CN201673267U - Life detection and rescue system based on augmented reality - Google Patents
Life detection and rescue system based on augmented reality Download PDFInfo
- Publication number
- CN201673267U CN201673267U CN201020193530XU CN201020193530U CN201673267U CN 201673267 U CN201673267 U CN 201673267U CN 201020193530X U CN201020193530X U CN 201020193530XU CN 201020193530 U CN201020193530 U CN 201020193530U CN 201673267 U CN201673267 U CN 201673267U
- Authority
- CN
- China
- Prior art keywords
- life
- dimensional
- person
- rescue
- augmented reality
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The utility model discloses a life detection and rescue system based on augmented reality. The utility model herein comprises a life survey meter integrated with a three dimensional electron compass, wherein the three dimensional electron compass and the life survey meter are all connected to a wearable computer; wherein the wearable computer is connected to a positioning equipment and a helmet display, the helmet display being integrated with the three dimensional electron compass and a CCD camera. The measuring of multi-points (at least two points) by means of life survey meter, high accuracy three dimensional electron compass, high accuracy positioning equipment can give an accurate measuring of the three dimensional position of the buried person. Rescuers then can use the high accuracy positioning equipment, the wearable computer, the helmet display and the augmented reality software system in the wearable computer for real-time observation of on-site video image of superposed three dimensional virtual graphs of buried person, the on-site video image being capable of changing along with direction changes of rescuers and the visual line. Therefore the utility model herein can give better guidance to rescuing and reduce rescue time.
Description
Technical field
The utility model relates to a kind of life detection and rescue system based on the augmented reality technology.
Background technology
Along with urbanization process is progressively accelerated, the scale of town and country buildings or structures, height and span all increase gradually, and the density of population is also increasing, and the potential danger that earthquake disaster causes grows with each passing day, in case the generation ruinous earthquake will cause the massive losses of people's lives and properties.The loss that causes of earthquake disaster mitigation how to greatest extent, it is the vital task of various countries' protection against and mitigation of earthquake disasters work, wherein how to rescue by pressure and bury personnel, reducing casualties effectively is the top priority of disaster mitigation loss, also is the key link that best embodies out the mitigation actual effect.According to relevant expert's investigation statistics, Tangshan after the earthquake, to be buried personnel by pressure in first day, to rescue the rate of bringing back to life be 81%, rescuing the rate of bringing back to life in second day is 53%, rescuing the rate of bringing back to life in the 3rd day is 36.7%, rescue the rate of bringing back to life in the 4th day and be that to rescue the rate of bringing back to life in 19%, the five day be 7.4 %, late more hope of bringing back to life is just more little.Above-mentioned data show that the time of enforcement relief, more early the personnel that rescue were many more; Especially shaking back 72 hours is relief buried person person's critical period.Fact proved of all previous big shake rescue in home and abroad is buried personnel to pressure and is rescued fast more in time more, and it is big more to rescue the possibility of bringing back to life.Therefore, just become the key of the disaster relief after the shake for buried person person's rapid location, rapid rescue, this also has higher requirement to the rescue technology and equipment simultaneously.At present, the earthquake rescue group of China has been equipped with rescue dogs and multiple search and rescue instrument, comprises acoustic vibration life-detection instrument, optics life-detection instrument, infrared statement detection instrument etc.Though these means can detect the existence of life-information, do also not enoughly for aspect, accurate location, so that delayed valuable rescue time.Therefore how accurately to locate, the difficult problem that need to be resolved hurrily of visual rescue in current antidetonation rescue.
Augmented reality (AR, Augmented Reality), usually be also referred to as and expand reality, enhancing vision or augmented reality vision, being the new research direction that development is come out on the basis of virtual reality research in the world in recent years, also is a difficult point hot issue of virtual reality research field.The augmented reality technology be exactly virtual image that computing machine is generated or other information organically, in real time, dynamically stack (or fusion) is in the middle of the actual environment that the observer saw, and the actual environment around these virtual informations and the user combines together, make the user be sure of that from sensory effects virtual environment is its organic component of true environment on every side, when the user is mobile in real scene, dummy object also changes thereupon, just look like these dummy objects be really be present in the real scene the same.This enhancing information can be the dummy object that coexists with real-world object in true environment, also can be the non-geological information about the real-world object that exists.From the present situation that develops both at home and abroad at present, augmented reality system still is in laboratory stage, and the tracking registration technology of having succeeded in developing at present generally need just can be obtained accurate result under the condition of ambient controlled.With respect to the development of indoor augmented reality system, the development of outdoor augmented reality system relatively lags behind.Virtual image to be superimposed upon on the scene of objective world exactly, just must determine user's position and direction of visual lines accurately, in real time.For outdoor augmented reality system, the common in the world at present method for tracking and positioning that adopts mainly divides three classes: the registration based on computer vision is located, is located, locatees based on the mixing registration of vision and tracking equipment based on the registration of tracking equipment.Based on the three-dimensional register method of computer vision based on theory on computer vision, the actual environment image that ccd video camera photographs is handled and discerned, obtain trace information, the equipment that is characterized in is simple, with low cost, at present the research based on the registration technology of computer vision is in leading position in the AR field.But, adopt the logon mode of computer vision also improper on a large scale for unknown outdoor environment.Adopt the hi-Fix mode, for example GPS RTK technology can reach centimetre-sized with bearing accuracy, can satisfy the demand of outdoor augmented reality system fully.
Buried person person's information of utilizing the augmented reality technology that life-detection instrument is detected is added on the live video image that the rescue personnel saw in real time, just can make the rescue personnel see buried person person in real time, rescue is shot the arrow at the target more, more important is the rescue time of having saved the dotey, has important practical significance.
The utility model content
The purpose of this utility model is exactly in order to address the above problem, and a kind of life detection and rescue system based on the augmented reality technology is provided, and it can fast, accurately locate buried person person at rescue site, and generates the augmented reality image, instructs the realization of rescue.
For achieving the above object, the utility model adopts following technical scheme:
A kind of life detection and rescue system based on the augmented reality technology, it has comprised the life-detection instrument of three-dimensional electronic compass integrated, three-dimensional electronic compass all is connected with wearable computer with life-detection instrument; Simultaneously wearable computer also is connected with positioning equipment and Helmet Mounted Display, and Helmet Mounted Display also integrated three-dimensional electronic compass and ccd video camera.
Described positioning equipment is GPS receiver or optics or electromagnetism or acoustics positioning equipment.
Described life-detection instrument, positioning equipment and Helmet Mounted Display and wearable computer adopt wired connection or wireless connections mode.
Based on the life detection and the rescue system method of augmented reality technology, its concrete steps are:
A. carry out in real time, measure accurately rescue personnel's three-dimensional position by hi-Fix equipment;
B. utilize three-dimensional electronic compass and life-detection instrument, obtain to measure the three-dimensional information of pointing to buried person person, promptly point to the three-dimensional perspective information of buried person person's life-detection instrument antenna at a certain known location point;
C. by 2 measurement, draw the three-dimensional coordinate of buried person person position, concrete computing method are as follows:
If cross known observation station
And measured the n bar straight line of direction
, wherein, n is a natural number; Then each straight-line equation is as follows:
Wherein
Be respectively the direction cosine of each straight line, for n bar straight line
, the A that should intersect at a point in theory is not because the existence of measuring error can intersect at a point, but can obtain the shortest point of straight line in twos respectively
, then
Mean value be optimal value;
D. the three-dimensional graphic plotting software by wearable computer utilizes step a and the resulting information parameter of step b and goes out virtual pattern based on buried person person's three-dimensional position by the three-dimensional coordinate real-time rendering that step c obtains;
E. obtain the video image of rescue site by the ccd video camera on the Helmet Mounted Display of rescue personnel's wearing;
F. can obtain rescue personnel's direction of visual lines information by the high-precision three-dimensional electronic compass on the Helmet Mounted Display of rescue personnel's wearing;
G. the virtual image of the resulting buried person person of steps d position is utilized the augmented reality software in the wearable computer, the video image of the buried person person's virtual pattern that obtained superposeing;
H. the augmented reality image that step g is obtained is transferred on the Helmet Mounted Display that the rescue personnel dresses, and the rescue personnel is seen in real time superposeed the video image of buried person person's three-dimensional figure;
I. when rescue personnel's position and direction of visual lines changed, the buried person person's that it is seen virtual pattern also correspondingly changed.
Life detection and rescue system and its implementation based on the augmented reality technology of the present utility model, it comprises hardware device and corresponding softwares thereof such as life detection equipment, high-precision three-dimensional electronic compass, positioning equipment, Wearable computer, Helmet Mounted Display, various device all is integrated on the Wearable computer by the corresponding interface, and handles corresponding data by the augmented reality system of moving on the Wearable computer.
The beneficial effects of the utility model are:Can realize the quick, accurate of buried person person located by life-detection instrument and three-dimensional electronic compass, the Helmet Mounted Display of wearing by the rescue personnel at rescue site can be seen the video image of buried person person's three-dimensional figure that superposeed in real time, just as the rescue personnel can really see buried person person, and the corresponding variation along with the variation of rescue personnel position and direction of visual lines of its buried person person's who sees virtual pattern.Thereby can better instruct rescue, shorten rescue time.
Description of drawings
The system construction drawing of Fig. 1 the utility model patent.
Fig. 2 the utility model workflow synoptic diagram.
Fig. 3 measures buried person person position schematic diagram for utilizing life-detection instrument and positioning and directing equipment.
Wherein, 1. life-detection instrument, 2. three-dimensional electronic compass, 3. positioning equipment, 4. Helmet Mounted Display, 5. wearable computer, 6.CCD video camera.
Embodiment
Below in conjunction with drawings and Examples the utility model patent is described further.
Among Fig. 1, native system is integrated hardware device and corresponding softwares such as life-detection instrument 1, high accuracy three-dimensional electronic compass 2, high-precision positioning equipment 3, wearable computer 5, Helmet Mounted Display 4, wherein Helmet Mounted Display 4 is integrated three-dimensional electronic compass 2 and ccd video camera 6.By life-detection instrument 1, three-dimensional electronic compass 2, the multiple spot of positioning equipment 3 (2 points) is measured the three-dimensional position that can accurately measure buried person person, draw out virtual pattern by 5 PaintShop in the wearable computer based on buried person person's three-dimensional position, then by positioning equipment 3, wearable computer 5, augmented reality software systems in Helmet Mounted Display 4 and the wearable computer 5 can make the rescue personnel see in real time to have superposeed the live video image of buried person person's three-dimensional figure, and correspondingly change along with the variation of rescue personnel position and direction of visual lines.
The utility model relates to based on the life detection of augmented reality technology and rescue system and its implementation, and this method utilizes hi-Fix means (for example GPS RTK etc.) in real time, accurately to measure rescue personnel's three-dimensional position; By high-precision three-dimensional electronic compass and life-detection instrument is integrated, can measure the three-dimensional information of pointing to buried person person at a certain known location point, promptly point to the three-dimensional perspective information of buried person person's life-detection instrument antenna; By the detection of multiple spot (2 points), can separate the three-dimensional coordinate of obtaining buried person person position; By the three-dimensional graphic plotting software of Wearable computer, and utilize the coordinate system conversion parameter real-time rendering obtained to go out virtual pattern based on buried person person's three-dimensional position; The Helmet Mounted Display that carries by the rescue personnel can be seen the video image of buried person person's three-dimensional figure that superposeed in real time, when rescue personnel's position and direction of visual lines change, the buried person person's that it is seen virtual pattern also correspondingly changes, just as really seeing buried person person, can better instruct rescue.
Workflow of the present utility model is as shown in Figure 2:
A. can in real time, accurately measure the three-dimensional position of rescue personnel's (being life-detection instrument) by hi-Fix means (for example GPS RTK etc.);
B. by high-precision three-dimensional electronic compass and life-detection instrument is integrated, can measure the three-dimensional information of pointing to buried person person, promptly point to the three-dimensional perspective information of buried person person's life-detection instrument antenna at a certain known location point;
C. by 2 measurement, draw the three-dimensional coordinate of buried person person position, concrete computing method are as follows:
If cross known observation station
And measured the n bar straight line of direction
, wherein, n is a natural number; Then each straight-line equation is as follows:
Wherein
Be respectively the direction cosine of each straight line, for n bar straight line
, the A that should intersect at a point in theory is not because the existence of measuring error can intersect at a point, but can obtain the shortest point of straight line in twos respectively
, then
Mean value be optimal value;
D. the three-dimensional graphic plotting software by the Wearable computer, and utilize step a and the resulting information parameter of step b and the three-dimensional coordinate that obtains by step c can real-time rendering goes out virtual pattern based on buried person person's three-dimensional position;
E. can obtain the video image of rescue site by the ccd video camera on the Helmet Mounted Display of rescue personnel's wearing;
F. can obtain rescue personnel's direction of visual lines information by integrated high-precision three-dimensional electronic compass on the Helmet Mounted Display of rescue personnel's wearing;
G. the three-dimensional figure of the resulting buried person person of steps d position is utilized virtual image in the Wearable computer and the video image software that superposes in real time, real world images is enhanced.
H. will be transferred on the Helmet Mounted Display that the rescue personnel dresses the video image of the buried person person's three-dimensional virtual image that just can obtain having superposeed by the augmented reality image that step g obtains.
I. ((when step f) changed, the buried person person's that it is seen virtual pattern also correspondingly changed, and just as really seeing buried person person, can better instruct rescue for step a) and direction of visual lines when rescue personnel's position.
Utilize hi-Fix means The real time measure rescue personnel's three-dimensional coordinate among the step a.
Carry out high-precision three-dimensional electronic compass and life-detection instrument integrated among the step b, when life-detection instrument has detected life-information and has existed, the indicated direction of life-detection instrument antenna is the direction that life-information exists, and can measure the three-dimensional of life-detection instrument antenna this moment by integrated high-precision three-dimensional electronic compass.
The mensuration of each point has all comprised step a and step b among the step c, can calculate buried person person's three-dimensional location coordinates by repeating the mensuration of multiple spot (2 points).
In the steps d, can calculate the relative coordinate system conversion parameter according to step a and the resulting information of step b, the buried person person's that calculates three-dimensional coordinate is transformed into ccd video camera coordinate system on the Helmet Mounted Display, and, draw out virtual pattern based on buried person person's three-dimensional position by the 3 D image drawing software in the Wearable computer.
Among the step e, the rescue personnel can obtain on-the-spot video image by the ccd video camera on the Helmet Mounted Display of its wearing.
Among the step f, the rescue personnel can obtain the three-dimensional information of direction of visual lines in real time by the high-precision three-dimensional electronic compass on the Helmet Mounted Display of dressing.
In the step g,, realize the real-time stack of buried person person's virtual pattern and live video image by the augmented reality functional software in rescue personnel's Wearable computer.
Among the step h, the rescue personnel can see the rescue site video image of the buried person person's virtual pattern that superposeed in real time by the Helmet Mounted Display of its wearing, and Helmet Mounted Display is connected with the Wearable computer.
In the step I, when rescue personnel's position and direction of visual lines changed, the virtual pattern of stack also correspondingly changed, and just as the rescue personnel really sees buried person person, so just guide rescue carries out efficiently.
The principle schematic that the utility model utilizes life-detection instrument and positioning and directing measuring apparatus buried person person position as shown in Figure 3, the rescue personnel is by life-detection instrument and positioning and directing device measuring and obtain certain any three-dimensional position
And three-dimensional
, in like manner obtain second three-dimensional position
And three-dimensional
, until obtaining the three-dimensional position that n is ordered
And three-dimensional
, can calculate buried person person's three-dimensional location coordinates by relevant space analysis geometric formula.
Claims (3)
1. life detection and rescue system based on an augmented reality technology is characterized in that, it has comprised the life-detection instrument of three-dimensional electronic compass integrated, and three-dimensional electronic compass all is connected with wearable computer with life-detection instrument; Simultaneously wearable computer also is connected with positioning equipment and Helmet Mounted Display, and Helmet Mounted Display also integrated three-dimensional electronic compass and ccd video camera.
2. life detection and rescue system based on the augmented reality technology as claimed in claim 1 is characterized in that, described positioning equipment is GPS receiver or optics or electromagnetism or acoustics positioning equipment.
3. life detection and rescue system based on the augmented reality technology as claimed in claim 1 is characterized in that, described life-detection instrument, positioning equipment and Helmet Mounted Display and wearable computer adopt wired connection or wireless connections mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020193530XU CN201673267U (en) | 2010-05-18 | 2010-05-18 | Life detection and rescue system based on augmented reality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020193530XU CN201673267U (en) | 2010-05-18 | 2010-05-18 | Life detection and rescue system based on augmented reality |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201673267U true CN201673267U (en) | 2010-12-15 |
Family
ID=43330679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201020193530XU Expired - Fee Related CN201673267U (en) | 2010-05-18 | 2010-05-18 | Life detection and rescue system based on augmented reality |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201673267U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101833115A (en) * | 2010-05-18 | 2010-09-15 | 山东师范大学 | Life detection and rescue system based on augment reality technology and realization method thereof |
| CN102622850A (en) * | 2011-01-28 | 2012-08-01 | 索尼公司 | Information processing device, alarm method, and program |
| CN102929391A (en) * | 2012-10-23 | 2013-02-13 | 中国石油化工股份有限公司 | Reality augmented distributed control system human-computer interactive equipment and method |
| CN108132490A (en) * | 2016-12-22 | 2018-06-08 | 大辅科技（北京）有限公司 | Detection system and detection method based on alignment system and AR/MR |
-
2010
- 2010-05-18 CN CN201020193530XU patent/CN201673267U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101833115A (en) * | 2010-05-18 | 2010-09-15 | 山东师范大学 | Life detection and rescue system based on augment reality technology and realization method thereof |
| CN101833115B (en) * | 2010-05-18 | 2013-07-03 | 山东师范大学 | Life detection and rescue system based on augment reality technology and realization method thereof |
| CN102622850A (en) * | 2011-01-28 | 2012-08-01 | 索尼公司 | Information processing device, alarm method, and program |
| CN102929391A (en) * | 2012-10-23 | 2013-02-13 | 中国石油化工股份有限公司 | Reality augmented distributed control system human-computer interactive equipment and method |
| CN102929391B (en) * | 2012-10-23 | 2015-11-04 | 中国石油化工股份有限公司 | The dcs human-computer interaction device of augmented reality and method |
| CN108132490A (en) * | 2016-12-22 | 2018-06-08 | 大辅科技（北京）有限公司 | Detection system and detection method based on alignment system and AR/MR |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101833115B (en) | Life detection and rescue system based on augment reality technology and realization method thereof | |
| JP5682060B2 (en) | Image composition apparatus, image composition program, and image composition system | |
| CN101860562B (en) | Integrated forest fire dynamic monitoring and accurate positioning system and positioning method | |
| CN106990419A (en) | Gas leakage detecting system and method based on the accurate service network of the Big Dipper and AR technologies | |
| CN111192321B (en) | Target three-dimensional positioning method and device | |
| CN103499341B (en) | A kind of using method of electric pole inclination measurement instrument | |
| CN201673267U (en) | Life detection and rescue system based on augmented reality | |
| CN105509716A (en) | Geographic information collection method based on augmented reality technology and device | |
| Fukuda et al. | Improvement of registration accuracy of a handheld augmented reality system for urban landscape simulation | |
| Gee et al. | Augmented crime scenes: virtual annotation of physical environments for forensic investigation | |
| CN108957507A (en) | Fuel gas pipeline leakage method of disposal based on augmented reality | |
| CN108957504A (en) | The method and system of indoor and outdoor consecutive tracking | |
| CN108954017A (en) | Fuel gas pipeline leakage detection system based on augmented reality | |
| KR20190114696A (en) | An augmented reality representation method for managing underground pipeline data with vertical drop and the recording medium thereof | |
| CN111311659A (en) | Calibration method based on three-dimensional imaging of oblique plane mirror | |
| CN111006672A (en) | Indoor navigation model construction and navigation method and system based on augmented reality | |
| JP5862865B2 (en) | Composite image display device and composite image display program | |
| JP6928217B1 (en) | Measurement processing equipment, methods and programs | |
| JP7266422B2 (en) | Gaze behavior survey system and control program | |
| Behzadan et al. | Animation of construction activities in outdoor augmented reality | |
| KR101659089B1 (en) | Augmented reality apparatus using position information | |
| TWI501198B (en) | Slope safety analysis system and its method for applying portable electronic device | |
| CN105100501A (en) | Internet of Things based mobile phone computing system | |
| CN201623731U (en) | Integrated dynamic monitoring and accurate positioning system for forest fires | |
| CN108954016A (en) | Fuel gas pipeline leakage disposal system based on augmented reality |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101215 Termination date: 20140518 |