CN113436341B - Augmented reality monitoring and management method and system based on urban underground pipeline model - Google Patents
Augmented reality monitoring and management method and system based on urban underground pipeline model Download PDFInfo
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Abstract
The augmented reality monitoring and management method based on the urban underground pipeline model comprises the steps of constructing the urban underground pipeline, a user metering table and a user networking device combined three-dimensional information model Mod 3D; the system is provided with a professional augmented reality device and constructs a professional augmented reality device coordinate system F, real-time or regular monitoring and management are carried out on water, gas pipelines and an optical fiber network of a city based on a combined three-dimensional information model Mod3D' marked with data and geographical positioning, visual monitoring and management of the pipelines are achieved, maintenance efficiency of a problem pipeline or a networking device is improved by utilizing an AR device and a mobile terminal app, resource waste is avoided, on-site remote systematic positioning and maintenance supervision are achieved, and working efficiency of meter maintenance by an operator and timeliness of notification are improved.
Description
Technical Field
The invention relates to a monitoring and management method of an underground pipeline, in particular to an augmented reality monitoring and management method and system based on an urban underground pipeline model, and belongs to the field of urban underground pipeline monitoring and management.
Background
The urban underground pipeline comprises an underground water pipe, a gas pipeline (comprising gas and natural gas), an underground optical fiber and the like, and the development of the smart city inevitably needs to consider the monitoring and management of all aspects of the city, so that the efficient operation is realized. Due to invisibility, underground pipelines can be checked only when problems occur in the pipelines, and even when the problems appear on the ground, the underground pipelines can rush to the field for maintenance, such as water pipe breakage or gas pipeline leakage, or network breakage. The time for first-aid repair (such as the need for telephone repair by the user of the optical fiber network) is inevitably delayed, and the energy is wasted.
When the underground pipeline is in normal operation, if the supply of resources or information needs to be stopped due to some factors, such as water supply stoppage, gas supply stoppage, interruption of the optical fiber network and the like, the residents are usually notified only in the form of text messages, such as mobile phone short messages or cell paper postings. And the water and gas optical fibers are independently monitored and are not systematized into a system, if the water and the electricity are stopped to be supplied at the same time, the message may not arrive at the same time, and the notification in this form has no visibility, so that nearby residents or foreign persons may not know the distribution position of the supply-stopped area in the city, thereby causing inconvenience, such as the foreign persons do not know the water and gas stopping range and cannot quickly find a normal supply area.
For table look-up, data collection is carried out in old cells in a mode of troublesome user data reporting, and water and gas company personnel can only choose to trust the data reported by the users. This form of data collection is inconvenient for the first time and also causes unnecessary loss due to the possibility of misrepresentation; there is a case where the user does not subjectively intend to lie but gets a divisor due to a habit. Resulting in data inaccuracies that also result in losses. The additional effort required to perform data checks from time to avoid loss is also increased. Therefore, people are required to accurately know the distribution situation of data in each user in the city in real time, so that the situation is avoided.
When the meter needs to be maintained or checked by a user, a professional generally needs the user to indicate the installation position of the meter, so that the meter cannot be found in time.
The above problems are attributed to the invisibility of the urban underground pipelines and the untimely, inconvenient, inaccurate and inefficient monitoring and management party caused by the inability of the water-gas network management systematization.
Disclosure of Invention
The present invention, in order to solve the above problems, considers the solution of first constructing a model of the distribution of urban underground pipelines and the locations of the pipelines and meters or networked devices; secondly, sharing of distribution models of the underground pipelines, the metering tables and the networking device information is achieved; and thirdly, the visual monitoring and management of underground pipelines and table lookup are realized. The user of the invention refers to water, gas and optical fiber network users, including families, enterprises, units, merchants, scattered households and the like. The term "house" in the term "house entrance" includes the building where the user is located, and the house entrance pipeline (house entrance pipeline) includes the pipeline (pipeline) of the building area, and the building area includes the underground road surface among the buildings in the building group and the wall body, the floor roof and the foundation of the building. The professional staff means including the detection maintenance or the personnel of looking up the table to water, gas, optical fiber network's detection maintenance personnel to and water, gas optical fiber network's managers, the strapping table be the strapping table of water and gas, optical fiber network is including burying optic fibre and networking device with ground.
Therefore, the invention provides an augmented reality monitoring and management method based on an urban underground pipeline model, which is characterized by comprising the following steps of:
s1, setting a server S and a monitoring center C, constructing a city underground pipeline, a user metering table and a user networking device combined three-dimensional information model Mod3D；
S2, installing a data acquisition, transmission and geographical positioning device A in a user meter, installing a geographical positioning device B in a networking device, installing a monitoring and management application program app in mobile terminals of users and professionals, and making detection data for detection work of water and gas pipelines, buried optical fibers and the networking device;
s3, preparing a reality augmentation device (AR device) for the professional and constructing a coordinate system F of the reality augmentation device for the professional, wherein the reality augmentation device for the professional is used for guiding navigation and/or maintenance procedures in a real scene and indicating the user metering table and the orientation of the networking device in the real scene when the user is at home;
s4, the server S and the monitoring center C are interconnected with the mobile terminal through the app, the server S is used for acquiring the data in real time, detecting the data and the geographic positioning, marking the data and the geographic positioning at the corresponding positions of the combined three-dimensional information model Mod3D, sending the combined three-dimensional information model Mod3D' marked with the data and the geographic positioning to the monitoring center C, and the server S is used forNavigating an AR device; the monitoring center C is based on a model Mod3D' urban water, gas pipeline and optical fiber network monitoring and management, including data processing and analysis, water, gas pipeline, buried optical fiber and networking device maintenance remote guidance, data, geographical positioning and model Mod3DEither or a combination of' is sent to the user and professional through the app, and a notification announcement is issued to the user and professional. Wherein, the data processing analysis comprises the processing analysis of the data and the detection data.
About S1
S1, constructing a combined three-dimensional information model Mod of the urban underground pipeline, the user metering table and the user networking device3DThe method specifically comprises the following steps:
s1-1, establishing an urban road network semantic model of an artificial intelligent network;
s1-2, building a three-dimensional semantic model of the urban building of the artificial intelligent network;
s1-3, fusing the models established in the steps S1-1 and S1-2 to form a three-dimensional semantic model Mod of the urban road and the building2D；
S1-4 three-dimensional semantic model Mod of urban road and building based on step S1-32DConstructing the combined three-dimensional information model Mod3D. Wherein, step S1-1 specifically includes: s1-1-1, establishing an urban geographic coordinate system E, wherein an XOY plane represents the ground, generating road continuous nodes by a node generator comprising an encoder and a decoder by utilizing an RNN recurrent neural network algorithm based on urban remote sensing images, connecting the two nodes before and after generation in the generation process, inputting the new generated nodes into the node generator to continuously generate new nodes, continuously connecting the generated new nodes, and circularly connecting the nodes to form a road network;
s1-1-2, widening all lines in the road network according to a preset width w to form road width lines with a certain width, thereby obtaining an urban road network semantic model, wherein w is widened according to the corresponding road width in the remote sensing image, preferably, w is 0.5-1.5 times of the average value of all road widths in the remote sensing image, more preferably, 0.5-1 times of motor vehicle roads and non-motor vehicle roads, and 1-1.5 times of pedestrian roads. It will be understood that a pedestrian road shall include a road within a street in a city, a walkway beside a non-motorized lane, a district or a building complex, etc., on which a person or road vehicle or work task vehicle (e.g., a wheeled machine, a monitoring and maintenance service vehicle, etc.) may travel.
In one embodiment, the widening is done on both sides with the lines forming the road network as the central axis.
Step S1-2 specifically includes:
s1-2-1, based on the urban remote sensing image in the step S1-1, extracting a series of feature maps obtained by different convolutional layers by using a VGG-16 algorithm without an added layer as a CNN main network, wherein the feature maps are 1/2-1/10, preferably 1/8, of the size of an input image;
meanwhile, a characteristic pyramid is constructed by using different layers of a CNN main network through an image pyramid algorithm FPN, and the frames of a plurality of buildings are predicted,
s1-2-2, for each building in the plurality of buildings, obtaining a local feature map F of the building by using a RoIAlign algorithm on the feature maps obtained by the series of different convolutional layers and the corresponding frame of the building;
s1-2-2, forming a polygonal boundary cover M by adopting convolution layer processing on the local characteristic diagram F of each building, and then forming a plurality of predicted vertexes P of the boundary cover M by utilizing convolution layer processing; wherein polygonal bounding box M refers specifically to the vertical projection of the XOY plane describing the building in E;
s1-2-3, selecting the point with the highest probability in P as the starting point y0Multi-step prediction is carried out by using a multi-layer RNN algorithm of convolution long-short term memory ConvLSTM to obtain a plurality of prediction points P (y)t+1|yt；yt-1；y0) (t is step number) closed building boundary polygons to form a three-dimensional semantic model of the city building;
s1-2-4 representing index point x of the building for the intersection of the longest and next longest diagonal lines in each polygon boundaryiAnd setting a road guide point x every preset distance on the road networki' integrating the building index point and road index point into an indexAnd (5) introducing a library K.
Step S1-3 specifically comprises the step of fusing the models established in the steps S1-1 and S1-2 according to the relative coordinate positions of the buildings and the roads in the remote sensing image in the urban geographic coordinate system E to form a three-dimensional semantic model Mod of the urban roads and the buildings2D。
S1-4, presetting the three-dimensional semantic model Mod2DThe underground water pipe, the underground gas pipe, the underground optical fiber and the corresponding household pipeline are marked in the corresponding road and building area through lines with different colors, and the user metering gauge and the user networking device are respectively marked in the building through different geometric figures to form the urban underground pipeline, the user metering gauge and the user networking device combined three-dimensional information model Mod3D；
In this context, the three-dimensional semantic model is used as Mod2DThe representation is to distinguish from the three-dimensional information model Mod3DIt may be a two-dimensional model or a three-dimensional model. In the present invention, it is a three-dimensional semantic model.
About S2
S2 specifically includes:
s2-1, installing the data acquisition, transmission and geographical positioning device A, and installing the data acquisition, transmission and geographical positioning device A on a user meter, wherein the meter is preferably an electronic meter or a meter with an electronic metering function. The data acquisition, transmission and geographical positioning device A is used for measuring water and gas consumption data of a user in real time, so that the data and coordinates of the meter under E can be transmitted to a server.
S2-2 installation of the geo-locating device B, locating the geo-locating device B in a networked device so that the coordinates of the networked device under E can also be sent to the server S. The networking device comprises a device in a network node, which comprises any one or a combination of a workstation, a server, a user computer, a router, an exchanger, a gateway, a network bridge, a wifi device and a cat.
S2-3, installing, monitoring and processing on mobile terminals of users and professionalsManaging an application program app capable of receiving the data sent by the monitoring center C and combining the three-dimensional information model Mod3DPreferably, the data is shielded among users, that is, each user can only receive own data in consideration of privacy;
s2-4 periodically checks for groundwater, gas lines and domestic water, gas lines and networked devices and sends the check data to the server S and/or the monitoring center C via the app.
It should be understood that the prior art of water and gas pipelines generally uses professional hand-held or cart-based surface leak detectors, and for buried optical fibers, mainly for buried optical fiber routing fault location, mainly focuses on locating optical fiber outer-user layer faults. When the inspection personnel and/or the user find the problems, the coordinates of the positions where the problems occur are sent to the server S or the monitoring center C through the mobile terminal app, so that the three-dimensional information model Mod is combined3DAnd marking is carried out to obtain the position of the problem in the city. Maintenance personnel can look over the three-dimensional model Mod of mark through app3D' and target location coordinates, using the AR device to navigate to quickly arrive at the problem target location for maintenance or first-aid repair. When the pipeline problem is exposed to the ground surface, for example, a water pipe bursts, and a gas pipeline is seriously leaked, a user or a professional can report the site coordinate to the server S and/or the monitoring center C through the mobile terminal provided with the app, so that the rush-repair personnel can rapidly arrive at a rush-repair target site through the navigation of the AR device, and the monitoring and management efficiency of the urban pipeline is improved.
About S3
The reality augmentation device (AR device) for the professional comprises AR glasses and is characterized by comprising a main body frame, visual lenses, a throwing screen, a projector, a processor, a coordinate positioner, a wireless data transceiver, a voice recognition and prompt system and a high-definition pinhole camera. The coordinate positioner is used for positioning an original point o 'of the F coordinate system and sending the coordinate of the original point o' under E to the server S, and Beidou positioning can be adopted. The main body frame is made of transparent materials (such as transparent toughened glass); specifically, the establishing of the reality augmentation device coordinate system F for the professional comprises the steps of selecting one point on the AR device as a coordinate origin o ', taking a left direction parallel to a throwing screen as an axis a, taking a visual front direction perpendicular to the axis a as an axis b, and taking a c axis perpendicular to an ao' b plane to the upward direction, and establishing the AR device coordinate system F; any point coordinate of a city can be input into the AR device through voice or the mobile terminal;
the navigating in the real scene specifically includes:
s3-1, sending the coordinate of the origin o' of the current AR device coordinate system F to the AR device through the mobile terminal app or voice;
s3-2, according to the position of the coordinate of the current AR device, based on the combined three-dimensional information model Mod3D' obtaining a straight line segment L between the position and the target position, and setting a combined three-dimensional information model Mod to be passed3D' establishing a navigation planning suggested path between two adjacent points in the plurality of intermediate points, and putting at least one of the plurality of intermediate points and the representation symbol of the target point and/or the navigation planning suggested path in a putting screen of the AR device for display; the target location refers to a ground section corresponding to the interested underground pipeline section, and the position of the meter or the networking device;
s3-3, according to the representation symbol displayed by the throwing and the navigation planning suggestion path, the navigation is finished until the nearest target place.
Wherein the Mod is based on the combined three-dimensional information model3D' obtaining a straight line segment L between the position and the target position, and setting a combined three-dimensional information model Mod to be passed3DThe plurality of intermediate locations in' specifically include:
the S3-2-1AR device sends coordinates of an origin o' of an input coordinate system F under E to a server S as the position, and the server S is utilized to combine a three-dimensional information model Mod3D' establishing a straight line segment L between said location and said target location;
s3-2-2 equally dividing the straight-line segment L into a plurality of straight-line segments pi (i is 1,2.. k-1, k is a preset number of parts) in a preset number of parts, for each of the straight-line segments pi, gradually searching for an abscissa and an ordinate under E using two moving points moving away from the midpoint or the bisector in directions on both sides of L, starting from a midpoint thereof or starting using each bisector of the straight-line segment L;
s3-2-3, continuously calculating the moving point under E obtained by the step-by-step search in the step 3-2-2 to obtain the distance of the nearby road index point in the index library K, and when the distance is the nearest one, taking the nearest one as the middle point corresponding to each straight line segment pi or each bisector.
The two-side direction is preferably two-side directions parallel to the X or Y axis of E, and may also be a direction perpendicular to the straight line segment L, or a multi-direction simultaneous search of two-side directions parallel to the X axis and Y axis of E and three-direction directions perpendicular to the straight line segment L. It will be appreciated that when the straight line segment L is parallel to the X-axis or Y-axis, only two simultaneous searches of the X-axis and Y-axis parallel to E are required. When a multi-directional search is selected, each step of the stepwise search results is an average of the abscissa and ordinate in all directions, and the average includes an arithmetic average or a weighted average.
The maintenance flow guidance specifically comprises:
s3-1', when the professional arrives at the target site, the live video is taken by the AR device to transmit the picture to the server S,
the method comprises the steps that S3-2' the server S sends a mark symbol and problem information of a target place to an AR device according to a view screen picture, the mark symbol and the problem information are displayed at corresponding positions of a projector in a real scene of a scene, and the AR device shoots a scene video picture Pic marked with the mark symbol and the problem information through a high-definition pinhole camera and returns the scene video picture Pic to a monitoring center C;
and the S3-3' monitoring center C formulates a maintenance flow according to the real-time returned picture Pic and the field detection data of the professional, sends the flow to the AR device in real time to be projected on the projection screen, and the professional carries out maintenance operation according to the maintenance flow.
The indicating the user meter and the orientation of the networking device in the real scene when the user enters the home specifically includes:
when the professional arrives at the target site, the server S sends it according to the AR deviceOrigin of coordinates o' coordinate, b axis vector, and the combined three-dimensional information model Mod3D' indicating the metering table and the orientation of the networking device in a real scene by matching the coordinate of the corresponding coordinate origin o ' and the b-axis vector, and when the distance l between the coordinate origin o ' of the AR device and the geographic positions of the metering table and the networking device is less than a preset distance, respectively indicating the user metering table and the orientation of the networking device by using different geometric figures in a projection screen of the AR device; the distance l is equal to [0.1m,500m ]]。
Therefore, when entering home, the professional can independently find the direction through the symbolic indication without depending on the user direction, thereby accelerating the starting of the overhauling and/or table looking up work.
The invention also provides an augmented reality monitoring and management system based on the urban underground pipeline model for realizing the method, which is characterized in that: the system comprises a data acquisition and transmission and geographical positioning device A, a geographical positioning device B, a pipeline leakage detector, an underground optical fiber routing fault locator, a server S, a monitoring center C, a user and professional mobile terminal provided with a monitoring and management application program app, and an AR device for professionals,
the data acquisition, transmission and geographical positioning device A is used for being installed in a user meter, and acquiring and transmitting the reading and geographical positioning information of the meter;
the geographic positioning device B is used for being installed in a networking device, and acquiring and sending geographic positioning information of the networking device;
the pipeline leakage detector is used for periodically detecting underground water and gas pipeline leakage, preferably, the pipeline leakage detector comprises a handheld underground or wall-buried pipeline leakage detector and/or a trolley type underground pipeline leakage detector. The buried optical fiber routing fault locator is used for periodically detecting buried optical fiber routing faults;
the server S and the monitoring center C are interconnected with the mobile terminal information through the app, and the server S is used for acquiring the data in real time, detecting the data and the geographic positioning, and marking the data and the geographic positioning on the combined three-dimensional information model Mod3DAnd will be marked with the combined three-dimensional information model Mod of data and geographical positioning3D' to a monitoring center C and for navigating said AR device;
the monitoring center C is based on a model Mod3DThe method comprises the steps of' monitoring and managing urban water, gas pipelines and optical fiber networks, wherein the management comprises data processing analysis, remote guidance of water-gas network maintenance, data, geographic positioning and model Mod3D' any one or a combination thereof is sent to the user and the professional through the app, and a notification announcement is issued to the user and the professional;
the AR device for the professionals is used for navigating the professionals to a target place, displaying a mark symbol and problem information of the target place in real time and/or displaying a maintenance process, shooting a field screen picture and returning the picture to the monitoring center C, and comprises a head-mounted AR device, preferably AR glasses.
The present invention also provides a computer-readable non-transitory storage medium in which a program that can be run by the server S and the monitoring center C to implement the above-described augmented reality monitoring and management method based on the urban underground pipeline model is stored.
It should be noted that the joint three-dimensional information model of the present invention may be a remote sensing image map-based model or a semantic model.
The method has the advantages that the method is based on the combined three-dimensional information model Mod marked with data and geographical positioning3DThe method monitors and manages water, gas pipelines and optical fiber networks of cities in real time or regularly, realizes visual monitoring and management of pipelines, improves the maintenance efficiency of problem pipelines or networking devices by utilizing an AR device and a mobile terminal app, avoids resource waste, realizes on-site remote systematic positioning and maintenance supervision, and improves the working efficiency of meter maintenance by a user and the timeliness of notification and indication.
Drawings
FIG. 1 is a flow chart of a method for augmented reality monitoring and management of an underground pipeline model in a certain city region,
FIG. 2a shows a combined three-dimensional information model Mod with data and geolocation3D' schematic diagram, in which an expanded menu of data and geographical locations of a three-story building is displayed,
FIG. 2b is the top right corner of FIG. 2a looking down partially united three-dimensional information model Mod3D' shows the distribution of underground water pipelines and corresponding household underground water pipelines and household underground natural gas pipelines and buried optical fibers,
FIG. 3a is a schematic diagram of an RNN recurrent neural network algorithm process extracted from an urban road network and an urban road network generation process,
FIG. 3b is a schematic diagram of local road network broadening within the circle of the generated urban road network in FIG. 3a,
FIG. 4 is a flow chart of the extraction of the building index points and the multi-layer RNN building boundaries of the convolutional long short term memory ConvLSTM based on the CNN backbone network,
figure 5 shows a schematic diagram of AR glasses structure for a real augmented reality device for a professional,
FIG. 6 is a combined three-dimensional information model Mod3DThe intermediate location and the target location in the top view mode,
FIG. 7 shows a navigation route filled with color blocks in a real scene when a professional wearing AR glasses drives a maintenance vehicle to a certain place in a city,
fig. 8 shows a real scene view before the professional arrives at the building, as indicated by the menu in fig. 2a, wherein the marking symbols and problem information of the target site 10 and the maintenance procedure are marked,
the system comprises reference numbers, 1AR glasses, 10 target sites, 11 main body frames, 12 visual lenses, 13 projection screens, 14 projectors, 15 processors, 16 coordinate locators, 17 voice recognition and prompt systems, 18 wireless data transceivers, 19 high-precision pinhole cameras, information columns arranged on the tops of pictures shot by 400AR glasses or the tops of the projection screens, 402 trees, 403 building windows, 405 motor vehicle lane ground marks, 407 motor vehicles, 408 marks of far mountains in the pictures and 409 motor vehicle lanes.
Detailed Description
Example 1
Fig. 1 shows a flow of an augmented reality monitoring and management method for an underground pipeline model in a certain city region, which specifically includes:
s1 setting server S and monitoring center C, constructing the city underground water pipeline and natural gas pipeline and user meter and user networking device combined three-dimensional information model Mod3D；
S2, data acquisition, transmission and geographical positioning devices A1 and A2 are installed in a user water meter and a gas meter respectively, a geographical positioning device B is installed in a networking device, monitoring and management application programs app are installed on smart phones of users and professionals, underground water pipelines and natural gas pipelines are formulated regularly, underground optical fibers and the networking device are used for detection, a cart-type underground pipeline leakage detector is used for detecting leakage of water and gas pipelines buried in roads in an area, and a handheld wall buried pipeline leakage detector is used for detecting leakage of water and gas pipelines buried in a wall of a house in a building; the method comprises the steps that a buried optical fiber routing fault locator is used for carrying out periodic detection on buried optical fiber routing faults;
s3, preparing AR glasses for professionals and constructing an AR glass coordinate system F for the professionals, wherein the AR glasses for the professionals are used for guiding navigation and maintenance processes in a real scene and indicating the user metering table and the orientation of a networking device in the real scene when the users enter the home;
s4, the server S and the monitoring center C are interconnected with the mobile terminal through the app, the server S is used for acquiring the data and the geographic positioning in real time and marking the data and the geographic positioning on the combined three-dimensional information model Mod3DAnd a combined three-dimensional information model Mod marked with data and geographical positioning3D' to the monitoring center C and for navigating the AR device; the monitoring center C is based on a model Mod3D' monitoring and managing urban water, gas pipelines and optical fiber networks, comprising data processing and analysis, remote guidance of water, gas pipelines, buried optical fibers and maintenance of networking devices, data, geographic positioning and model Mod3D' sending to user and professional through app, andthe user and the professional issue a notice for water and gas supply cut-off.
Wherein S1 specifically includes:
as shown in fig. 3a, the building of the semantic model of the urban road network of the S1-1 artificial intelligence network specifically includes: establishing an urban geographic coordinate system E (shown in figure 2a), wherein an XOY plane represents the ground (the X direction is north), defining step length l (selected from 1-5m according to the total length of a road) and a vector direction r as an attribute vector V by utilizing an RNN recurrent neural network algorithm based on an urban remote sensing image, and taking each initial node and K incident road passing directions
The points of (A) are used as input points (K initial attribute vectors correspond to K points and the corresponding initial points), K +1 input points and the attribute vector V are input into an encoder, and a decoder generates a new node; in particular for each direction of each starting point
Corresponds to the coordinates under E
The attribute vector V corresponds to a coordinate increment
Where t represents the sequence number of the current input point (0 for the starting point and 1 for the first new input point), the coordinate and attribute vector V are input to the encoder, and the decoder will emit the new node generated under E
Wherein
Fig. 3(a) exemplarily shows a road network generation process of 100 node generation cycles in total every 20 node generation cycles;
fig. 3b is a schematic diagram of the local road network widening within the circle in fig. 3 a. And (c) widening the local road network of the graph (b) towards two sides by taking the generated road network line as a central axis according to a preset width w to form a road width line with a certain width, thereby obtaining the semantic model of the urban road network, wherein the w is 1-1.1 times of the average value of the widths of all roads in the remote sensing image.
Referring to fig. 4, the step S1-2 of establishing the three-dimensional semantic model of the city building by the artificial intelligence network specifically includes:
s1-2-1, based on the urban remote sensing image in the step S1-1, extracting a series of feature maps obtained by different convolutional layers by using a VGG-16 algorithm without an added layer as a CNN main network, wherein the feature maps are 1/8 of the size of an input image;
meanwhile, a characteristic pyramid is constructed by using different layers of a CNN main network through an image pyramid algorithm FPN, and the frames of a plurality of buildings are predicted,
s1-2-2, for each building in the plurality of buildings, obtaining a local feature map F of the building by using a RoIAlign algorithm on the feature maps obtained by the series of different convolutional layers and the corresponding frame of the building;
s1-2-2, forming a hexagonal boundary cover M by adopting convolutional layer processing on the local feature map F of each building, and forming 6 prediction vertexes P of the boundary cover M by utilizing convolutional layer processing; wherein hexagonal bounding volume M specifically refers to the perpendicular projection of the XOY plane describing the building in E; (ii) a
S1-2-3, selecting the point with the highest probability in P as the starting point y06-step prediction is carried out by utilizing a multilayer RNN algorithm of convolution long-short term memory ConvLSTM to obtain 6 prediction points P (y)t+1|yt；yt-1；y0) (t is more than or equal to 4) forming a closed building boundary polygon to form a three-dimensional semantic model of the city building (as shown in figure 2 a);
s1-2-4 representing index point x of the building for the intersection of the longest and next longest diagonal lines in each polygon boundaryiAnd setting a road guide point x of the road network at every preset distancei' integrating the building index points and the road index points into an index library K. The data and the geographic positioning are marked by a circle with a mark point as a circle center in the figure 2a and are clicked or moused through a C interface of the monitoring centerAnd moving to the circle to pop up a menu to display the data and the geographical positioning information. When there are multiple floors or high-rise buildings, the corresponding data can be folded, opened, viewed or closed in the menu, circle flashing and/or color display of the circle different from other circles is carried out at the mark point reported by the professional, and data flashing and/or color display of other data of the corresponding floor where the professional is located are also given in the menu.
Step S1-3 specifically comprises the step of fusing the models established in the steps S1-1 and S1-2 according to the relative coordinate positions of the buildings and the roads in the remote sensing image in the urban geographic coordinate system E to form a three-dimensional semantic model Mod of the urban roads and the buildings2D。
S1-4, presetting the three-dimensional semantic model Mod2DThe underground water pipe, underground gas pipe, underground optical fiber and corresponding household pipeline are marked in corresponding road and building area by black, red and green lines, the user metering table and user networking device are respectively marked in building by different geometric figures, so as to form urban underground pipeline and user metering table and user networking device combined three-dimensional information model Mod3DFIG. 2a shows a combined three-dimensional information model Mod3DSchematic in plan view.
Example 2
S2 specifically includes:
as shown in FIG. 2a, S2-1 sends the data collection and geolocation device A1 into the electronic water meter installed in the three-story building indicated by the menu and the data collection and geolocation device A2 into the electronic natural gas meter. The data is used for acquiring, sending and geographically positioning devices A1 and A2 to measure water and gas consumption data of the users in real time. The water and gas data from floor 1 to floor 3 and the geographical location information loc in the E coordinate system are represented from bottom to top in the menu. And sending the data and the coordinates of the meter under E to a server S.
S2-2 sets the geolocation device B in the three-story building networking device and displays the operating status in the data field of the menu. In the menu of fig. 2a, a1, b1 and c1 represent water, gas and network operation data from floor 1 to floor 3, and a2, b2 and c2 represent geographical location information under E of the corresponding floor. So that the coordinates representing the networked devices under E of the geographical location information are also sent to the server S. The networking device is a wifi device.
S2-3, installing a monitoring and management application program app on the mobile terminals of the user and the professional, wherein the app can receive the data sent by the monitoring center C, the detection data of the professional on the wall embedded water pipeline and the natural gas pipeline of the floor 1 of the three-storey building corresponding to the menu in the picture 2a and the wifi device of the user, and the detection data are combined with a three-dimensional information model Mod3D'. The data is masked between users. Wherein, the data sent by the monitoring center C, the underground water pipeline and the natural gas pipeline, the underground optical fiber and the networking device detection data and the combined three-dimensional information model Mod3D' is received by the server S according to the data, the detection data and the combined three-dimensional information model Mod3DAnd analyzing and processing the data to obtain the data and sending the data to a monitoring center C. FIG. 2b shows a combined three-dimensional information model Mod3DThe' top partial view shows the distribution of underground water pipes and corresponding domestic underground water pipes and domestic underground natural gas pipes and buried optical fibres. When viewing the model Mod in a horizontal orientation3D' time can display user meters and networked device distributions.
S2-4 checks every 30-60 days for groundwater, gas lines, and domestic water, gas lines, and networked devices, and sends the check data to the server S or monitoring center C via the app.
Example 3
As shown in fig. 5, the reality augmentation apparatus for professionals is AR glasses 1, which is characterized by comprising a main body frame 11, a visual lens 12, a projection screen 13, a projector 14, a processor 15, a coordinate locator 16, a wireless data transceiver 17, a voice recognition and prompt system 18 and a high-definition pinhole camera 19. The coordinate locator 16 is configured to locate an origin o 'of the F coordinate system, and send a coordinate of the origin o' under E to the server S, which may be a beidou positioning system. The main body frame is made of transparent materials (such as transparent toughened glass); specifically, the establishing of the coordinate system F of the reality augmentation device for the professional comprises the steps of selecting one point on a processor 15 of the AR glasses 1 as a coordinate origin o ', wherein the left direction parallel to a projection screen is an axis a, the visual front direction perpendicular to the axis a is an axis b, and the upward direction perpendicular to the plane ao' b is an axis c, and establishing the coordinate system F of the AR device; any point coordinate of the city can be input into the AR glasses 1 through voice or the mobile terminal;
the navigating in the real scene specifically includes:
as shown in fig. 6, S3-1 inputs the coordinates of the three-story building in fig. 2a as the target site 10 into the AR glasses 1;
s3-2 is based on a combined three-dimensional information model Mod according to the position o' of the coordinate of the current AR glasses 1, such as a water plant and a gas company3D' straight line segment L between the position and the target location 10 is obtained, and the combined three-dimensional information model Mod required to be passed through is set3DThe navigation planning suggested path is established between the two intermediate positions D and G, and the D and G character symbols and the navigation planning suggested path are put in a putting screen of the AR device to be displayed.
In fig. 7, navigation lines filled with color blocks in a real scene when a professional wearing the AR glasses 1 drives a maintenance vehicle to reach a certain place in a city, and direction indications of two intermediate places D and G and a target place 10 are shown, and a right turn 150m ahead is shown (wherein the "front" word is blocked by the voice recognition and prompting system 17).
S3-3, according to the representation symbol displayed by the throwing and the navigation planning suggestion path, the navigation is finished until the nearest target place.
Wherein the Mod is based on the combined three-dimensional information model3D' obtaining a straight line segment L between the position and the target position, and setting a model Mod needing to be passed through in a combined three-dimensional information model3DThe plurality of intermediate locations in' specifically include:
the S3-2-1AR device sends coordinates of an origin o' of an input coordinate system F under E to a server S as the position, and the server S is utilized to combine a three-dimensional information model Mod3D' establishing a straight line segment L between said location and said target location;
s3-2-2 equally divides the straight line segment L into 3 straight line segments pi (i is 1,2, 3 is a preset number of parts) in preset number, and for each straight line segment pi, the straight line segment L moves away from the bisector in the directions of both sides of L from the bisector to form four moving points, and the moving points gradually search for the abscissa and ordinate under E;
s3-2-3, continuously calculating the moving point under E obtained by the step-by-step search in the step 3-2-2 to obtain the distance of the nearby road index point in the index library K, and when the distance is the nearest one, taking the nearest one as the middle point corresponding to each straight line segment pi or each bisector.
And for each bisector point, the directions of the two sides are simultaneously searched in the direction perpendicular to the straight line segment L, and the search result in each step in the step-by-step search is the average value of the abscissa and the ordinate in each direction.
The maintenance flow guidance specifically comprises:
s3-1', when the professional arrives at the target site 10, takes a live video through the AR glasses 1 to transmit the picture to the server S,
s3-2' the server S sends the mark symbol of the target site 10 and the water meter report of the problem information 1 building 102 room to the AR device according to the screen picture, and displays the corresponding position in the real scene of the scene through the projector (as shown in figure 8), the AR glasses 1 shoot the scene video picture Pic marked with the mark symbol and the problem information through the high-definition pinhole camera 19 and return the scene video picture Pic to the monitoring center C;
the S3-3' monitoring center C formulates a maintenance flow according to the real-time returned picture Pic and the data of the professional field detection, and sends the flow to the AR device in real time to be projected on the projection screen 13 (as shown in the lower right corner of the projection screen in FIG. 8), and the professional carries out the maintenance operation of entering the home according to the maintenance flow.
The indicating the meter and the networking device in the real scene when the user is in the home specifically comprises:
when the professional arrives at the target location 10, the server S combines the coordinate origin o' coordinate, the b axis vector and the combined three-dimensional information model Mod sent by the AR glasses 13D' middle correspond toMatching the coordinate of a coordinate origin o 'and the b-axis vector to indicate the positions of the metering meter and the networking device in a real scene, when the distance l between the coordinate origin o' of the AR device and the geographic position of the metering meter and the networking device is less than a preset distance, using a delta symbol to represent the water meter and using an arrow to indicate the position of the water meter in a projection screen of the AR device (as shown in figure 8), and when the distance l is less than the preset distance, using a symbol to indicate the position of the water meter of a user in the projection screen of the AR device; the distance l is 100 m.
Example 4
An augmented reality monitoring and management system based on an urban underground pipeline model for implementing the method in the embodiment 1-3 is characterized in that: a data acquisition, transmission and geographical positioning device A, a geographical positioning device B, a pipeline leakage detector, a server S, a monitoring center C, a user and professional mobile terminal provided with a monitoring and management application program app, and an AR device for professionals,
the data acquisition, transmission and geographical positioning device A is used for being installed in a user meter, and acquiring and transmitting the reading and geographical positioning information of the meter;
the geographic positioning device B is used for being installed in a networking device, and acquiring and sending geographic positioning information of the networking device;
the pipeline leakage detector is used for periodically detecting the leakage of underground water and gas pipelines and comprises a handheld buried or wall buried pipeline leakage detector.
The server S and the monitoring center C are interconnected with the mobile terminal information through the app, and the server S is used for acquiring the data and the geographic positioning in real time and marking the data and the geographic positioning on the combined three-dimensional information model Mod3DAnd a combined three-dimensional information model Mod marked with data and geographical positioning3D' to a monitoring center C and for navigating said AR device;
the monitoring center C is based on a model Mod3D' monitoring and managing urban Water, gas lines and fiber networksComprises data processing and analysis, remote guidance of water and gas network maintenance, data acquisition, geographic positioning and model Mod3D' sending to users and professionals through app, and issuing water and gas cut-off notice to users and professionals;
the AR device for the professionals is used for navigating the professionals to a target place, displaying a mark symbol of the target place and problem information in real time, displaying a maintenance process, shooting a scene screen picture and returning the picture to the monitoring center C, and the AR device for the professionals is AR glasses 1.
Claims (9)
1. The augmented reality monitoring and management method based on the urban underground pipeline model is characterized by comprising the following steps of:
s1 setting server S and monitoring center C, building city underground pipeline, user meter and user networking device combined three-dimensional information model Mod3D；
S2, installing a data acquisition, transmission and geographical positioning device A in a user meter, installing a geographical positioning device B in a networking device, installing a monitoring and management application program app in mobile terminals of users and professionals, and making detection work of water and gas pipelines, buried optical fibers and the networking device;
s3, configuring an AR device for professionals and constructing an AR device coordinate system F for professionals, wherein the AR device for professionals is used for guiding navigation and/or maintenance processes in a real scene and indicating the user metering table and the orientation of a networking device in the real scene when the users enter the home;
s4, the server S and the monitoring center C are interconnected with the mobile terminal through the app, the server S is used for acquiring the data and the geographic positioning in real time and marking the data and the geographic positioning on the combined three-dimensional information model Mod3DAnd a combined three-dimensional information model Mod marked with data and geographical positioning3D' to a monitoring center C and for navigating the AR device; the monitoring center C is based on a model Mod3D' monitoring urban water, gas pipeline and optical fiber networkAnd management, including data processing and analysis, water and gas pipelines, underground optical fiber and networking device maintenance remote guidance, and data, geographic positioning and model Mod3D' any one or a combination thereof is sent to the user and the professional through the app, and a notification announcement is issued to the user and the professional;
wherein, the combined three-dimensional information model Mod3DThe method comprises the steps of constructing a model and a semantic model based on a remote sensing image map;
s1, constructing a combined three-dimensional information model Mod of urban underground pipelines, user meters and user networking devices3DThe method specifically comprises the following steps:
s1-1, establishing an urban road network semantic model of an artificial intelligent network;
s1-2, building a three-dimensional semantic model of the urban building of the artificial intelligent network;
s1-3, fusing the models established in the steps S1-1 and S1-2 to form a three-dimensional semantic model Mod of the urban road and the building2D；
S1-4 three-dimensional semantic model Mod of urban road and building based on step S1-32DConstructing the combined three-dimensional information model Mod3D；
Wherein, step S1-1 specifically includes:
s1-1-1, establishing an urban geographic coordinate system E, wherein an XOY plane represents the ground, generating road continuous nodes by using an RNN recurrent neural network algorithm through a node generator comprising an encoder and a decoder based on an urban remote sensing image, connecting the two nodes before and after generation in the generation process, inputting the new generated nodes into the node generator to continuously generate new nodes, and continuously connecting the generated new nodes so as to form a road network in a circulating way;
s1-1-2, widening all lines in a road network according to a preset width w to form road width lines with a certain width, so as to obtain an urban road network semantic model, wherein w is widened according to the corresponding road width in the remote sensing image, w is 0.5-1.5 times of the average value of all road widths in the remote sensing image, and widening is to widen the lines generating the road network towards two sides by taking the lines as a central axis;
step S1-2 specifically includes:
s1-2-1, based on the urban remote sensing image in the step S1-1, extracting a series of feature maps obtained by different convolutional layers by using a VGG-16 algorithm without an added layer as a CNN main network, wherein the feature maps are 1/2-1/10 of the size of the input image;
meanwhile, a characteristic pyramid is constructed by using different layers of a CNN main network through an image pyramid algorithm FPN, and the frames of a plurality of buildings are predicted,
s1-2-2, for each building in the plurality of buildings, obtaining a local feature map F of the building by using a RoIAlign algorithm on the feature maps obtained by the series of different convolutional layers and the corresponding frame of the building;
s1-2-2, forming a polygonal boundary cover M by adopting convolution layer processing on the local characteristic diagram F of each building, and then forming a plurality of predicted vertexes P of the boundary cover M by utilizing convolution layer processing; wherein polygonal bounding box M refers specifically to the vertical projection of the XOY plane describing the building in E;
s1-2-3, selecting the point with the highest probability in P as the starting point y0Performing multi-step prediction by using a multi-layer RNN algorithm of convolution long-short term memory ConvLSTM to obtain a plurality of prediction points P (y)t+1|yt；yt-1；y0) Forming a three-dimensional semantic model of the city building by using a closed building boundary polygon, wherein t is a step number;
s1-2-4 representing index point x of the building for the intersection of the longest and next longest diagonal lines in each polygon boundaryiAnd setting a road guide point x every preset distance on the road networki' integrating the building index points and the road index points into an index library K;
s1-3 specifically comprises the step of fusing the models established in the steps S1-1 and S1-2 according to the relative coordinate positions of the buildings and the roads in the remote sensing image under the urban geographic coordinate system E to form a three-dimensional semantic model Mod of the urban roads and the buildings2D；
S1-4 specifically comprises the step of presetting the three-dimensional semantic model Mod2DZ coordinate H of each polygonal boundary below E, representing height of building layer, and connecting underground water pipe, underground gas pipe, underground optical fiber, and phaseThe corresponding house-entering pipelines are marked in corresponding roads and building areas through lines with different colors, and the user metering table and the user networking device are respectively marked in the building by different geometric figures to form the urban underground pipelines and the combined three-dimensional information model Mod of the user metering table and the user networking device3D。
2. The method according to claim 1, wherein S2 specifically comprises:
s2-1, installing a data acquisition, transmission and geographical positioning device A, and installing the data acquisition, transmission and geographical positioning device A on a user meter, wherein the data acquisition, transmission and geographical positioning device A is used for metering water and gas consumption data of a user in real time, so that the data and the coordinates of the meter under E can be transmitted to a server;
s2-2, installing the geographic positioning device B, and arranging the geographic positioning device B in the networking device, so that the coordinates of the networking device under E can be sent to the server S; wherein the networking device comprises a device in a network node comprising any one or combination of a workstation, a server, a user computer, a router, a switch, a gateway, a network bridge, a wifi device and a cat;
s2-3, installing a monitoring and management application program app on the mobile terminals of users and professionals, wherein the app can receive the data sent by the monitoring center C and the combined three-dimensional information model Mod3D；
S2-4 periodically detects groundwater, gas lines and domestic water, gas lines and networked devices and sends the detection data to the server S and/or the monitoring center C via the app.
3. The method according to claim 2, characterized in that the data is masked between users; the gauge is provided with an electronic metering function.
4. The method of claim 1, wherein the professional augmented reality device comprises AR glasses, and wherein the device comprises a body frame, a visual lens, a drop screen, a projector, a processor, a coordinate locator, a wireless data transceiver, a voice recognition and prompting system, and a high definition pinhole camera; the coordinate positioner is used for positioning an original point o 'of the F coordinate system, sending the coordinate of the original point o' under E to the server S, and adopting Beidou for positioning; specifically, the establishing of the reality augmentation device coordinate system F for the professional comprises the steps of selecting one point on the AR device as a coordinate origin o ', taking a left direction parallel to a throwing screen as an axis a, taking a visual front direction perpendicular to the axis a as an axis b, and taking a c axis perpendicular to an ao' b plane to the upward direction, and establishing the AR device coordinate system F; any point coordinate of the city can be input into the AR device through voice or the mobile terminal.
5. The method of claim 4, wherein the body frame is made of a transparent material.
6. The method according to any one of claims 1-5, wherein navigating in a real scene specifically comprises:
s3-1, sending the coordinate of the origin o' of the current AR device coordinate system F to the AR device through the mobile terminal app or voice;
s3-2, according to the position of the current AR device coordinate, based on the combined three-dimensional information model Mod3D' obtaining a straight line segment L between the position and the target position, and setting a combined three-dimensional information model Mod to be passed3D' establishing a navigation planning suggested path between two adjacent points in the plurality of intermediate points, and putting at least one of the plurality of intermediate points and the target point representation symbol and/or the navigation planning suggested path in a putting screen of the AR device for display; the target location refers to a ground section corresponding to the interested underground pipeline section, and the position of the meter or the networking device;
s3-3, walking according to the representation symbol displayed by the throwing and the navigation planning suggested path until the navigation is finished by being closest to the target place;
whereinBased on the combined three-dimensional information model Mod in the step S3-23D' obtaining a straight line segment L between the position and the target position, and setting a combined three-dimensional information model Mod to be passed3DThe plurality of intermediate locations in' specifically include:
the S3-2-1AR device sends coordinates of an origin o' of an input coordinate system F under E to a server S as the position, and the server S is utilized to combine a three-dimensional information model Mod3D' establishing a straight line segment L between said location in and said target location;
s3-2-2 equally dividing the straight line segment L into a plurality of straight line segments pi of a preset number of parts, i being 1,2.. k-1, k being a preset number of parts, for each straight line segment pi, gradually searching for an abscissa and an ordinate under E using a plurality of moving points moving away from the midpoint or the bisector in directions of both sides of L, starting from a midpoint thereof, or starting using each bisector of the straight line segment L;
s3-2-3, continuously calculating the moving points under E obtained by the step-by-step search in the step 3-2-2 to obtain the distance of the nearby road index points in the index library K, and when the distance is the nearest one, taking the nearest one as the middle point corresponding to each straight line segment pi or each bisector,
the two-side directions are preferably two-side directions parallel to an X or Y axis of the E, or a direction perpendicular to the straight line segment L, or two-side directions parallel to the X axis and the Y axis of the E and a multi-direction simultaneous search of three directions perpendicular to the direction of the straight line segment L; when the multi-direction search is selected, each step of search results in the step-by-step search is an average value of the abscissa and the ordinate in all directions, and the average value comprises an arithmetic average value or a weighted average value;
the maintenance flow guidance specifically comprises:
s3-1', when the professional arrives at the target site, the live video is taken by the AR device to transmit the picture to the server S,
the method comprises the steps that S3-2' the server S sends a mark symbol and problem information of a target place to an AR device according to a view screen picture, the mark symbol and the problem information are displayed at corresponding positions of a projector in a real scene of a scene, and the AR device shoots a scene video picture Pic marked with the mark symbol and the problem information through a high-definition pinhole camera and returns the scene video picture Pic to a monitoring center C;
the method comprises the steps that S3-3' monitoring center C formulates a maintenance flow according to a picture Pic returned in real time and data of field detection of professionals, the flow is sent to an AR device in real time and projected on a projection screen, and the professionals perform maintenance operation according to the maintenance flow;
the indicating the user meter and the orientation of the networked device in the real scene when the user enters the home specifically includes:
when the professional arrives at the target location, the server S combines the coordinate origin o' coordinate and the b axis vector sent by the AR device with the combined three-dimensional information model Mod3DThe method comprises the steps that coordinates of a corresponding coordinate origin o 'and a corresponding b-axis vector are matched to indicate a metering table and a networking device in a real scene, and when the distance l between the coordinate origin o' sent by an AR device and the geographic positions of the metering table and the networking device is smaller than a preset distance, different geometric figures are used in a projection screen of the AR device to respectively indicate the user metering table and the networking device; the distance l is equal to [0.1m,500m ]]。
7. An urban underground pipeline model-based augmented reality monitoring and management system implementing the method according to any one of claims 1 to 6,
comprises a data acquisition and transmission and geographical positioning device A, a geographical positioning device B, a pipeline leakage detector, an underground optical fiber routing fault locator, a server S, a monitoring center C, a user and a professional mobile terminal provided with a monitoring and management application program app, and an AR device for professionals,
the data acquisition, transmission and geographical positioning device A is used for being installed in a user meter, and acquiring and transmitting the reading and geographical positioning information of the meter;
the geographic positioning device B is used for being installed in a networking device, and acquiring and sending geographic positioning information of the networking device;
the pipeline leakage detector is used for periodically detecting underground water and gas pipeline leakage, the pipeline leakage detector comprises a handheld underground or wall-buried pipeline leakage detector and/or a cart-type underground pipeline leakage detector, and the underground optical fiber routing fault locator is used for periodically detecting the underground optical fiber routing fault;
the server S and the monitoring center C are interconnected with the mobile terminal information through the app, and the server S is used for acquiring the data in real time, detecting the data and the geographic positioning, and marking the data and the geographic positioning on the combined three-dimensional information model Mod3DAnd will be marked with the combined three-dimensional information model Mod of data and geographical positioning3D' to a monitoring center C and for navigating said AR device;
the monitoring center C is based on a model Mod3DThe method comprises the steps of' monitoring and managing urban water, gas pipelines and optical fiber networks, wherein the management comprises data processing analysis, remote guidance of water-gas network maintenance, data, geographic positioning and model Mod3D' any one or a combination thereof is sent to the user and the professional through the app, and a notification announcement is issued to the user and the professional;
the AR device for the professionals is used for navigating the professionals to a target place, displaying a mark symbol and problem information of the target place in real time and/or displaying a maintenance flow, shooting a scene screen picture and returning the picture to the monitoring center C, and comprises a head-mounted AR device.
8. The system of claim 7, wherein the head-mounted AR device is AR glasses.
9. A computer-readable non-transitory storage medium in which a program operable by the server S and the monitoring center C to implement the method for augmented reality monitoring and management based on the urban underground pipeline model according to any one of claims 1 to 6 is stored.
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