-dimensional virtual reality scene formed by a pipe network, auxiliary facilities and sensors;
the method specifically comprises the following steps:
and establishing a communication module to realize bidirectional connection and data transmission between the three-dimensional virtual reality management and control system unit and the real-time monitoring system unit of the Internet of things.
The method comprises the steps of establishing a three-dimensional rendering module to perform three-dimensional rendering on a three-dimensional virtual reality scene formed by a pipeline network, auxiliary facilities, sensors and the like, adding light shadows and special effects, and improving visual effects;
establishing a three-dimensional roaming interaction module to realize virtual reality roaming, user interaction and information inquiry of a three-dimensional scene; the three-dimensional scene comprises a pipe network, auxiliary facilities, sensors and the like. The pipe network related information may include pipeline burial depth, remarks, numbers, maintenance record information, and the like. The sensor related information may include sensor numbers, location information, etc. In the three-dimensional scene, the pipe network model is clicked, the detailed attribute information and the attached drawing files of the pipe network model can be checked, the sensor three-dimensional model is clicked, and the attribute information, the real-time monitoring data and the real-time alarm information of the corresponding sensor of the equipment can be inquired.
And establishing a data statistics analysis module, and realizing visualization, inquiry and statistics analysis of real-time monitoring data of the Internet of things in an interactive mode in a three-dimensional virtual reality scene. Clicking the three-dimensional model of the sensor can query the corresponding historical monitoring data, the same-ratio analysis, the ring-ratio analysis and other statistical analysis charts of the equipment, and realize the statistical analysis of alarm data.
Preferably, the technology and system for intelligent management and control of underground pipe network integrating augmented reality, internet of things and virtual reality establish an internet of things real-time monitoring system of underground pipe network, comprising: the system comprises a pipe network monitoring sensor, a server, a communication module and a data analysis module. The specific implementation mode is as follows:
(1) The overall architecture design of the software and hardware of the real-time monitoring system unit of the Internet of things is shown in fig. 4. Comprising: sensor equipment, server, network transmission equipment, data analysis module.
(2) The sensor includes: temperature, pressure, flow, electric quantity, liquid level sensor and video monitoring camera. The sensor equipment is in communication connection with the server and is used for collecting professional real-time operation state data such as water supply, fire control, heat power, electric power, drainage, liquid level, security protection and the like of the pipe network in real time, so that real-time monitoring of the operation condition of the underground pipe network is realized.
(3) The server is used for storing data of the real-time monitoring system of the Internet of things. And the real-time monitoring data collected by the sensor is connected with the server through the communication module, and the monitoring data is transmitted to the server for storage.
(4) The network transmission equipment is used for uploading real-time monitoring data acquired by the pipe network monitoring sensor to the server;
(5) The data analysis module is deployed on the server, and is used for carrying out display analysis on the real-time monitoring data of the pipeline network, and the data analysis module comprises: and carrying out data display, abnormal alarm display and historical data statistics.
Preferably, the technology and system for intelligent management and control of the underground pipe network integrating augmented reality, internet of things and virtual reality are characterized in that the image processing module in the unit software system of the augmented reality system is realized as follows:
(1) Based on the image recognition algorithm component, recognition and feature extraction of the pipe network and the positions of the monitoring points of the sensors are completed. The detection and extraction process of the markers is shown in fig. 6. Firstly, an original image is input, preprocessing such as binarization, threshold segmentation and the like is carried out on an identification point image, then feature detection and feature extraction are carried out, and finally a result is output.
(2) Based on the three-dimensional registration algorithm component, the position relation between the real pipe network coordinate system and the virtual pipe network coordinate system is calculated, the position of the content to be overlapped in the pipe network coordinate system under the virtual pipe network coordinate system is determined, and the virtual target object is placed in a proper position in a real scene in proper size and posture through matrix operation. The calculation method comprises the following steps:
and converting the virtual scene coordinate system into a reference coordinate system by taking the real pipe network coordinate system as a reference. The two spatial coordinate systems may be described by a rotation matrix, 3 translation components and a model scaling factor. Assuming that the coordinates of a certain model point in the camera coordinate system are (X, Y, Z), the coordinates of the corresponding point in the coordinate system of the pipe network are (X) T ，Y T ，Z T ) The mathematical expression for calculating the relative position between two coordinate systems is:
wherein X is 0 ，Y 0 ，Z 0 For translating the elements of the matrix, the scaling factor λ is 1.R is a rotation matrix:
preferably, the technology and system for intelligent management and control of the underground pipe network integrating augmented reality, internet of things and virtual reality are characterized in that a data display module in a unit software system of the augmented reality system is realized as follows:
(1) And (5) pipe network model and information display. The superposition of the underground pipe network and the real scene through the augmented reality system unit is realized; and the pipe network and the attribute information thereof are subjected to augmented reality presentation, so that the interactive query through the augmented reality terminal is supported. The relevant information may include pipeline depth, remarks, numbers, service log information, etc.
(2) And (5) sensor model and information display. And the augmented reality terminal can be used for overlaying a three-dimensional model of equipment such as an Internet of things sensor and the like with the image of the real scene to perform augmented reality presentation of information. And supporting interactive inquiry through the augmented reality terminal.
(3) And the Internet of things monitors data display in real time. Comprising the following steps: the sensor monitors data, equipment status, abnormal conditions, etc. in real time. The system can realize the fusion of the three-dimensional model of the underground pipe network and the real-time monitoring data of the Internet of things. Through the augmented reality terminal, the fusion presentation of the real-time operation data of the underground pipe network in the real-time monitoring system of the Internet of things is realized. And supporting interactive inquiry through the augmented reality terminal.
(4) And displaying historical monitoring data of the Internet of things. And overlapping the real scene, the sensor three-dimensional model and the historical monitoring data, and carrying out interactive query on the historical data through the augmented reality terminal.
Preferably, the technology and system for intelligent management and control of the underground pipe network integrating augmented reality, internet of things and virtual reality, and the LBS module in the unit software system of the augmented reality system are specifically implemented as follows:
(1) And adopting the image information in the current position and direction shot by the shooting module of the augmented reality terminal.
(2) The positioning module in the augmented reality terminal is connected with the communication network, recognizes the three-dimensional coordinates and the moving track of the position of the user, extracts the corresponding real-time position information of the user according to the positioning information, establishes communication connection with the server through the communication network, and acquires the data of the sensor nearest to the user.
(3) Based on the three-dimensional registration algorithm component, the position relation between the real pipe network coordinate system and the virtual pipe network coordinate system is calculated, the position of the content to be overlapped in the pipe network coordinate system under the virtual pipe network coordinate system is determined, and fusion of the underground pipe network three-dimensional model, the real-time monitoring data of the Internet of things and the position data of the user is realized.
(4) In the process of moving the user position, sensor data at the nearest position of the user is pushed to the augmented reality terminal in real time, so that active pushing and presenting of underground pipe network monitoring data are realized.
Preferably, the technology and the system for intelligent management and control of the underground pipe network integrate with augmented reality, internet of things and virtual reality, and the system integration unit has the following specific implementation modes:
(1) The integrated interface of real-time monitoring data of the three-dimensional virtual reality management and control system unit and the real-time monitoring system of the Internet of things comprises:
1) Interface with feedwater, fire control monitoring data: the system is used for acquiring data acquired by the sensor in real time, and can access real-time and historical monitoring data, alarm information and the like in the three-dimensional virtual reality management and control system unit.
2) Interface with thermal monitoring data: the system is used for acquiring data acquired by pressure, temperature and flow sensors in real time, and can be used for accessing real-time and historical monitoring data, alarm information and the like into a three-dimensional virtual reality management and control system unit.
3) Interface with power monitoring data: the intelligent ammeter sensor is used for acquiring data such as current quantity acquired by the intelligent ammeter sensor in real time, and can be connected with real-time and historical monitoring data, alarm information and the like in the three-dimensional virtual reality management and control system unit.
4) Interface with liquid level monitoring data: the system is used for acquiring data acquired by the liquid level meter in real time, and can access real-time and historical monitoring data, alarm information and the like in the three-dimensional virtual reality management and control system unit.
5) Interface with video monitoring device: the method is used for acquiring the IP address and the serial number information of the video recorder in real time, and can acquire video monitoring pictures in the three-dimensional virtual reality management and control system unit.
(2) The data integration interface of the augmented reality system unit and the real-time monitoring system of the Internet of things comprises:
1) Interface with feedwater, fire control monitoring data: the method is used for acquiring the data acquired by the sensor in real time, and can access real-time monitoring data, alarm information and the like in the augmented reality system unit.
2) Interface with thermal monitoring data: the method is used for acquiring data acquired by the pressure, temperature and flow sensors in real time, and can access real-time monitoring data, alarm information and the like into the augmented reality system unit.
3) Interface with power monitoring data: the intelligent ammeter sensor is used for acquiring data such as the current quantity acquired by the intelligent ammeter sensor in real time, and can be connected with real-time monitoring data, alarm information and the like in the augmented reality system unit.
4) Interface with liquid level monitoring data: the method is used for acquiring the data acquired by the liquid level meter in real time, and can access real-time monitoring data, alarm information and the like in the augmented reality system unit.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When used in whole or in part, is implemented in the form of a computer program product comprising one or more computer instructions. When loaded or executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. The intelligent management and control method for the pipe network integrating the augmented reality and the virtual reality is characterized by comprising the following steps of:
real-time monitoring of pipe network operation indexes is performed by utilizing the internet of things technology, three-dimensional modeling, three-dimensional scene rendering and three-dimensional virtual reality roaming interaction of pipe networks and pipe network auxiliary facilities and sensors are performed based on the three-dimensional virtual reality management and control technology, and visualization and query statistics of pipe network operation monitoring data are performed by integrating the internet of things real-time monitoring system data; and combining with statistical analysis of big data, sensing in advance to find out the problem of abnormal conditions of the pipe network such as leakage and drip;
fusing the augmented reality with the Internet of things, and superposing ground live-action with the virtual model of the underground pipe network and real-time monitoring data of the Internet of things;
combining with a location-based service LBS, acquiring user location information in real time, and pushing pipe network operation monitoring data to an augmented reality terminal;
In the real-time monitoring of the operation index of the pipe network by utilizing the technology of the Internet of things, the three-dimensional virtual reality management and control method of the pipe network comprises the following steps:
establishing a three-dimensional model of a pipe network, a pipe network accessory facility and a sensor;
rendering a three-dimensional virtual reality scene formed by pipe network and pipe network auxiliary facilities and sensors;
the method specifically comprises the following steps:
performing bidirectional connection and data transmission between the three-dimensional virtual reality management and control system unit and the real-time monitoring system unit of the Internet of things;
three-dimensional rendering is carried out on a three-dimensional virtual reality scene formed by a pipeline network, accessory facilities and sensors thereof, and light shadows and special effects are added;
virtual reality roaming, user interaction and information query of the three-dimensional scene are carried out; the three-dimensional scene comprises a pipe network, pipe network auxiliary facilities and sensors; the pipe network related information comprises pipe line burial depth, remarks, numbers and maintenance record information; the sensor related information comprises sensor numbers and position information; in a three-dimensional scene, checking detailed attribute information and an attached drawing file through a pipe network model; inquiring attribute information, real-time monitoring data and real-time alarm information of a corresponding sensor of the equipment through a sensor three-dimensional model;
in a three-dimensional virtual reality scene, carrying out visualization, inquiry and statistical analysis on real-time monitoring data of the Internet of things in an interactive mode; and inquiring a statistical analysis chart in the forms of historical monitoring data, homonymy analysis and ring ratio analysis corresponding to the equipment through the sensor three-dimensional model, and carrying out statistical analysis on alarm data.
2. The intelligent management and control method for the pipe network fusing the augmented reality and the virtual reality according to claim 1, wherein the method for detecting and extracting the marker is included in the superposition of the ground live-action, the virtual model of the underground pipe network and the real-time monitoring data of the Internet of things by fusing the augmented reality and the Internet of things,
firstly, inputting an original image, performing binarization and threshold segmentation pretreatment on an identification point image, then performing feature detection and feature extraction, and finally outputting a result;
the method for integrating the augmented reality and the Internet of things comprises the steps of based on a three-dimensional registration method in the superposition of ground live-action, a virtual model of an underground pipe network and real-time monitoring data of the Internet of things:
converting the virtual scene coordinate system into a reference coordinate system by taking the real pipe network coordinate system as a reference; the two spatial coordinate systems are described by a rotation matrix, 3 translation components and a model scaling factor; assuming that the coordinates of a certain model point in the camera coordinate system are (X, Y, Z), the coordinates of a corresponding point in the coordinate system of the pipe network are (X T ，Y T ，Z T ) The mathematical expression for calculating the relative position between two coordinate systems is:
wherein X is 0 ，Y 0 ，Z 0 As an element of the translation matrix, the scaling factor λ is 1; r is a rotation matrix:
The method for displaying the data comprises the steps of fusing augmented reality with the Internet of things, and superposing ground live-action, a virtual model of an underground pipe network and real-time monitoring data of the Internet of things, wherein the method comprises the following steps:
the underground pipe network is overlapped with the real scene through the augmented reality system unit by the pipe network model and information display; the pipe network and the pipe network attribute information are subjected to augmented reality presentation, and interactive inquiry is carried out through an augmented reality terminal; the related information comprises pipeline burial depth, remarks, numbers and maintenance record information;
the sensor model and the information display are carried out, the three-dimensional model of the sensor of the Internet of things is overlapped with the image of the real scene through the augmented reality terminal, the augmented reality presentation of the information is carried out, and the interactive inquiry is carried out through the augmented reality terminal;
the real-time monitoring data of thing networking show, include: the sensor monitors data, equipment states and abnormal conditions in real time, and fusion of the three-dimensional model of the underground pipe network and the real-time monitoring data of the Internet of things of the three-dimensional model of the underground pipe network is realized; the method comprises the steps of carrying out fusion presentation of real-time operation data of an underground pipe network in a real-time monitoring system of the Internet of things through an augmented reality terminal, carrying out interactive query through the augmented reality terminal;
Displaying historical monitoring data of the Internet of things, superposing a real scene, a sensor three-dimensional model and the historical monitoring data, and carrying out interactive query on the historical data through an augmented reality terminal;
in combination with a location based service LBS, acquiring user location information in real time, pushing pipe network operation monitoring data to an augmented reality terminal, comprising:
image information in the current position and orientation is acquired,
recognizing the three-dimensional coordinates and the moving track of the position of the user, extracting the corresponding real-time position information of the user according to the positioning information, establishing communication connection with a server through a communication network, and acquiring the data of the sensor nearest to the user;
based on a three-dimensional registration method, calculating the position relation between a real pipe network coordinate system and a virtual pipe network coordinate system, determining the position of the content to be overlapped in the pipe network coordinate system under the virtual pipe network coordinate system, and fusing the three-dimensional model of the underground pipe network, real-time monitoring data of the Internet of things and position data of a user;
in the process of moving the user position, sensor data at the nearest position of the user is pushed to the augmented reality terminal in real time, and active pushing and presentation of underground pipe network monitoring data are carried out.
3. An information data processing terminal for implementing the intelligent management and control method of the network of pipes integrating augmented reality and virtual reality according to any one of claims 1-2.
4. A computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the converged augmented reality, virtual reality management and control method of any one of claims 1 to 2.
5. A converged augmented reality, virtual reality management and control system implementing the converged augmented reality, virtual reality management and control method of claim 2, wherein the converged augmented reality, virtual reality management and control system includes:
the system comprises a three-dimensional virtual reality management and control system unit, a three-dimensional virtual reality management and control system unit and a real-time monitoring system unit, wherein the three-dimensional virtual reality management and control system unit is used for establishing a three-dimensional model of a pipe network and auxiliary facilities thereof, carrying out three-dimensional modeling, three-dimensional scene rendering and three-dimensional virtual reality roaming interaction of the pipe network and auxiliary facilities of the pipe network, and carrying out visualization and query statistics on real-time monitoring system data of the Internet of things;
the real-time monitoring system unit of the Internet of things monitors the real-time running state of the pipe network by using sensor equipment, and uploads data to a server through network transmission so as to realize real-time data display, abnormal alarm and statistical analysis;
The augmented reality system unit is used for superposing the three-dimensional virtual reality model of the underground pipe network, the three-dimensional virtual reality model of the sensor and the pipe network operation monitoring information into a reality scene, and displaying the augmented reality effect of the pipe network and the pipe network operation monitoring data; the position of the augmented reality terminal is tracked in real time, and intelligent pushing of information is realized by adopting a position-based service LBS;
and the system integration unit is used for respectively realizing a data integration interface between the three-dimensional virtual reality management and control system unit and the real-time monitoring system unit of the Internet of things and a data integration interface between the augmented reality system and the real-time monitoring system unit of the Internet of things.
6. The converged augmented reality, virtual reality intelligent management and control system of claim 5,
a three-dimensional virtual reality management and control system unit comprising: the system comprises a communication module, a three-dimensional rendering module, a three-dimensional roaming interaction module and a data statistics analysis module;
the communication module is used for realizing bidirectional connection and information flow interaction between the three-dimensional virtual reality management and control system unit and the real-time monitoring system unit of the Internet of things;
the three-dimensional rendering module is used for three-dimensionally rendering the three-dimensional virtual reality scene formed by the pipeline network and the auxiliary facilities and sensors thereof;
The three-dimensional roaming interaction module is used for realizing virtual reality roaming, user interaction and information inquiry of the three-dimensional scene; the three-dimensional scene comprises a pipe network, auxiliary facilities and sensors thereof, and the pipe network related information comprises pipeline burial depth, remarks, numbers and maintenance record information; the sensor related information comprises sensor numbers and position information;
the data statistics analysis module is used for carrying out visualization, query and statistics analysis on real-time monitoring data of the Internet of things in a three-dimensional virtual reality scene;
the real-time monitoring system unit of the Internet of things comprises: the system comprises sensor equipment, a server and a network transmission module;
the sensor equipment is in communication connection with the server, and real-time running state data of water supply, fire protection, heat, electric power, drainage, liquid level and security and protection professions of the pipe network are collected in real time;
the server is used for storing data of the real-time monitoring system of the Internet of things and historical data;
the network transmission module is used for uploading real-time monitoring data acquired by the pipe network monitoring sensor to the server;
the augmented reality terminal comprises a smart phone and a tablet personal computer.
7. The converged augmented reality, virtual reality intelligent management and control system of claim 5,
The augmented reality system unit comprises a hardware module and a software system;
a hardware module, comprising: the camera shooting assembly, the positioning assembly and the display assembly;
the hardware module is arranged in the terminal equipment of the augmented reality system unit;
the camera shooting assembly is used for scanning a ground real scene at the position corresponding to the underground pipe network and the sensor, and obtaining an image of the ground real scene in real time;
the positioning component adopts a GPS positioning device or a WIFI positioning device and is used for acquiring the current spatial position information of the user and identifying the three-dimensional spatial coordinates of the position of the user;
the display component is used for fusion display of the three-dimensional virtual reality scene, the actual scene and the pipe network operation monitoring data information of the pipe network in the augmented reality system;
the software system comprises: the system comprises an image processing module, a data display module, an LBS module and a communication module;
an image processing module comprising: a marker, an image recognition algorithm component, and a three-dimensional registration algorithm component;
the identifier adopts a two-dimensional code to identify the sensor;
the image recognition algorithm component completes recognition and feature extraction of the markers placed in the real scene;
the three-dimensional registration algorithm component superimposes the three-dimensional model of the pipe network and the sensor provided by the three-dimensional virtual reality management and control system unit into a real scene, and fusion display of the three-dimensional virtual reality scene and the actual scene of the underground pipe network is carried out;
The data display module is used for displaying:
1) Pipe network model and information; the system is used for superposing an underground pipe network with a real scene through the augmented reality system unit; the pipe network and the attribute information thereof are subjected to augmented reality presentation, and the interactive inquiry through an augmented reality terminal is supported; the related information comprises pipeline burial depth, remarks, numbers and maintenance record information;
2) The sensor model and the information are overlapped with a three-dimensional model of the sensor equipment of the Internet of things and a real scene image through the augmented reality terminal, so that augmented reality presentation of the information is performed; performing interactive query through the augmented reality terminal;
3) The real-time monitoring data of thing networking includes: the sensor monitors data, equipment states and abnormal conditions in real time, and fusion of the three-dimensional model of the underground pipe network and real-time monitoring data of the Internet of things is realized; the method comprises the steps of carrying out fusion presentation of real-time operation data of an underground pipe network in a real-time monitoring system of the Internet of things through an augmented reality terminal, carrying out interactive query through the augmented reality terminal;
4) The internet of things historical monitoring data is used for superposing a real scene, a sensor three-dimensional model and the historical monitoring data and carrying out interactive query on the historical data through the augmented reality terminal;
The LBS module is used for fusing the three-dimensional model of the underground pipe network and the sensor, the real-time monitoring data of the Internet of things and the real-time position data of the user; performing location-based information pushing;
the communication module is used for performing bidirectional connection and information flow interaction between the augmented reality system unit and the real-time monitoring system unit of the Internet of things;
the system integration unit comprises:
interface with feedwater, fire control monitoring data: the system is used for acquiring data acquired by the sensor in real time, and accessing real-time and historical monitoring data and alarm information into the three-dimensional virtual reality management and control system unit;
interface with thermal monitoring data: the system is used for acquiring data acquired by pressure, temperature and flow sensors in real time, and accessing real-time and historical monitoring data and alarm information into a three-dimensional virtual reality management and control system unit;
interface with power monitoring data: the intelligent ammeter monitoring system is used for acquiring current amount data acquired by an intelligent ammeter sensor in real time, and accessing real-time and historical monitoring data and alarm information into a three-dimensional virtual reality management and control system unit;
interface with liquid level monitoring data: the system is used for acquiring data acquired by the liquid level meter in real time, and accessing real-time and historical monitoring data and alarm information into the three-dimensional virtual reality management and control system unit;
Interface with video monitoring device: the method comprises the steps of acquiring an IP address and numbering information of a video recorder in real time, and acquiring a video monitoring picture in a three-dimensional virtual reality management and control system unit;
a data integration interface, comprising: interface with feedwater, fire control monitoring data: the system is used for acquiring data acquired by the sensor in real time, and can access real-time monitoring data and alarm information in the augmented reality system unit;
interface with thermal monitoring data: the system is used for acquiring data acquired by pressure, temperature and flow sensors in real time, and accessing real-time monitoring data and alarm information into an augmented reality system unit;
interface with power monitoring data: the intelligent ammeter sensor is used for acquiring the current amount data acquired by the intelligent ammeter sensor in real time, and accessing real-time monitoring data and alarm information into the augmented reality system unit;
interface with liquid level monitoring data: the method is used for acquiring data acquired by the liquid level meter in real time, and accessing real-time monitoring data and alarm information into the augmented reality system unit.
8. An internet of things industrial control platform carrying the converged augmented reality and virtual reality management and control system of claim 7.
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