CN114048541B

CN114048541B - Asset space marking method and system based on digital twins

Info

Publication number: CN114048541B
Application number: CN202210029552.XA
Authority: CN
Inventors: 李刚; 张凤
Original assignee: Shenzhen Qianhai Jarvis Data Consulting Co ltd
Current assignee: Shenzhen Qianhai Jarvis Data Consulting Co ltd
Priority date: 2022-01-12
Filing date: 2022-01-12
Publication date: 2022-04-22
Anticipated expiration: 2042-01-12
Also published as: CN114048541A

Abstract

The invention provides a digital twin-based asset space marking method, which comprises the following steps: receiving a CAD drawing and a BIM model of a building to be managed; carrying out coordinate matching on the CAD drawing and the BIM model to obtain a corresponding relation of a first coordinate point; receiving a place to be shot marked through a CAD drawing; acquiring field image information of a place to be shot; calculating world coordinates of the field image information; carrying out coordinate matching on the CAD drawing of part of the on-site image information and the world coordinate to obtain a corresponding relation of a second coordinate point; according to the corresponding relation of the first coordinate point and the corresponding relation of the second coordinate point, all the on-site image information is superposed into the BIM; receiving a marking instruction of a user for selecting an asset from field image information, picking up a BIM model or world coordinates corresponding to the asset, and setting a marking icon on the BIM model or the world coordinates. The method improves the efficiency of remote asset management and reduces the cost of remote asset management.

Description

Asset space marking method and system based on digital twins

Technical Field

The invention belongs to the technical field of computers, and particularly relates to an asset space marking method and system based on digital twins.

Background

In the operation and maintenance phase of the property, the asset management is one of the important links. The asset management is mainly to acquire the information of the source, quantity, state, use, position and the like of the asset in real time and manage the information regularly.

Traditional asset management is mainly managed by using a 2D map, and the position of an asset can be marked in the 2D map. With the development of informatization technology, asset management has entered the BIM era, and the BIM model not only contains abundant asset information, but also can make the asset position have a three-dimensional real coordinate, thereby improving the management efficiency and quality. The manager can bird's-eye view the distribution position and state of all assets of the whole property through the BIM model, and a foundation is provided for the manager to conveniently check the information of the assets and quickly make a decision. Meanwhile, the personnel for checking, routing inspection and maintenance can position the assets more quickly, so that the planning and execution of the checking, routing inspection and maintenance are more efficient.

The asset management method based on the BIM mainly comprises the steps of marking the position of an asset by utilizing the spatial characteristics of the BIM, specifically, selecting a member or a position in the BIM space through a mouse to place an asset mark, enabling the mark to become a part of the BIM, enabling the mark to have three-dimensional coordinates of a BIM coordinate system, and viewing the asset mark when the BIM is browsed from different angles, so that the management effect is achieved. However, the existing BIM-based asset space tagging technology has the following problems:

1) it is difficult to manage new assets. Since the BIM model is not changed after the handover pipe is completed, the asset information of the BIM model represents initial data of the asset, and the type, number and position of the asset are fixed. If new assets are added later, corresponding positions in the BIM model must be found manually to mark the new assets, the marks are not visual, only one mark can be seen in the BIM model to point to a space without objects, and sufficient data cannot be provided for checking, routing inspection and maintenance personnel.

2) It is difficult to manage movable assets. Since the location of the movable assets is variable, meaning that the asset location seen in the BIM model is not necessarily consistent with reality, this instead provides the manager with erroneous information.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides an asset space marking method and system based on digital twins, which can improve the efficiency of remote asset management and reduce the cost of remote asset management.

In a first aspect, a digital twin-based asset space tagging method comprises the steps of:

receiving a CAD drawing and a BIM model of a building to be managed;

carrying out coordinate matching on the CAD drawing and the BIM model to obtain a corresponding relation of a first coordinate point;

receiving a place to be shot marked through a CAD drawing;

acquiring field image information of a place to be shot;

calculating world coordinates of the field image information;

carrying out coordinate matching on the CAD drawing of part of the on-site image information and the world coordinate to obtain a corresponding relation of a second coordinate point;

according to the corresponding relation of the first coordinate point and the corresponding relation of the second coordinate point, all the on-site image information is superposed into the BIM;

receiving a marking instruction of an asset selected by a user in on-site image information, acquiring a BIM (building information model) or a world coordinate corresponding to the asset according to the marking instruction, and setting a marking icon on the BIM or the world coordinate.

Preferably, after the receiving the CAD drawing and the BIM model of the building to be managed, the method further includes:

and carrying out lightweight processing on the CAD drawing and the BIM model, so that the CAD drawing and the BIM model can be browsed through a browser.

Preferably, the coordinate matching of the CAD drawing and the BIM model to obtain the corresponding relationship of the first coordinate point specifically includes:

extracting two-dimensional coordinates of N identical points from a CAD drawing and a BIM model respectively to obtain CAD coordinates and BIM coordinates corresponding to the N points;

and calculating a first conversion matrix from the CAD coordinates to the BIM coordinates according to the CAD coordinates and the BIM coordinates of the N points, and defining the first conversion matrix as a corresponding relation of the first coordinate points.

Preferably, the live image information is images and videos taken by a panoramic camera provided at a place to be taken in the building to be managed.

Preferably, the calculating the world coordinates of the live image information specifically includes:

splitting a video of the on-site image information into a plurality of photos;

acquiring world coordinates of the first photo;

respectively extracting feature points of all the photos;

and respectively calculating the displacement of the feature points in the subsequent pictures relative to the corresponding feature points in the first picture by taking the first picture as an origin, and calculating the world coordinates of the subsequent pictures according to the displacement.

Preferably, the coordinate matching of the CAD drawing of the part of the live image information and the world coordinate to obtain the corresponding relationship of the second coordinate point specifically includes:

extracting two-dimensional coordinates of a part of to-be-shot place from a CAD drawing to obtain the CAD coordinates of the part of to-be-shot place;

and calculating a second conversion matrix from the world coordinate to the CAD coordinate according to the CAD coordinate and the world coordinate of the part of the place to be shot, and defining the second conversion matrix as a corresponding relation of the second coordinate.

Preferably, the superimposing the on-site image information into the BIM model according to the corresponding relationship of the first coordinate point and the corresponding relationship of the second coordinate point specifically includes:

calculating CAD coordinates of all the places to be shot in the CAD drawing according to the corresponding relation of the second coordinate points and the world coordinates of all the places to be shot;

calculating BIM coordinates of all the places to be shot in the BIM according to the corresponding relation of the first coordinate points and the CAD coordinates of all the places to be shot;

acquiring the height of the panoramic camera, and converting the height to obtain a height component of the height in the BIM;

and combining the BIM coordinates and the height components of the place to be shot in the BIM model to obtain the three-dimensional coordinates of the place to be shot in the BIM model.

Preferably, after obtaining the three-dimensional coordinates of the location to be shot in the BIM model, the method further includes:

constructing a real-scene model according to the image of the on-site image information of the place to be shot;

and establishing a linkage relation between the live-action model and the BIM according to the world coordinates of the place to be shot and the three-dimensional coordinates in the BIM.

Preferably, the receiving a marking instruction of an asset selected by a user from live image information, picking up a BIM model or a world coordinate corresponding to the asset according to the marking instruction, and setting a marking icon on the BIM model or the world coordinate specifically includes:

receiving a marking instruction of selecting one asset from the on-site image information displayed by a user through a browser;

acquiring a BIM model or world coordinates corresponding to the assets according to the marking instruction;

and setting a mark icon at the position of the asset in the on-site image information according to the picked BIM model or world coordinates.

In a second aspect, a digital twin-based asset space tagging system comprises:

a marking unit: the system comprises a computer-aided design (CAD) drawing and a Building Information Model (BIM) model, a first coordinate point corresponding relation and a second coordinate point corresponding relation, wherein the CAD drawing and the BIM model are used for receiving the CAD drawing and the BIM model of a building to be managed, and coordinate matching is carried out on the CAD drawing and the BIM model to obtain the first coordinate point corresponding relation; the marking unit is used for receiving the positions to be shot marked through the CAD drawings; the marking unit is used for calculating world coordinates of the field image information; carrying out coordinate matching on the CAD drawing of part of the on-site image information and the world coordinate to obtain a corresponding relation of a second coordinate point;

panoramic camera: is connected with the marking unit; the panoramic camera is used for acquiring the on-site image information of a place to be shot;

a superimposing unit: is connected with the marking unit; the superposition unit is used for superposing all the on-site image information into the BIM according to the corresponding relation of the first coordinate point and the corresponding relation of the second coordinate point;

a marking unit: is connected with the superposition unit; the marking unit is used for receiving a marking instruction of an asset selected by a user in field image information, picking up a BIM model or a world coordinate corresponding to the asset according to the marking instruction, and setting a marking icon on the BIM model or the world coordinate.

According to the technical scheme, the asset space marking method and system based on the digital twin can carry out digital twin on the real on-site image information of the building to be managed and the BIM model to obtain the digital twin model, and carry out asset marking on the digital twin model. The user can see the actual asset location, including the newly added asset and the movable asset, through the digital twin model. The method can also provide a remote inventory function, and inventory personnel can remotely complete inventory and re-inventory without arriving at the site, so that the efficiency of remote asset management is improved, and the cost of remote asset management is reduced.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a flow diagram of a digital twin-based asset space tagging method provided by a particular embodiment.

Fig. 2 is a flowchart of a method for obtaining a corresponding relationship of a first coordinate point according to an embodiment.

Fig. 3 is a flowchart of a method for calculating world coordinates of live image information according to an embodiment.

Fig. 4 is a flowchart of a method for obtaining a corresponding relationship of a second coordinate point according to an embodiment.

Fig. 5 is a flowchart of a method for superimposing live image information onto a BIM model according to an embodiment.

FIG. 6 is a block diagram of a digital twin based asset space tagging system provided in accordance with an exemplary embodiment.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby. It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

The first embodiment is as follows:

a digital twinning based asset space tagging method, see fig. 1, comprising the steps of:

s1: receiving a CAD drawing and a BIM model of a building to be managed;

s2: carrying out coordinate matching on the CAD drawing and the BIM model to obtain a corresponding relation of a first coordinate point;

s3: receiving a place to be shot marked through a CAD drawing;

s4: acquiring field image information of a place to be shot;

s5: calculating world coordinates of the field image information;

s6: carrying out coordinate matching on the CAD drawing of part of the on-site image information and the world coordinate to obtain a corresponding relation of a second coordinate point;

s7: according to the corresponding relation of the first coordinate point and the corresponding relation of the second coordinate point, all the on-site image information is superposed into the BIM;

s8: receiving a marking instruction of an asset selected by a user in on-site image information, acquiring a BIM (building information model) or a world coordinate corresponding to the asset according to the marking instruction, and setting a marking icon on the BIM or the world coordinate.

In the present embodiment, the building to be managed may be a building, a cell, a factory building, or the like. According to the method, after the CAD drawing and the BIM model of the building to be managed are received, the CAD drawing and the BIM model can be subjected to lightweight processing, and the CAD drawing and the BIM model subjected to lightweight processing are stored, so that the CAD drawing and the BIM model can be browsed through a browser (such as a Web browser), a user can directly operate the Web browser, and the operation of the user is facilitated.

In this embodiment, coordinate matching is a transformation process from one coordinate system to another. The first coordinate point correspondence relationship represents conversion from a CAD coordinate system of the CAD drawing to a BIM coordinate system of the BIM model. The second coordinate point correspondence represents a conversion from the world coordinate system to a CAD coordinate system of the CAD drawing. If the position of any point in the world coordinate system in the BIM coordinate system is required to be obtained, the world coordinate of the point in the world coordinate system is converted into the CAD coordinate in the CAD coordinate system by using the corresponding relation of the second coordinate point, and the CAD coordinate of the point in the CAD coordinate system is converted into the BIM coordinate of the point in the BIM coordinate system by using the corresponding relation of the first coordinate point.

In this embodiment, the location to be photographed may be directly marked on the CAD drawing by the user. And the asset management projects are different, and the marked places to be shot are also different. The method can sequentially mark the places to be shot according to the spatial structure of the building to be managed, for example, marking according to the floors or areas of the building to be managed. The real on-site image information of the building to be managed not only represents on-site omnibearing data, but also provides a foundation for automatically identifying asset positions by utilizing a picture AI identification technology in the following process. The method can periodically acquire the on-site image information of the building to be managed, and ensures that the BIM can overlap the latest on-site image information in time.

In this embodiment, when the user marks an asset, the user may click on a certain asset in the live image information through the mouse. And by utilizing the penetrating function between the layers of the web browser, the BIM model superposed under the field image information also receives a mouse clicking instruction of a user, the BIM model obtains a virtual laser ray pointing to the asset three-dimensional coordinate according to the screen coordinate clicked by the mouse, and the position where the virtual laser ray hits the BIM model is the three-dimensional coordinate picked up by the mouse. For example, a table in the live image information is clicked by a mouse, and if the table also exists in the BIM model, the three-dimensional coordinates of the table in the BIM model can be simultaneously acquired. If a table does not exist in the BIM model, the world coordinates of the table can be obtained.

The method can carry out digital twinning on the real on-site image information of the building to be managed and the BIM model to obtain a digital twinning model, and carries out asset marking on the digital twinning model. The user can see the actual asset location, including the newly added asset and the movable asset, through the digital twin model. The method can also provide a remote inventory function, and inventory personnel can remotely complete inventory and re-inventory without arriving at the site, so that the efficiency of remote asset management is improved, and the cost of remote asset management is reduced.

Further, in some embodiments, referring to fig. 2, the coordinate matching of the CAD drawing and the BIM model to obtain the corresponding relationship of the first coordinate point specifically includes:

s21: extracting two-dimensional coordinates of N identical points from a CAD drawing and a BIM model respectively to obtain CAD coordinates and BIM coordinates corresponding to the N points;

s22: and calculating a first conversion matrix from the CAD coordinates to the BIM coordinates according to the CAD coordinates and the BIM coordinates of the N points, and defining the first conversion matrix as a corresponding relation of the first coordinate points.

In this embodiment, N may be set by the user, and N is equal to or greater than 3, for example, 3 or 4 points may be extracted for each floor, or 3 or 4 points may be extracted for each area. Let N be 3, defined as points A, B and C, respectively. The method comprises the steps of extracting CAD coordinates and BIM coordinates corresponding to a point A, a point B and a point C from a CAD drawing and a BIM model, obtaining the CAD coordinates and the BIM coordinates of the point A, the CAD coordinates and the BIM coordinates of the point B and the CAD coordinates and the BIM coordinates of the point C, and then calculating a conversion matrix according to the CAD coordinates and the BIM coordinates corresponding to the point A, the point B and the point C, so as to obtain a corresponding relation of a first coordinate point. Therefore, the method can calculate the BIM coordinates corresponding to any point in the CAD drawing to the BIM model by utilizing the corresponding relation of the first coordinate point.

Further, in some embodiments, the places to be photographed are stored in a tree structure, wherein the hierarchy of the tree structure is region-multi-layer-point.

In the present embodiment, the places to be photographed may be stored in the database in the form of a tree structure. In order to distinguish the places to be shot conveniently, the hierarchy of the tree structure is region-ridge-layer-point. The hierarchy of the tree structure can also be set by itself according to the construction of the building to be managed. The method can be operated on the mobile terminal, so that a user can accurately find a real site for shooting after checking the hierarchical structure of the site to be shot through the mobile terminal. The user can take pictures in sequence according to the hierarchy of the tree structure, for example, the user can take the scene image information of the same area first and then take the scene image information of the same building.

Further, in some embodiments, the places to be photographed are images and videos photographed by a panoramic camera provided on the places to be photographed in the building to be managed.

In this embodiment, the shooting personnel can enter the scene and shoot after wearing the safety helmet, the shooting personnel can fix the panoramic camera on the safety helmet or on the tripod, the shooting personnel can log in the mobile terminal and connect the panoramic camera, enter into a certain space of a building to be managed, and shoot according to the preset place to be shot in sequence. The mobile terminal can also be provided with a shooting guide, and the user is guided to complete shooting through the functions of voice prompt or screen display. The mobile terminal can also automatically store the field image information obtained by the panoramic camera and upload the stored field image information to the server after shooting is finished.

Further, in some embodiments, referring to fig. 3, calculating world coordinates of live image information specifically includes:

s51: splitting a video of the on-site image information into a plurality of photos;

s52: acquiring world coordinates of the first photo;

s53: respectively extracting feature points of all the photos;

s54: and respectively calculating the displacement of the feature points in the subsequent pictures relative to the corresponding feature points in the first picture by taking the first picture as an origin, and calculating the world coordinates of the subsequent pictures according to the displacement.

In this embodiment, the method completes splitting of the photos according to FPS (generally 30 or 25) of the video, finds out the same feature point in the photos through a feature point algorithm in the split photos, and calculates the relative coordinates of the two photos according to the displacement of the same feature point in the two photos. For example, the first photo may be used as an origin, the displacements of the feature points in the subsequent photos relative to the corresponding feature points in the first photo are respectively calculated, and the world coordinates of the subsequent photos are calculated according to the displacements. If the subsequent picture and the first picture are too long apart to find the same feature point, then the relative coordinates of each other can be calculated by the middle several pictures and finally the world coordinates of the subsequent picture can be calculated by comparison with the first picture.

In this embodiment, after the calculation of the world coordinates of the live image information is completed, the video may be deleted, and the image of the live image information may be retained and superimposed on the BIM model. The method does not superimpose the split picture of the video into the BIM model because the quality of the split picture of the video is not good than that of the directly shot picture, and the color restoration and the fineness of the picture do not meet the requirements of customers. According to the method, the world coordinates are calculated through the pictures split from the video instead of directly calculating the coordinates of the images, because the interval between two adjacent images is too far, enough characteristic points cannot be found for operation, and the interval between the pictures split from the video is short, so that enough characteristic points are available for operation, and the accuracy of the calculation of the world coordinates is improved.

Further, in some embodiments, referring to fig. 4, the coordinate matching performed on the CAD drawing of the part of the live image information and the world coordinate to obtain the second coordinate point correspondence specifically includes:

s61: extracting two-dimensional coordinates of a part of to-be-shot place from a CAD drawing to obtain the CAD coordinates of the part of to-be-shot place;

s62: and calculating a second conversion matrix from the world coordinate to the CAD coordinate according to the CAD coordinate and the world coordinate of the part of the place to be shot, and defining the second conversion matrix as a corresponding relation of the second coordinate.

In this embodiment, it is assumed that 10 places to be photographed are set, and the method selects 3 places to be photographed to calculate the corresponding relationship of the second coordinate point. And the selected places to be shot are respectively defined as a point D, a point E and a point F. The method comprises the steps of firstly extracting CAD coordinates and BIM coordinates corresponding to a D point, an E point and an F point from a CAD drawing to obtain the CAD coordinates and world coordinates of the D point, the CAD coordinates and world coordinates of the E point and the CAD coordinates and world coordinates of the F point, and then calculating a second conversion matrix according to the CAD coordinates and the world coordinates corresponding to the D point, the E point and the F point to obtain a corresponding relation of the second coordinate point. Therefore, the method can calculate the world coordinate of any point in reality corresponding to the CAD coordinate of the CAD drawing by utilizing the corresponding relation of the second coordinate point.

Further, in some embodiments, referring to fig. 5, the superimposing the on-site image information into the BIM model according to the corresponding relationship of the first coordinate point and the corresponding relationship of the second coordinate point specifically includes:

s71: calculating CAD coordinates of all the places to be shot in the CAD drawing according to the corresponding relation of the second coordinate points and the world coordinates of all the places to be shot;

s72: calculating BIM coordinates of all the places to be shot in the BIM according to the corresponding relation of the first coordinate points and the CAD coordinates of all the places to be shot;

s73: acquiring the height of the panoramic camera, and converting the height to obtain a height component of the height in the BIM;

s74: and combining the BIM coordinates and the height components of the place to be shot in the BIM model to obtain the three-dimensional coordinates of the place to be shot in the BIM model.

In this embodiment, when the world coordinates are mapped into the BIM model, the world coordinates are first converted into CAD coordinates by using the corresponding relationship of the second coordinate point, and then the CAD coordinates are converted into BIM coordinates by using the corresponding relationship of the first coordinate point. Since the world coordinate, the CAD coordinate, and the BIM coordinate are two-dimensional coordinates, the method finally requires adding a height component to the converted two-dimensional coordinates to obtain three-dimensional coordinates. Therefore, the method obtains the height of the panoramic camera (if the panoramic camera is fixed on a tripod, the height is the height of the tripod, if the panoramic camera is fixed on a safety helmet, the height is the height of a person), then converts the height into a high-height component in the BIM model, and finally combines the height component with the two-dimensional BIM coordinates to obtain the three-dimensional coordinates of the place to be shot in the BIM model.

Further, in some embodiments, referring to fig. 5, after obtaining the three-dimensional coordinates of the location to be photographed in the BIM model, the method further includes:

s75: constructing a real-scene model according to the image of the on-site image information of the place to be shot;

s76: and establishing a linkage relation between the live-action model and the BIM according to the world coordinates of the place to be shot and the three-dimensional coordinates in the BIM.

In this embodiment, when the method superimposes the real-scene model and the BIM model, the real-scene model may be superimposed on the BIM model, the BIM model is underneath, and the real-scene model is on the plane of the BIM model. The method can also establish the linkage relation between the live-action model and the BIM model, so that when the live-action model is switched, the BIM model can be correspondingly switched, the two models keep consistent linkage, and a digital twin model is formed. The user can pick up the three-dimensional coordinates in the BIM model on the live-action model through a mouse, so that the assets can be directly marked on the live-action model.

Further, in some embodiments, the receiving a marking instruction of an asset selected by a user in live image information, picking up a BIM model or world coordinates corresponding to the asset according to the marking instruction, and setting a marking icon on the BIM model or the world coordinates specifically includes:

In this embodiment, after the linkage relationship between the live-action model and the BIM model is established, when the user marks, the user may directly mark on-site image information (i.e., an image) displayed on the Web browser, or the user may directly view the mark icon through the Web browser, which is convenient to use.

Further, in some embodiments, after receiving a marking instruction of an asset selected by a user in live image information, picking up a BIM model or world coordinates corresponding to the asset according to the marking instruction, and setting a marking icon on the BIM model or the world coordinates, the method further includes:

calculating vector coordinates according to the world coordinates of the assets and the three-dimensional coordinates in the BIM model;

calculating world coordinates in other field image information including the assets according to the vector coordinates;

and setting a mark icon on the world coordinates of the other on-site image information.

In this embodiment, if the asset appears in several pieces of live image information at the same time, and each piece of live image information only sees the asset at different angles and distances, the user only needs to mark the asset in one piece of live image information, and does not need to repeatedly mark other pieces of live image information, and at this time, only needs to restore the mark in other pieces of live image information, and other pieces of live image information can also see the mark of the asset. The process of restoring the asset three-dimensional coordinates in other on-site image information comprises the following steps: calculating vector coordinates from three-dimensional coordinates of the asset in the BIM model and world coordinates of the marked live image information, applying the vector coordinates to other live image information, calculating world coordinates in the other live image information, and then setting a mark icon on the world coordinates. Therefore, the method can connect scattered images in series through the BIM model to form a whole, the assets marked in one image can be checked in other images, and the correct positions of the assets can be automatically calculated and displayed in the marking process, so that a user can conveniently manage the building.

Example two:

a digital twinning based asset space tagging system, see fig. 6, comprising:

marking unit 1: the system comprises a computer-aided design (CAD) drawing and a Building Information Model (BIM) model, a first coordinate point corresponding relation and a second coordinate point corresponding relation, wherein the CAD drawing and the BIM model are used for receiving the CAD drawing and the BIM model of a building to be managed, and coordinate matching is carried out on the CAD drawing and the BIM model to obtain the first coordinate point corresponding relation; the marking unit 1 is used for receiving a place to be shot marked through a CAD drawing; the marking unit 1 is used for calculating world coordinates of the field image information; carrying out coordinate matching on the CAD drawing of part of the on-site image information and the world coordinate to obtain a corresponding relation of a second coordinate point;

the panoramic camera 2: is connected with the marking unit 1; the panoramic camera 2 is used for acquiring the on-site image information of a place to be shot;

the superimposing unit 3: is connected with the marking unit 1; the superposition unit 3 is used for superposing all the on-site image information into the BIM according to the corresponding relation of the first coordinate point and the corresponding relation of the second coordinate point.

For the sake of brief description, the system provided by the embodiment of the present invention may refer to the corresponding content in the foregoing embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims

1. A digital twin-based asset space tagging method is characterized by comprising the following steps:

receiving a CAD drawing and a BIM model of a building to be managed;

receiving a place to be shot marked through the CAD drawing;

acquiring the on-site image information of the place to be shot;

calculating world coordinates of the field image information;

carrying out coordinate matching on the CAD drawing and world coordinates of part of the field image information to obtain a corresponding relation of a second coordinate point;

receiving a marking instruction of an asset selected by a user in field image information, acquiring a BIM (building information model) or a world coordinate corresponding to the asset according to the marking instruction, and setting a marking icon on the BIM or the world coordinate;

the superimposing the on-site image information into the BIM model according to the corresponding relationship of the first coordinate point and the corresponding relationship of the second coordinate point specifically includes:

acquiring the height of a panoramic camera, and converting the height to obtain a height component of the height in the BIM;

combining the BIM coordinates of the place to be shot in the BIM model with the height component to obtain three-dimensional coordinates of the place to be shot in the BIM model;

2. The digital twin-based asset space tagging method of claim 1, further comprising, after said receiving a CAD drawing and a BIM model of a building to be managed:

3. The asset space marking method based on the digital twin as claimed in claim 1, wherein the coordinate matching of the CAD drawing and the BIM model to obtain the first coordinate point correspondence specifically comprises:

extracting two-dimensional coordinates of N identical points from the CAD drawing and the BIM model respectively to obtain CAD coordinates and BIM coordinates corresponding to the N points;

and calculating a first conversion matrix from the CAD coordinates to the BIM coordinates according to the CAD coordinates and the BIM coordinates of the N points, and defining the first conversion matrix as the corresponding relation of the first coordinate points.

4. The digital twin-based asset space tagging method of claim 2,

and the on-site image information is obtained by shooting images and videos by a panoramic camera arranged at the to-be-shot place in the to-be-managed building.

5. The method according to claim 4, wherein the calculating world coordinates of the live imagery information comprises:

splitting the video of the on-site image information into a plurality of photos;

acquiring world coordinates of the first photo;

respectively extracting feature points of all the photos;

and respectively calculating the displacement of the feature points in the subsequent photos relative to the corresponding feature points in the first photo by taking the first photo as an origin, and calculating the world coordinates of the subsequent photos according to the displacement.

6. The asset space marking method based on the digital twin as claimed in claim 4, wherein the coordinate matching of the CAD drawing and world coordinates of the part of the live image information to obtain the corresponding relationship of the second coordinate point specifically comprises:

extracting two-dimensional coordinates of part of the to-be-shot places from the CAD drawing to obtain CAD coordinates of the part of the to-be-shot places;

and calculating a second conversion matrix from the world coordinate to the CAD coordinate according to the CAD coordinate and the world coordinate of the part of the place to be shot, and defining the second conversion matrix as the corresponding relation of the second coordinate.

7. The asset space tagging method based on the digital twin as claimed in claim 6, wherein the receiving a tagging instruction of a user selecting an asset in an on-site image information, picking up a BIM model or world coordinates corresponding to the asset according to the tagging instruction, and setting a tagging icon on the BIM model or world coordinates specifically comprises:

8. A digital twinning-based asset space tagging system, comprising:

a marking unit: the system comprises a computer-aided design (CAD) drawing and a Building Information Model (BIM) model, a first coordinate point corresponding relation and a second coordinate point corresponding relation, wherein the CAD drawing and the BIM model are used for receiving the CAD drawing and the BIM model of a building to be managed, and coordinate matching is carried out on the CAD drawing and the BIM model to obtain the first coordinate point corresponding relation; the marking unit is used for receiving the positions to be shot marked through the CAD drawings; the marking unit is used for calculating world coordinates of the field image information; carrying out coordinate matching on the CAD drawing and world coordinates of part of the field image information to obtain a corresponding relation of a second coordinate point;

panoramic camera: is connected with the marking unit; the panoramic camera is used for acquiring the on-site image information of the place to be shot;

the marking unit is connected with the superposition unit; the marking unit is also used for receiving a marking instruction of an asset selected by a user in field image information, acquiring a BIM (building information modeling) model or a world coordinate corresponding to the asset according to the marking instruction, and setting a marking icon on the BIM model or the world coordinate;

the superposition unit is specifically configured to: