CN115497189B - Reservoir inspection system based on 5G and UWB AR glasses - Google Patents
Reservoir inspection system based on 5G and UWB AR glasses Download PDFInfo
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- CN115497189B CN115497189B CN202211130760.5A CN202211130760A CN115497189B CN 115497189 B CN115497189 B CN 115497189B CN 202211130760 A CN202211130760 A CN 202211130760A CN 115497189 B CN115497189 B CN 115497189B
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- 239000011521 glass Substances 0.000 title claims abstract description 138
- 238000007689 inspection Methods 0.000 title claims abstract description 138
- 238000000034 method Methods 0.000 claims abstract description 36
- 230000008569 process Effects 0.000 claims abstract description 24
- 238000004364 calculation method Methods 0.000 claims abstract description 17
- 238000013507 mapping Methods 0.000 claims abstract description 10
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims description 29
- 238000003384 imaging method Methods 0.000 claims description 13
- 238000005259 measurement Methods 0.000 claims description 9
- 230000008676 import Effects 0.000 claims description 8
- 238000012423 maintenance Methods 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 7
- 230000005856 abnormality Effects 0.000 claims description 6
- 238000011835 investigation Methods 0.000 claims description 3
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- 238000006243 chemical reaction Methods 0.000 abstract description 4
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- 210000001503 joint Anatomy 0.000 abstract description 4
- 230000004927 fusion Effects 0.000 abstract description 3
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- 230000002159 abnormal effect Effects 0.000 description 2
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- 230000004888 barrier function Effects 0.000 description 1
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/332—Displays for viewing with the aid of special glasses or head-mounted displays [HMD]
- H04N13/344—Displays for viewing with the aid of special glasses or head-mounted displays [HMD] with head-mounted left-right displays
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The invention provides a reservoir inspection system based on 5G and UWB AR glasses, which comprises AR glasses, UWB base stations and a remote server side at the positions of inspection personnel; the AR glasses are provided with UWB labels and 5G communication modules; the UWB base station performs positioning calculation on the UWB tag to obtain positioning information of the AR glasses, and sends the positioning information to a remote server; the remote server maps the positioning information of the AR glasses in the three-dimensional model by coordinate mapping, retrieves the inspection point model data around the current coordinates of the AR glasses, and sends the inspection point model data to the AR glasses through a 5G network for comparing the reservoir model image with the inspection site image in the inspection process; the invention is based on a 5G network and an AR glasses virtualization technology, performs fusion conversion mapping on a virtualized scene and an actual scene, and is in data butt joint with a reservoir dam safety monitoring system to finish high-efficiency patrol and obstacle-removing tasks.
Description
Technical Field
The invention relates to the technical field of reservoir operation and maintenance, in particular to a reservoir inspection system based on 5G and UWB AR glasses.
Background
The construction of informatization of the current part of reservoirs is finished, the operation information of the reservoirs can be acquired through a certain number of sensing terminals of the Internet of things, a certain threshold value is monitored and observed, and the overall operation condition of the dam is obtained, but the informatization is established on the basis of the sensing terminals of the Internet of things, so that when equipment is abnormal in operation or equipment data is abnormal, a reservoir management department is often required to carry out inspection or barrier removal work order issuing, and workers are arranged to carry out inspection.
The manual inspection process mainly relates to equipment searching, equipment photographing, equipment surrounding environment photographing in the field, and uploading and checking the actual photographing result, so that the integral inspection work of reservoir safety management is completed.
Meanwhile, if the obstacle removing is involved, the equipment can be required to be disassembled, assembled, and the links are checked. If the local patrol personnel cannot perform equipment disassembly and assembly work, the patrol personnel are required to perform real-time video guidance work.
The prior art mainly comprises the following aspects of daily inspection work of reservoirs:
1. unmanned aerial vehicle flight inspection or unmanned ship inspection, etc.: the scheme has certain limitation, the control and the precision of the inspection area can only be temporarily stopped on the surface of the reservoir for inspection, the function of inspection guidance is not provided, and the final inspection detail confirmation of the reservoir still needs to be manually confirmed and inspected for the second time.
2. The inspection scheme of the inspection vehicle comprises the following steps: the current vehicle inspection scheme based on reservoir scenes is mainly limited by road parts, and has limitation on the dam safety monitoring state of partial reservoirs, for example, whether equipment is normal or not can be judged based on the running state of the equipment on the basis of how the indoor equipment of the reservoirs is inspected, and the secondary inspection is needed manually.
3. The manual inspection scheme comprises the following steps: the scheme is also a main stream inspection scheme which is mainly used for finishing or not carrying out the informatization reconstruction of the reservoir dam safety supervision.
The disadvantage of the current technical scheme is that the pure manual regular inspection or fault and information triggered inspection has the following problems:
1) The patrol personnel is occupied with both hands and cannot operate;
2) The command center cannot see the state of the patrol personnel in real time;
3) Reservoir equipment is complex, and inspection personnel need to bear load to go forward;
4) When equipment is maintained or installed, the paper description file is difficult to store, and the guiding degree and the convenience degree are complex.
In the field inspection engineering team, reservoir engineering and operation management departments such as reservoir administration and reservoir operation management department, the reservoir inspection personnel are found to have no engineering expertise mostly, and expert on-site support or remote support is often needed in the fault handling and maintenance process. Professional tools are required to be carried during the installation and maintenance of part of reservoir equipment, and the reservoir equipment is supported by combining a product deployment manual or an installation manual. The operation and maintenance construction efficiency is reduced, and the risk of operation and maintenance construction is also larger. Meanwhile, the safety state and the construction state of the integral reservoir are difficult to control for the command center.
Disclosure of Invention
The invention provides a reservoir inspection system based on 5G and UWB AR glasses, which is used for monitoring unique scenes of reservoirs based on water conservancy safety, carrying out fusion conversion mapping on the virtualized scenes and actual scenes based on network characteristics of a 5G network and AR glasses virtualization technology, and carrying out data butt joint with a reservoir dam safety monitoring system to finish high-efficiency inspection and obstacle removal tasks.
The invention adopts the following technical scheme.
A reservoir inspection system based on 5G and UWB AR glasses comprises AR glasses, UWB base stations and a remote server side at the positions of inspection personnel; the AR glasses are provided with UWB labels and 5G communication modules; the UWB base station performs positioning calculation on the UWB tag to obtain positioning information of the AR glasses, and sends the positioning information to a remote server;
the remote server maps the positioning information of the AR glasses in the three-dimensional model by coordinate mapping, retrieves the inspection point model data around the current coordinates of the AR glasses, and sends the inspection point model data to the AR glasses through a 5G network for comparing the reservoir model image with the inspection site image in the inspection process.
The AR glasses are provided with reservoir inspection applications APP, and the APP supports the import of reservoir models and the selection of scenes in the inspection process; in the inspection system, the process of positioning calculation and coordinate mapping comprises the following steps;
step S1, deploying UWB base stations and base stations of a 5G network according to a reservoir actual environment, and positioning UWB labels of AR glasses through the UWB base stations for positioning calculation;
step S2, deploying a positioning solution server in a reservoir machine room to serve as a remote server;
step S3, the patrol personnel wear AR glasses to patrol in the water reservoir area, and according to the current patrol area, the reservoir patrol application APP manually selects an indoor scene and an outdoor scene to trigger a corresponding positioning algorithm;
s4, a positioning server of the UWB base station positions UWB labels of the AR glasses, performs positioning calculation on the AR glasses according to positioning results, and sends the calculated positioning information to a remote server of the rear end;
s5, after receiving positioning information of the AR glasses, the remote server maps current coordinates of the AR glasses into a three-dimensional model of the reservoir according to the positioning information, retrieves inspection point model data around the current coordinates of the AR glasses, and sends the inspection point model data to the AR glasses through a 5G network;
and S6, the reservoir inspection application APP imports the received inspection point model data, and generates corresponding reservoir inspection point model imaging from the inspection point model data according to the view angle of the current AR glasses, and compares the reservoir inspection point model imaging with the actual scenery of the reservoir at the current inspection position.
The three-dimensional model data of the reservoir at the remote server is a reservoir equipment virtual library divided according to scenes in a local AR library, and each scene library comprises coordinates of actual deployment of reservoir equipment; when the coordinates are mapped, the coordinates in the positioning information of the AR glasses are imported into a reservoir model, and when the coordinates of the fixed zone bit corresponding to the reservoir model are (x, y), the fact that the surrounding of the patrol personnel participate in positioning UWB base stations possibly not belonging to the same area is considered, so that the patrol personnel are required to manually select a target patrol scene, and then the actual coordinates (a, b) of the patrol points are obtained through the surrounding UWB base station positioning;
in the step S6, the process of importing the received inspection point model data by the reservoir inspection application APP comprises importing a reservoir landform model, importing a reservoir informatization equipment model and importing a reservoir control equipment model; the reservoir informatization equipment comprises various sensors used for reservoir operation; the reservoir control device comprises a reservoir gate.
When the reservoir inspection system is used for inspection service and obstacle removal service, the method comprises the following steps of;
step A1: the method comprises the steps of issuing daily inspection task arrangement for inspection personnel or alarming inspection tasks issued when a reservoir management platform detects equipment abnormality and data abnormality;
step A2: the patrol personnel carry out root patrol arrangement, wear AR glasses equipment and carry out reservoir safety patrol;
step A3: when the reservoir safety monitoring sensor equipment is subjected to inspection, after inspection personnel see the sensing equipment deeply buried underground or in water in reservoir inspection point model imaging presented in the AR glasses, checking the real-time state of the sensing equipment;
step A4: and for the control equipment and the energy equipment of the machine room or the gate, the inspector reads the information of the opening condition of the gate, the temperature of the machine room and the electric power condition in real time from the imaging of the reservoir inspection point model, and then checks the actual state of the current equipment.
Step A5: if the patrol personnel encounters equipment requiring manual maintenance or obstacle removal in the field patrol process, selecting an AR obstacle removal instruction book of specific equipment from a reservoir patrol application APP for investigation or assembly and disassembly;
step A6: if equipment needing to be remotely supported is encountered in the inspection process, remotely contacting an expert in the background through the reservoir inspection application APP to conduct real-time guidance until the problem is recovered to be normal;
step A7: and the patrol personnel uploads the patrol record and the patrol data to the reservoir management platform through the AR glasses.
The reservoir inspection system is used for equipment installation and adjustment type business and comprises the following steps of;
step B1: when a reservoir needs to be newly added with equipment for installation, a remote service end at the rear end introduces an AR model of the equipment installation instruction into a three-dimensional model of the reservoir in advance, namely converts the installation instruction into the AR model and introduces the AR model into an APP;
step B2: after the constructor takes the AR glasses to the installation position and the remote server receives the positioning information of the AR glasses, the current coordinates of the AR glasses are mapped into the three-dimensional model of the reservoir according to the positioning information, the AR model of the equipment installation description is searched, and the constructor performs real operation installation according to the operation steps in the virtual specification displayed by the AR glasses;
step B3: if the problem that the virtual instruction cannot be solved on the spot and needs to be supported remotely by an expert is solved, the real-time communication between the AR glasses and the command center is realized, the AR visual angle of the executive party is shared to the expert party, and the remote guidance is completed.
When the UWB base station locates the UWB tag of the AR glasses, a locating algorithm for indoor locating is selected according to the indoor locating scene type selected by the patrol personnel in the reservoir patrol application APP, wherein the indoor locating scene is divided into a two-dimensional scene and a one-dimensional scene, the two-dimensional scene comprises a machine room scene, an indoor meeting room scene and a dam body scene, and the one-dimensional scene comprises a culvert scene, a corridor scene and a road scene;
when the patrol personnel select a two-dimensional scene, the reservoir patrol system carries out positioning calculation on UWB labels by at least three UWB base stations, and settles the time difference that the built-in UWB labels reach each UWB base station.
The UWB labels of the AR glasses are at least three in number and are respectively located on the left glasses frame, the right glasses frame and the glasses frame, and the UWB base station is used for positioning the plurality of UWB labels of the AR glasses to determine the current visual angle orientation of the AR glasses.
The UWB base station locates the UWB label of the AR glasses to be located in centimeter level, and adopts the TDOA algorithm, the specific method of the two-dimensional scene is as follows: taking the UWB tag as a mobile station to be positioned, setting the coordinates of the mobile station as (x, y), and the coordinates of the ith UWB base station transmitter as (Xi, yi), wherein the distance between the mobile station and the ith UWB base station transmitter is
R 2 i ＝(X i -x) 2 +(Y i -y) 2 ＝K i -2X i x-2Y i y+x 2 +y 2 A second formula;
wherein K is i ＝X 2 i +Y 2 i A formula III;
by R i，1 To represent the distance difference between the mobile station and base station i and base station 1
Where c is the propagation velocity of the electric wave, d i，1 Is a TDOA measurement;
when three UWB base stations perform TDOA measurement on a mobile station, two TDOA measurement values are obtained to form a nonlinear equation set
From R 2 i ＝(R i，1 +R 1 ) 2 The formula six is used for carrying out linearization processing on the nonlinear equation set to solve, and specifically comprises the following steps:
the formula six expands to
R i，1 2 +2R i，1 R 1 +R 2 1 ＝K i -2X i x-2Y i y+x 2 +y 2 Equation seven
When i=1, equation two is
R 2 1 ＝K 1 -2X 1 x-2Y 1 y+x 2 +y 2 Formula eight;
subtracting the formula eight from the formula II to obtain
R i，1 2 +2R i，1 R 1 ＝K i -2X i，1 x-2Y i，1 y-K 1 Formula nine;
nine is a linear equation, where X i，1 ＝X i -X 1 ，Y i，1 ＝Y i -Y 1 Consider y, R1 as an unknown;
after corresponding UWB base station reference coordinates are noted on a settlement server of a remote server, UWB labels of the AR glasses are registered on the settlement server, and two-dimensional coordinates of the AR glasses are obtained on a positioning plane;
the method of the one-dimensional scene comprises the following steps: the time difference between the UWB tag and the UWB base station A, UWB base station B is positioned, a time synchronization mechanism is arranged between the base stations, when known data firstly arrives at the base station B, the real-time positioning data of the UWB tag can be solved, and finally the positioning track is a straight line between the AB.
The invention monitors the unique scene of the reservoir based on water conservancy safety, performs fusion conversion mapping on the virtualized scene and the actual scene based on the network characteristics of the 5G network and the AR glasses virtualization technology, and performs data butt joint with the reservoir dam safety monitoring system to complete the high-efficiency transparent inspection and obstacle removal tasks. .
According to the invention, through the construction of the model, the models of the reservoir dam model, the reservoir equipment model and the reservoir related sensor are constructed and are imported into AR application, and the real-time downloading display or the real-time sharing view angle is carried out through a 5G cellular network. Thereby completing the transparent guidance of inspection and obstacle removal.
The invention relates to the technical necessity of the conversion of the physical position of AR glasses and specific model coordinates. The invention is mainly based on the uwb base station, and can realize centimeter-level positioning to perform entity positioning of the AR glasses. After the AR glasses physical location is completed, coordinate settlement is performed, and thus the AR glasses physical location is imported into the model. The imaging technology in the inspection process is further realized, and the following functions can be carried;
1. the invention supports real-time monitoring, namely: real-time data of each measuring point, an operating state, a measuring point deployment position, a measuring point cable routing pipeline and the like.
2. The invention supports the import of installation libraries: the practical installation manual and the obstacle removing manual of reservoir equipment are converted into virtual application, so that a 'handle' is used for teaching inspection personnel to perform fault inspection and equipment installation or replacement.
3. The invention supports the remote projection function: the patrol personnel can link the actual scene into the remote command center through wearing the AR glasses, so that the remote decision, remote guidance and the like of the expert are realized.
4. The invention can virtualize informatization equipment and control surface equipment in the reservoir environment based on the AR model of the reservoir scene importing equipment, and import the informatization equipment and the control surface equipment into the model of the reservoir together.
5. The invention can establish a reservoir scenerization equipment library, and comprises virtual investigation instruction, equipment disassembly instruction and equipment installation and debugging instruction.
6. The AR glasses support the 5G module and can be linked with the reservoir management platform in real time through a cellular network.
7. The AR glasses support the UWB module, and can realize indoor and outdoor centimeter-level positioning through the UWB base station.
The invention has the technical advantages that:
the technical advantages are that:
1. compare traditional manual work and patrol and examine, use AR glasses to carry out virtual combination, can be followed original fixed point and patrol and examine the extension and to more detailed patrol and examine to AR glasses carries out data butt joint with reservoir management platform, makes the personnel of patrolling and examining can get rid of traditional cell-phone docking platform's operation, through the operation state of vision understanding reservoir more audio-visual.
2. The patrol personnel can carry out problem obstacle removal to the equipment more quickly and more directly by combining with the virtualized operation instruction of the equipment in the obstacle removal process, and can help the patrol personnel to more clearly know the wiring mode of each sensor equipment through the virtual display of the sensor wiring. Thereby achieving more efficient problem localization.
3. Patrol and constructors assemble "instructions" through virtualized equipment in AR glasses. The device can realize the operation of the 'handle', so that a first line of staff gets rid of the dependence on paper specifications, and the installation and disassembly efficiency is improved.
4. The visual angle of first-line personnel is transmitted to the reservoir command center in real time through the AR glasses, so that the scene of 'in-person' of an expert is realized. Thereby improving the efficiency of the remote support of the experts.
Drawings
The invention is described in further detail below with reference to the attached drawings and detailed description:
FIG. 1 is a schematic flow chart of the coordinate calculation of AR according to the present invention;
FIG. 2 is a schematic flow chart of the invention when inspecting and removing obstacles;
FIG. 3 is a schematic flow chart of the invention when equipment installation and debugging are performed;
FIG. 4 is a schematic diagram of a business data interaction flow between the front-end AR glasses and the rear-end remote server in the inspection process;
FIG. 5 is a schematic distribution diagram of UWB positioning tags and UWB base stations when a patrol personnel selects a one-dimensional scene.
Detailed Description
As shown in the figure, the reservoir inspection system based on the 5G and UWB AR glasses comprises AR glasses, UWB base stations and a remote server side at the positions of inspection personnel; the AR glasses are provided with UWB labels and 5G communication modules; the UWB base station performs positioning calculation on the UWB tag to obtain positioning information of the AR glasses, and sends the positioning information to a remote server;
the remote server maps the positioning information of the AR glasses in the three-dimensional model by coordinate mapping, retrieves the inspection point model data around the current coordinates of the AR glasses, and sends the inspection point model data to the AR glasses through a 5G network for comparing the reservoir model image with the inspection site image in the inspection process.
The AR glasses are provided with reservoir inspection applications APP, and the APP supports the import of reservoir models and the selection of scenes in the inspection process; in the inspection system, the process of positioning calculation and coordinate mapping comprises the following steps;
step S1, deploying UWB base stations and base stations of a 5G network according to a reservoir actual environment, and positioning UWB labels of AR glasses through the UWB base stations for positioning calculation;
step S2, deploying a positioning solution server in a reservoir machine room to serve as a remote server;
step S3, the patrol personnel wear AR glasses to patrol in the water reservoir area, and according to the current patrol area, the reservoir patrol application APP manually selects an indoor scene and an outdoor scene to trigger a corresponding positioning algorithm;
s4, a positioning server of the UWB base station positions UWB labels of the AR glasses, performs positioning calculation on the AR glasses according to positioning results, and sends the calculated positioning information to a remote server of the rear end;
s5, after receiving positioning information of the AR glasses, the remote server maps current coordinates of the AR glasses into a three-dimensional model of the reservoir according to the positioning information, retrieves inspection point model data around the current coordinates of the AR glasses, and sends the inspection point model data to the AR glasses through a 5G network;
and S6, the reservoir inspection application APP imports the received inspection point model data, and generates corresponding reservoir inspection point model imaging from the inspection point model data according to the view angle of the current AR glasses, and compares the reservoir inspection point model imaging with the actual scenery of the reservoir at the current inspection position.
The three-dimensional model data of the reservoir at the remote server is a reservoir equipment virtual library divided according to scenes in a local AR library, and each scene library comprises coordinates of actual deployment of reservoir equipment; when the coordinates are mapped, the coordinates in the positioning information of the AR glasses are imported into a reservoir model, and when the coordinates of the fixed zone bit corresponding to the reservoir model are (x, y), the fact that the surrounding of the patrol personnel participate in positioning UWB base stations possibly not belonging to the same area is considered, so that the patrol personnel are required to manually select a target patrol scene, and then the actual coordinates (a, b) of the patrol points are obtained through the surrounding UWB base station positioning;
in the step S6, the process of importing the received inspection point model data by the reservoir inspection application APP comprises importing a reservoir landform model, importing a reservoir informatization equipment model and importing a reservoir control equipment model; the reservoir informatization equipment comprises various sensors used for reservoir operation; the reservoir control device comprises a reservoir gate.
When the reservoir inspection system is used for inspection service and obstacle removal service, the method comprises the following steps of;
step A1: the method comprises the steps of issuing daily inspection task arrangement for inspection personnel or alarming inspection tasks issued when a reservoir management platform detects equipment abnormality and data abnormality;
step A2: the patrol personnel carry out root patrol arrangement, wear AR glasses equipment and carry out reservoir safety patrol;
step A3: when the reservoir safety monitoring sensor equipment is subjected to inspection, after inspection personnel see the sensing equipment deeply buried underground or in water in reservoir inspection point model imaging presented in the AR glasses, checking the real-time state of the sensing equipment;
step A4: and for the control equipment and the energy equipment of the machine room or the gate, the inspector reads the information of the opening condition of the gate, the temperature of the machine room and the electric power condition in real time from the imaging of the reservoir inspection point model, and then checks the actual state of the current equipment.
Step A5: if the patrol personnel encounters equipment requiring manual maintenance or obstacle removal in the field patrol process, selecting an AR obstacle removal instruction book of specific equipment from a reservoir patrol application APP for investigation or assembly and disassembly;
step A6: if equipment needing to be remotely supported is encountered in the inspection process, remotely contacting an expert in the background through the reservoir inspection application APP to conduct real-time guidance until the problem is recovered to be normal;
step A7: and the patrol personnel uploads the patrol record and the patrol data to the reservoir management platform through the AR glasses.
The reservoir inspection system is used for equipment installation and adjustment type business and comprises the following steps of;
step B1: when a reservoir needs to be newly added with equipment for installation, a remote service end at the rear end introduces an AR model of the equipment installation instruction into a three-dimensional model of the reservoir in advance, namely converts the installation instruction into the AR model and introduces the AR model into an APP;
step B2: after the constructor takes the AR glasses to the installation position and the remote server receives the positioning information of the AR glasses, the current coordinates of the AR glasses are mapped into the three-dimensional model of the reservoir according to the positioning information, the AR model of the equipment installation description is searched, and the constructor performs real operation installation according to the operation steps in the virtual specification displayed by the AR glasses;
step B3: if the problem that the virtual instruction cannot be solved on the spot and needs to be supported remotely by an expert is solved, the real-time communication between the AR glasses and the command center is realized, the AR visual angle of the executive party is shared to the expert party, and the remote guidance is completed.
When the UWB base station locates the UWB tag of the AR glasses, a locating algorithm for indoor locating is selected according to the indoor locating scene type selected by the patrol personnel in the reservoir patrol application APP, wherein the indoor locating scene is divided into a two-dimensional scene and a one-dimensional scene, the two-dimensional scene comprises a machine room scene, an indoor meeting room scene and a dam body scene, and the one-dimensional scene comprises a culvert scene, a corridor scene and a road scene;
when the patrol personnel select a two-dimensional scene, the reservoir patrol system carries out positioning calculation on UWB labels by at least three UWB base stations, and settles the time difference that the built-in UWB labels reach each UWB base station.
The UWB labels of the AR glasses are at least three in number and are respectively located on the left glasses frame, the right glasses frame and the glasses frame, and the UWB base station is used for positioning the plurality of UWB labels of the AR glasses to determine the current visual angle orientation of the AR glasses.
The UWB base station locates the UWB label of the AR glasses to be located in centimeter level, and adopts the TDOA algorithm, the specific method of the two-dimensional scene is as follows: taking the UWB tag as a mobile station to be positioned, setting the coordinates of the mobile station as (x, y), and the coordinates of the ith UWB base station transmitter as (Xi, yi), wherein the distance between the mobile station and the ith UWB base station transmitter is
R 2 i ＝(X i -x) 2 +(Y i -y) 2 ＝K i -2X i x-2Y i y+x 2 +y 2 A second formula;
wherein K is i ＝X i 2 +Y i 2 A formula III;
by R i，1 To represent the distance difference between the mobile station and base station i and base station 1
Where c is the propagation velocity of the electric wave, d i，1 Is a TDOA measurement;
when three UWB base stations perform TDOA measurement on a mobile station, two TDOA measurement values are obtained to form a nonlinear equation set
From R 2 i ＝(R i，1 +R 1 ) 2 The formula six is used for carrying out linearization processing on the nonlinear equation set to solve, and specifically comprises the following steps:
the formula six expands to
R i，1 2 +2R i，1 R 1 +R 2 1 ＝K i -2X i x-2Y i y+x 2 +y 2 Formula seven;
when i=1, equation two is
R 2 1 ＝K 1 -2X 1 x-2Y 1 y+x 2 +y 2 Formula eight;
subtracting the formula eight from the formula II to obtain
R i，1 2 +2R i，1 R 1 ＝K i -2X i，1 x-2Y i，1 y-K 1 Formula nine;
nine is a linear equation, where X i，1 ＝X i -X 1 ，Y i，1 ＝Y i -Y 1 Consider y, R1 as an unknown;
after corresponding UWB base station reference coordinates are noted on a settlement server of a remote server, UWB labels of the AR glasses are registered on the settlement server, and two-dimensional coordinates of the AR glasses are obtained on a positioning plane;
the method of the one-dimensional scene comprises the following steps: the time difference between the UWB tag and the UWB base station A, UWB base station B is positioned, a time synchronization mechanism is arranged between the base stations, when known data firstly arrives at the base station B, the real-time positioning data of the UWB tag can be solved, and finally the positioning track is a straight line between the AB.
Claims (5)
1. Reservoir inspection system based on 5G and UWB AR glasses, its characterized in that: the inspection system comprises AR glasses, UWB base stations and a remote server side at the positions of inspection personnel; the AR glasses are provided with UWB labels and 5G communication modules; the UWB base station performs positioning calculation on the UWB tag to obtain positioning information of the AR glasses, and sends the positioning information to a remote server;
the remote server maps the positioning information of the AR glasses in the three-dimensional model by coordinate mapping, retrieves the inspection point model data around the current coordinates of the AR glasses, and sends the inspection point model data to the AR glasses through a 5G network for comparing the reservoir model image with the inspection site image in the inspection process;
the AR glasses are provided with reservoir inspection applications APP, and the APP supports the import of reservoir models and the selection of scenes in the inspection process; in the inspection system, the process of positioning calculation and coordinate mapping comprises the following steps;
step S1, deploying UWB base stations and base stations of a 5G network according to a reservoir actual environment, and positioning UWB labels of AR glasses through the UWB base stations for positioning calculation;
step S2, deploying a positioning solution server in a reservoir machine room to serve as a remote server;
step S3, the patrol personnel wear AR glasses to patrol in the water reservoir area, and according to the current patrol area, the reservoir patrol application APP manually selects an indoor scene and an outdoor scene to trigger a corresponding positioning algorithm;
s4, a positioning server of the UWB base station positions UWB labels of the AR glasses, performs positioning calculation on the AR glasses according to positioning results, and sends the calculated positioning information to a remote server of the rear end;
s5, after receiving positioning information of the AR glasses, the remote server maps current coordinates of the AR glasses into a three-dimensional model of the reservoir according to the positioning information, retrieves inspection point model data around the current coordinates of the AR glasses, and sends the inspection point model data to the AR glasses through a 5G network;
s6, the reservoir inspection application APP imports the received inspection point model data, and generates corresponding reservoir inspection point model imaging from the inspection point model data according to the view angle of the current AR glasses, and compares the reservoir inspection point model imaging with the actual scenery of the reservoir at the current inspection position;
when the UWB base station locates the UWB tag of the AR glasses, a locating algorithm for indoor locating is selected according to the indoor locating scene type selected by the patrol personnel in the reservoir patrol application APP, wherein the indoor locating scene is divided into a two-dimensional scene and a one-dimensional scene, the two-dimensional scene comprises a machine room scene, an indoor meeting room scene and a dam body scene, and the one-dimensional scene comprises a culvert scene, a corridor scene and a road scene;
when a patrol personnel selects a two-dimensional scene, the reservoir patrol system carries out positioning calculation on UWB labels by at least three UWB base stations, and settles the time difference of reaching each UWB base station through the built-in UWB labels; the UWB base station locates the UWB label of the AR glasses to be located in centimeter level, and adopts the TDOA algorithm, the specific method of the two-dimensional scene is as follows: taking the UWB tag as a mobile station to be positioned, setting the coordinates of the mobile station as (x, y), and the coordinates of the ith UWB base station transmitter as (Xi, yi), wherein the distance between the mobile station and the ith UWB base station transmitter is
R 2 i ＝(X i -x) 2 +(Y i -y) 2 ＝K i -2X i x-2Y i y+x 2 +y 2 A second formula;
wherein K is i ＝X 2 i +Y 2 i A formula III;
by R i,l To represent the distance difference between the mobile station and the base station i
A formula IV;
where c is the propagation velocity of the electric wave, d i,l Is a TDOA measurement;
when three UWB base stations perform TDOA measurement on a mobile station, two TDOA measurement values are obtained to form a nonlinear equation set
A fifth formula;
from R 2 i ＝(R i，1 +R 1 ) 2 The formula six is used for carrying out linearization processing on the nonlinear equation set to solve, and specifically comprises the following steps:
the formula six expands to
R i，1 2 +2R i，1 R 1 +R 2 1 ＝K i -2X i x-2Y i y+x 2 +y 2 Formula seven;
when i=1, equation two is
R 2 1 ＝K 1 -2X 1 x-2Y 1 y+x 2 +y 2 Formula eight;
subtracting the formula eight from the formula II to obtain
R i，1 2 +2R i，1 R 1 ＝K i -2X i，1 x-2Y i，1 y-K 1 Formula nine;
nine is a linear equation, where X i，1 ＝X i -X 1 ，Y i，1 ＝Y i -Y 1 Consider y, R1 as an unknown;
after corresponding UWB base station reference coordinates are noted on a settlement server of a remote server, UWB labels of the AR glasses are registered on the settlement server, and two-dimensional coordinates of the AR glasses are obtained on a positioning plane;
the method of the one-dimensional scene comprises the following steps: the time difference between the UWB tag and the UWB base station A, UWB base station B is positioned, a time synchronization mechanism is arranged between the base stations, when known data firstly arrives at the base station B, the real-time positioning data of the UWB tag can be solved, and finally the positioning track is a straight line between the AB.
2. The reservoir inspection system based on 5G and UWB AR glasses of claim 1, wherein: the three-dimensional model data of the reservoir at the remote server is a reservoir equipment virtual library divided according to scenes in a local AR library, and each scene library comprises coordinates of actual deployment of reservoir equipment; when the coordinates are mapped, the coordinates in the positioning information of the AR glasses are imported into a reservoir model, and when the coordinates of the fixed zone bit corresponding to the reservoir model are (x, y), the fact that the surrounding of the patrol personnel participate in positioning UWB base stations possibly not belonging to the same area is considered, so that the patrol personnel are required to manually select a target patrol scene, and then the actual coordinates (a, b) of the patrol points are obtained through the surrounding UWB base station positioning;
in the step S6, the process of importing the received inspection point model data by the reservoir inspection application APP comprises importing a reservoir landform model, importing a reservoir informatization equipment model and importing a reservoir control equipment model; the reservoir informatization equipment comprises various sensors used for reservoir operation; the reservoir control device comprises a reservoir gate.
3. The reservoir inspection system based on 5G and UWB AR glasses of claim 1, wherein: when the reservoir inspection system is used for inspection service and obstacle removal service, the method comprises the following steps of;
step A1: the method comprises the steps of issuing daily inspection task arrangement for inspection personnel or alarming inspection tasks issued when a reservoir management platform detects equipment abnormality and data abnormality;
step A2: the patrol personnel carry out root patrol arrangement, wear AR glasses equipment and carry out reservoir safety patrol;
step A3: when the reservoir safety monitoring sensor equipment is subjected to inspection, after inspection personnel see the sensing equipment deeply buried underground or in water in reservoir inspection point model imaging presented in the AR glasses, checking the real-time state of the sensing equipment;
step A4: for a machine room or control equipment and energy equipment of a gate, after the gate opening condition, the machine room temperature and the electric power condition information are read in real time from reservoir inspection point model imaging by inspection personnel, the actual state of the current equipment is checked;
step A5: if the patrol personnel encounters equipment requiring manual maintenance or obstacle removal in the field patrol process, selecting an AR obstacle removal instruction book of specific equipment from a reservoir patrol application APP for investigation or assembly and disassembly;
step A6: if equipment needing to be remotely supported is encountered in the inspection process, remotely contacting an expert in the background through the reservoir inspection application APP to conduct real-time guidance until the problem is recovered to be normal;
step A7: and the patrol personnel uploads the patrol record and the patrol data to the reservoir management platform through the AR glasses.
4. The reservoir inspection system based on 5G and UWB AR glasses of claim 1, wherein: the reservoir inspection system is used for equipment installation and adjustment type business and comprises the following steps of;
step B1: when a reservoir needs to be newly added with equipment for installation, a remote service end at the rear end introduces an AR model of the equipment installation instruction into a three-dimensional model of the reservoir in advance, namely converts the installation instruction into the AR model and introduces the AR model into an APP;
step B2: after the constructor takes the AR glasses to the installation position and the remote server receives the positioning information of the AR glasses, the current coordinates of the AR glasses are mapped into the three-dimensional model of the reservoir according to the positioning information, the AR model of the equipment installation description is searched, and the constructor performs real operation installation according to the operation steps in the virtual specification displayed by the AR glasses;
step B3: if the problem that the virtual instruction cannot be solved on the spot and needs to be supported remotely by an expert is solved, the real-time communication between the AR glasses and the command center is realized, the AR visual angle of the executive party is shared to the expert party, and the remote guidance is completed.
5. The reservoir inspection system based on 5G and UWB AR glasses of claim 1, wherein: the UWB labels of the AR glasses are at least three in number and are respectively located on the left glasses frame, the right glasses frame and the glasses frame, and the UWB base station is used for positioning the plurality of UWB labels of the AR glasses to determine the current visual angle orientation of the AR glasses.
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