CN109738925B - AR pipe network image display system and method based on high-precision positioning - Google Patents
AR pipe network image display system and method based on high-precision positioning Download PDFInfo
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Abstract
The invention relates to the technical field of satellite positioning application, and particularly discloses an AR pipe network image display system based on high-precision positioning, which comprises a data server, and a camera device, an input device and an AR client which are respectively connected with the data server; the camera equipment is used for shooting the road condition on the pipe network to be positioned to form a shot image; the input equipment is used for acquiring a position signal formed by the current position of an operator and sending the position signal to the data server; the data server is used for establishing and storing a three-dimensional model of the management network; and the data server superposes and fuses the pipe network three-dimensional model of the area and the shot image to form an AR image and sends the AR image to the AR client. The invention also discloses an AR pipe network image display method based on high-precision positioning. The invention effectively solves the problem that the existing pipe network is not directly and intuitively positioned.
Description
Technical Field
The invention relates to the technical field of satellite positioning application, in particular to an AR pipe network image display system and method based on high-precision positioning.
Background
With the continuous acceleration of the current urbanization process, the arrangement of pipe networks in cities is more and more complex. The pipe network refers to all pipelines including a power supply pipeline, a rainwater pipeline, a sewage pipeline, a water supply pipeline, a fire fighting pipeline, a gas pipeline, a communication pipeline, a community intelligent pipeline and the like.
For the cleanness and the beauty of a city, a pipe network is generally buried under the road surface, so that the inspection and the maintenance of the pipe network can be carried out only by digging the road surface and exposing a pipeline, and the operation is very troublesome. Furthermore, because the various pipes are buried beneath the road surface, the individual pipes forming the network are criss-cross and present many points of connection close to each other. When the connecting points are dug, the distance between the pipelines needs to be accurately known, otherwise, some pipelines are easily damaged during excavation, and great economic loss is caused.
However, the current positioning means for the pipe network is single, and often only stays on the data surface layer, and a chart mode or a single positioner is mostly adopted, so that the position of each key connection point of the pipe network is positioned in a traditional positioning mode of adding a calibration point and a distance. When the device is used, the pipeline positioning can not be directly and intuitively carried out, and the conditions of error finding and inaccurate finding can still occur when a specific position is found.
Disclosure of Invention
The invention aims to provide an AR pipe network image display system based on high-precision positioning, and solves the problem that the existing pipe network positioning is not direct and not intuitive.
The AR pipe network image display system based on high-precision positioning comprises a data server, and a camera device, an input device and an AR client which are respectively connected with the data server;
the camera equipment is used for shooting the road condition on the pipe network to be positioned to form a shot image;
the input equipment is used for acquiring a position signal formed by the current position of an operator and sending the position signal to the data server;
the data server is used for establishing and storing a three-dimensional model of the management network; the three-dimensional model of the pipe network comprises a ground part and an underground part; after receiving the shot image and the position signal, the data server coordinates and represents key points in the whole shot image according to the position signal to form a coordinated image; the data server compares the coordinated image with the ground part in the pipe network three-dimensional model to find the pipe network three-dimensional model area matched with the coordinated image; the data server superposes and fuses the pipe network three-dimensional model of the area and the shot image to form an AR image and sends the AR image to the AR client;
and the AR client is used for receiving, displaying and updating the AR images in real time.
The invention has the advantages that:
the pipeline network road surface condition needing to be detected or maintained by an operator can be shot through the camera equipment to form a shot image, meanwhile, a positioned point can be formed in the shot image through the positioning of the camera equipment and the input equipment, and then the whole shot image can be coordinated through the data server to form a coordinated image. The method is beneficial to finding out the pipe network part to be detected or maintained by an operator from the three-dimensional model of the pipe network through the coordinates of each key point, and the AR images are quickly formed, so that the operator can see the pipeline arrangement under the road surface through the AR images, and further, various operations are accurately performed.
According to the invention, through the AR image, an operator can directly and intuitively see the installation and distribution positions of the pipe network, and the problem that the existing pipe network is not directly and intuitively positioned is effectively solved.
Further, the input device is positioned using at least two global navigation satellite systems.
The positioning accuracy can be further refined by positioning from multiple dimensions by a plurality of global navigation satellite systems.
Further, the global navigation satellite system comprises at least two of GPS, GLONASS, or beidou.
GPS, GLONASS and Beidou are the global navigation satellite systems with the most perfect functions in the world at present, and the positioning accuracy can be further improved by adopting the satellite systems.
Further, the input device is connected with the AR client as a whole.
Is convenient for operators to carry and use.
The invention also provides an AR pipe network image display method based on high-precision positioning, which comprises the following steps:
the method comprises the following steps that firstly, a photographing device is used for photographing the road surface condition of the position where an operator is located to form a photographed image and sending the photographed image to a data server;
secondly, forming a position signal by the longitude and latitude of the position of the operator through an input device and sending the position signal to a data server;
step three, the data server receives the shot image and the position signal and coordinates the shot image to form a coordinated image according to the position signal;
step four, the data server compares the coordinated image with the ground part of the pre-stored pipe network unit model, and finds the pipe network three-dimensional model part matched with the coordinated image; fusing and superposing the three-dimensional model of the pipe network in the area and the shot image to form an AR image; the data server sends the AR image to the AR client;
and step five, presenting the AR image to the operator through the AR client.
The method has the advantages that:
by the method, an operator can directly, visually and accurately find the position of the pipeline to be operated, the position of the road surface to be excavated can be accurately found on the premise of not damaging the road surface, and the damage to other pipelines can be effectively avoided by the guidance of the AR image in the specific operation.
By the method, a series of operations such as detection, maintenance and the like of the pipe network can be greatly facilitated, and the investment cost is effectively saved.
Further, when forming the AR image, the underground part of the three-dimensional model of the pipe network in the designated area is superposed with the corresponding shot image.
The road surface condition shot in real time in the same area range and the pipeline installation and arrangement condition arranged underground are updated in real time, so that an operator can clearly and accurately master the construction strength and direction during operation as if the operator has a perspective function.
Further, the designated area refers to an area size formed with a coordinate point represented by the position signal as a center and a preset distance preset in the data server as a radius.
Through the formation of the designated area, the three-dimensional model is beneficial to being superposed and presented to an operator for watching, and various inconveniences caused by the processing of the whole three-dimensional model of the pipe network are avoided.
Drawings
Fig. 1 is a logic block diagram of a first embodiment of the invention.
Detailed Description
The following is further detailed by way of specific embodiments:
example one
The embodiment is basically as shown in the attached figure 1: the AR pipe network image display system based on high-precision positioning in the embodiment comprises a data server, and a camera device, an input device and an AR client which are in communication connection with the data server respectively.
The data server is used for receiving the inside data and the outside data of each pipeline in the pipe network, establishing and updating the three-dimensional model in real time; in this embodiment, the three-dimensional pipe network data conforming to the real attributes is generated in real time from the mass pipe network data by the automatic modeling technology. It depends on the existing data of pipe network, such as longitude and latitude coordinates, pipe diameter, buried depth, etc. Thereby avoiding a large amount of unnecessary modeling effort, the same device being able to handle a larger amount of data than in the prior art.
The camera equipment is used for acquiring the road condition of the current operator station position, and transmitting the road condition to the data server after the position of the key parameter is coordinated; in this embodiment, a plurality of rear cameras are used for AR recognition, and key points are taken according to the prior art for a real road environment, and each key point is represented in a coordinate form.
The input device is used for collecting input information of an operator and converting an idea that the operator wants to specifically view the pipeline arrangement condition at a certain position into digital information to be transmitted to the data server; the input device in this embodiment is directly a magnetometer, an accelerometer, and a gyroscope on the AR client, and high-precision positioning is automatically performed by more than two satellite navigation systems through the spatial orientation of the magnetometer, the spatial plane of the accelerometer, and the rotational angle of the gyroscope, and the position information of the operator is the input information of the input device. After receiving input information transmitted by the input equipment, the data server automatically determines an appointed range AR for display by taking the coordinate point of the position information as a circle center and taking a preset distance X as a radius, namely, the three-dimensional model of the pipe network in the square circle X range and the road surface condition in the square circle X range are superposed and fused to form a real-time AR image.
And the AR client is used for being carried or worn by an operator, receiving the specified range from the data server, and superposing the three-dimensional model of the pipe network in the specified range in the data server and the road surface condition to form a visual AR image which is displayed to the operator at the AR client. The technology for superposing the three-dimensional model of the pipe network and the road surface condition relates to the fusion of the SLAM and the high-precision space positioning technology. SLAM (simultaneous localization and Mapping), also known as CML (Current localization and localization), instantaneous localization and Mapping. High-precision space positioning: and positioning by adopting a centimeter-level GNSS global navigation satellite system, and accurately projecting the virtual model into the real geographic environment. In a specific use process, since the GNSS system may be affected by buildings and the like in terms of accuracy, SLAM is used for assistance in positioning.
The AR client itself in this embodiment has an automatic positioning function, and its positioning uses at least two satellite navigation systems, and the global navigation satellite system used in this embodiment includes GPS, GLONASS, and beidou.
When the above system is used for positioning, the following method is adopted:
firstly, an operator wears an AR client to go to a specific road surface to be detected or maintained.
Then, a rear camera in the camera shooting equipment shoots the road condition of the position where the operator is located, and key points are extracted and represented in a coordinated manner according to the prior art; the camera transmits the shot image and the coordinated image to the data server together.
In this case, for cameras without image processing function, the captured image can be directly transmitted to the data server, which coordinates it according to the prior art.
Thirdly, after receiving the coordinated image of the shot image, the data server compares the coordinated image with a pipe network three-dimensional model stored in the data server in advance, and finds out the pipe network three-dimensional model with the same road surface condition position as the coordinated image and superposes the pipe network three-dimensional model with the shot image.
The data server recognizes the coordinates of the position where the operator stands from the coordinated image, extracts the three-dimensional model of the pipe network in the area range by taking the preset distance X stored in the data server as a radius, and compares the road condition of the three-dimensional model of the pipe network with the road condition in the coordinated image to judge whether the three-dimensional model of the pipe network in the area range is the pipe network arrangement of the position where the operator currently stands. The preset distance X is stored in different grades of numerical values, and operators can select different X values according to different actual detection, maintenance and checking areas to enlarge or reduce the range of single superposition of the three-dimensional model of the pipe network and the shot images.
The pipe network three-dimensional model comprises a ground condition and an underground condition, the ground condition is compared with the road condition of the shot image, and when the pipe network three-dimensional model is superposed, the pipeline arrangement in the underground condition and the road condition of the shot image are superposed and fused to form an AR image which is presented simultaneously.
Fourthly, the formed AR images are sent to the AR client side, the AR images are presented to an operator through the AR client side, the operator can clearly see the arrangement and installation conditions of pipelines below the road surface where the operator stands according to the AR client side, the operator seems to have a perspective function, the pipeline needing to be detected or maintained can be accurately found, and other pipelines cannot be influenced when the road surface is excavated.
In the embodiment, the formation and the superposition of the AR images are more accurate through the multidimensional positioning of a plurality of global navigation satellite systems including the GPS, the GLONASS and the Beidou, the problems that the delay and the dislocation are brought to the superposition of the AR images due to the fact that the data transmitted by a single navigation satellite system are discontinuous are solved, an operator can timely and accurately check the pipeline distribution and the connection condition under the road surface through the AR client, and the specific operation is more accurate.
Example two
In this embodiment, an electronic map is prestored in the data server, and a pipe network path of the pipe installation path is marked in the electronic map. The positioning module is arranged on the pipeline and used for positioning the pipeline, and integrates the positioning functions of a plurality of global navigation satellite systems including GPS, GLONASS and Beidou, so that the pipe network path on the electronic map in the data server can be accurately positioned through the positioning module.
The data server is also connected with an early warning module for carrying out disaster early warning and a storage module for carrying out an early warning grade list.
The early warning module intercepts the officially released disaster information from a specified website on the network through a web crawler. The disaster information includes a disaster site represented in a coordinated manner. The means for acquiring disaster information is the prior art and is not described herein again.
The early warning grade table in the storage module comprises a plurality of disaster items, each disaster item corresponds to a plurality of attribute ranges, and each attribute range corresponds to one disaster grade. For example, disaster events include flood, fire, earthquake, debris flow, etc.; the property range of the flood comprises precipitation, the area affected by the flood, duration and the like; according to the property range values of precipitation, the disaster area, the duration and the like, the disaster grade of the flood is gradually increased from small to large, and the disaster condition is shown to be more and more serious. Each disaster grade corresponds to a checking radius, and the checking radius is an integer value and is counted by taking meters as a unit.
After the early warning module receives the disaster information, the data server extracts disaster items and corresponding disaster grades from the disaster information, and meanwhile, the data server extracts disaster places from the disaster information. And after receiving the disaster information, the data server collects the positions of the pipelines around the disaster site at intervals from the corresponding pipeline positioning modules on the electronic map in the circular area by taking the disaster site as the center of a circle and according to the inspection radius matched with the disaster grade. When the position is collected, the positioning signal collection of one global navigation satellite system is firstly carried out, and then the positioning signal collection of the second global navigation satellite system is carried out according to the appointed time. The interval time between all the positioning signal acquisitions in one positioning module is added up to equal one period. During specific operation, different disaster grades, periods and intervals are different. The embodiment can quickly identify disasters, quickly collect position signals of each fixed point on the pipeline according to disaster grades, further timely update pipe network paths in the perfect electronic map, and further real-timely update three-dimensional pipe network data.
EXAMPLE III
In this embodiment, after the input device sends the position signal to the data server, the data server corrects the position signal according to the pre-stored position correction model to form an accurate position signal, the data server coordinates the captured image according to the accurate position signal to form a coordinated image, and the subsequent related position comparison and fusion superposition are also performed according to the accurate position signal. According to accurate position signal, the show that makes whole AR influence presents more accurately, accords with pipe network actual conditions more.
The location correction model in this embodiment includes a priority level table, where the priority level table includes a plurality of global navigation satellite systems including GPS, GLONASS, and beidou, and a region where each system provides services, where the region served by each system is represented by a coordinate range, and facilities and factors cooperating with the system in each service region are also included in the table. Since various gnss systems are different in terms of design and construction environments and application purposes, the accuracy of different gnss systems is different in different areas. The different accuracy of each global navigation satellite system in a certain area is visually displayed through a priority selection level table, and a plurality of global navigation satellite systems corresponding to each area in the priority selection level table are marked through priority level coefficients. The priority coefficient in this embodiment is a positive integer, and the smaller the priority coefficient is, the larger the priority coefficient is. Of course, the priority coefficient may be marked by other existing means.
After the data server receives the position signals, the position correction model selects all global navigation satellite systems capable of providing services corresponding to the area where the position signals are located from the priority selection level table according to the position signals, firstly, two global navigation satellite systems with the lowest priority and the highest priority in the global navigation satellite systems are selected, and a first position signal and a second position signal of the position where the current operator is located in the two global navigation satellite systems are received. In this embodiment, the highest priority means the lowest priority coefficient; the lowest priority means the highest priority coefficient. Then, a global navigation satellite system is randomly selected from global navigation satellite systems with other priorities through a priority coefficient, the current position of an operator is positioned through the global navigation satellite system to form a third position signal, and finally, the position signal is corrected through the first position signal, the second position signal and the third position signal to form an accurate position signal. And the proportion of the first position signal, the second position signal and the third position signal can be adjusted according to the specific application environment. In this embodiment, the correction with the highest priority is seventy percent, the correction with the lowest priority is twenty percent, and the correction with the randomly selected middle is forty percent. The term "modified proportion" as used herein refers to a percentage of the approach distance when one position signal is to be approached to another position signal according to the prior art. Of course, the first position signal, the second position signal and the third position signal may be used in other correction manners. The accurate position signal obtained by the method not only enables the positioning to be more accurate, but also can effectively overcome the signal delay in each global navigation satellite system, so that the AR image displayed in the embodiment can be more timely and accurate, and is more fit with the actual arrangement of a pipe network.
The descriptions in the above embodiments and the like can be used to explain the contents of the claims.
Claims (5)
1. Based on high accuracy location AR pipe network image display system, its characterized in that: the system comprises a data server, and a camera device, an input device and an AR client which are respectively connected with the data server;
the camera equipment is used for shooting the road condition on the pipe network to be positioned to form a shot image;
the input equipment is used for acquiring a position signal formed by the current position of an operator and sending the position signal to the data server;
the data server is used for establishing and storing a three-dimensional model of the management network; the three-dimensional model of the pipe network comprises a ground part and an underground part; after receiving the shot image and the position signal, the data server coordinates and represents key points in the whole shot image according to the position signal to form a coordinated image; the data server compares the coordinated image with the ground part in the pipe network three-dimensional model to find the pipe network three-dimensional model area matched with the coordinated image; the data server superposes and fuses the pipe network three-dimensional model of the area and the shot image to form an AR image and sends the AR image to the AR client;
the AR client is used for receiving, displaying and updating the AR image in real time;
an electronic map is prestored in the data server, and a pipe network path of the pipeline installation path is marked in the electronic map; a positioning module which can be used for positioning the pipeline is arranged on the pipeline; the data server is also connected with an early warning module for carrying out disaster early warning and a storage module for carrying out an early warning grade table; the early warning module intercepts the officially released disaster information from a specified website on the network through a web crawler; the disaster information comprises disaster places represented in a coordinated manner;
the input equipment adopts at least two global navigation satellite systems for positioning; the global navigation satellite system comprises at least two of GPS, GLONASS or Beidou;
the data server is internally stored with a position correction model used for correcting the position signal to form a precise position signal; the data server coordinates the shot image to form a coordinated image according to the accurate position signal, and performs position comparison, fusion and superposition according to the accurate position signal; the position correction model comprises a priority selection level table, wherein the priority selection level table comprises a plurality of global navigation satellite systems including GPS, GLONASS and Beidou and an area provided with services by each system, the area provided with the services by each system is represented by a coordinate range, and facilities and factors matched with the system in each service area are also contained in the table; marking a plurality of global navigation satellite systems corresponding to each area in the priority selection level table through priority level coefficients; the priority coefficient adopts a positive integer, and the priority is lower and lower from small to large; after the data server receives the position signal, the position correction model selects all global navigation satellite systems capable of providing service corresponding to the area where the position signal is located from the priority selection level table according to the position signal, firstly, two global navigation satellite systems with the lowest priority and the highest priority in the global navigation satellite systems are selected, and a first position signal and a second position signal of the position where the current operator stands in the two global navigation satellite systems are received; then, a global navigation satellite system is randomly selected from global navigation satellite systems with other priorities through a priority coefficient, the current position of an operator is positioned through the global navigation satellite system to form a third position signal, and finally, the position signal is corrected through the first position signal, the second position signal and the third position signal to form an accurate position signal; the corrected position signal is specifically that the second position signal is corrected to seventy percent, the first position signal is corrected to twenty percent, and the third position signal is corrected to forty percent; the modified proportion is a percentage of the approach distance when one position signal is to be approached to another position signal.
2. The high-precision positioning based AR pipe network image display system of claim 1, wherein: the input device is connected with the AR client into a whole.
3. Based on high accuracy positioning AR pipe network image display method, its characteristic is: the method comprises the following steps:
the method comprises the following steps that firstly, a photographing device is used for photographing the road surface condition of the position where an operator is located to form a photographed image and sending the photographed image to a data server;
secondly, forming a position signal by the longitude and latitude of the position of the operator through an input device and sending the position signal to a data server;
step three, the data server receives the shot image and the position signal and coordinates the shot image to form a coordinated image according to the position signal;
step four, the data server compares the coordinated image with the ground part of the pre-stored pipe network unit model, and finds the pipe network three-dimensional model part matched with the coordinated image; fusing and superposing the three-dimensional model of the pipe network in the area and the shot image to form an AR image; the data server sends the AR image to the AR client;
step five, presenting the AR image to an operator through the AR client;
after the early warning module receives disaster information, the data server extracts disaster items and corresponding disaster grades from the disaster information, and meanwhile, the data server extracts disaster places from the disaster information; after receiving disaster information, the data server collects the positions of the pipelines around the disaster site at intervals from the corresponding pipeline positioning modules on an electronic map in the circular area by taking the disaster site as the center of a circle and according to the inspection radius matched with the disaster grade;
the data server is internally stored with a position correction model used for correcting the position signal to form a precise position signal; the data server coordinates the shot image to form a coordinated image according to the accurate position signal, and performs position comparison, fusion and superposition according to the accurate position signal; the position correction model comprises a priority selection level table, wherein the priority selection level table comprises a plurality of global navigation satellite systems including GPS, GLONASS and Beidou and an area provided with services by each system, the area provided with the services by each system is represented by a coordinate range, and facilities and factors matched with the system in each service area are also contained in the table; marking a plurality of global navigation satellite systems corresponding to each area in the priority selection level table through priority level coefficients; the priority coefficient adopts a positive integer, and the priority is lower and lower from small to large; after the data server receives the position signal, the position correction model selects all global navigation satellite systems capable of providing service corresponding to the area where the position signal is located from the priority selection level table according to the position signal, firstly, two global navigation satellite systems with the lowest priority and the highest priority in the global navigation satellite systems are selected, and a first position signal and a second position signal of the position where the current operator stands in the two global navigation satellite systems are received; then, a global navigation satellite system is randomly selected from global navigation satellite systems with other priorities through a priority coefficient, the current position of an operator is positioned through the global navigation satellite system to form a third position signal, and finally, the position signal is corrected through the first position signal, the second position signal and the third position signal to form an accurate position signal; the corrected position signal is specifically that the second position signal is corrected to seventy percent, the first position signal is corrected to twenty percent, and the third position signal is corrected to forty percent; the modified proportion is a percentage of the approach distance when one position signal is to be approached to another position signal.
4. The display method based on the high-precision positioning AR pipe network image as claimed in claim 3, wherein: when forming the AR image, the underground part of the three-dimensional model of the pipe network in the designated area is superposed with the corresponding shot image.
5. The display method based on the high-precision positioning AR pipe network image as claimed in claim 4, wherein: the designated area refers to an area size formed by taking a coordinate point represented by the position signal as a center of a circle and taking a preset distance preset in the data server as a radius.
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| CN110418185B (en) * | 2019-07-22 | 2021-08-13 | 广州市天正科技有限公司 | Positioning method and system for anchor point in augmented reality video picture |
| CN111402400A (en) * | 2020-03-11 | 2020-07-10 | 中煤航测遥感集团有限公司 | Pipeline engineering display method, device, equipment and storage medium |
| CN111753384A (en) * | 2020-06-24 | 2020-10-09 | 杭州深地信息科技有限公司 | AR pipeline display method and readable storage medium |
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