CN108961401A - Excavation householder method and auxiliary system based on augmented reality - Google Patents
Excavation householder method and auxiliary system based on augmented reality Download PDFInfo
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Abstract
The excavation householder method based on augmented reality that the present invention relates to a kind of comprising: excavating equipment is positioned；Transfer the three-dimensional city planting ductwork based on AR near the position location；Acquire the posture of excavating equipment；Three-dimensional city planting ductwork based on AR calculates the relative position of the underground pipe network of excavating equipment.The excavation auxiliary system based on augmented reality that the invention further relates to a kind of.
Description
Technical field
The invention belongs to Urbanization Construction fields, and in particular to a kind of excavation householder method based on augmented reality and
Auxiliary system.
Background technique
Urban construction is inevitably related to native lapicide and makees, but carries out construction excavation in the region for the city planting ductwork that gathers,
It is very easy to cause regional accident because accidentally injuring underground utilities.On the other hand, when underground pipe network needs repairing, due to very
More municipal sector's (water, electricity, gas, heat) underground piping systems are intricate, in underground job work progress, City Buried Pipeline
Positioning be a huge challenge for unit in charge of construction, worker, even if part pipeline is by mapping, and there are drawings, still
Old to be not easy to observe and understand, even if knowing the position of pipeline, but when operating excavating machinery, how accurately control is mechanical
It is also a problem.
Augmented reality abbreviation AR is a kind of by " seamless " the integrated new skill of real world information and virtual world information
Art is the entity information that script is difficult to experience in the certain time spatial dimension of real world, passes through the science such as computer
Technology is superimposed after analog simulation again, virtual Information application to real world is perceived by human sensory, to reach super
More real sensory experience, true environment and virtual object have been added in real time the same picture or space while to be deposited
?.This technology not only presents the information of real world, but also virtual information is shown simultaneously, and two kinds of information are mutual
Supplement, superposition.In the augmented reality of visualization, user utilizes Helmet Mounted Display, real world and the multiple conjunction of computer graphic
At the true world, can be seen around it together.Augmented reality contain multimedia, three-dimensional modeling, in real time
New technologies and the new tools such as video shows and control, Multi-sensor Fusion, real-time tracking and registration, scene fusion, this technology
With the promotion of accompanied electronic product operational capability, the purposes of augmented reality is more and more wider.
Summary of the invention
However current AR application is mostly in more golden collar domains such as amusement, game.Inventor expects, is dug using AR technology to scene
Driving row auxiliary, allows operator " to see " pipeline to underground when operating excavating machinery.Further, inventor wishes to allow
Operator's " seeing " arrives excavating machinery at a distance from underground utilities, so that excavating machinery be avoided to accidentally injure pipeline.
According to the first aspect of the invention, the present invention provides a kind of excavation householder method based on augmented reality,
Comprising:
Excavating equipment is positioned；
Transfer the three-dimensional city planting ductwork based on AR near the position location；
Acquire the posture of excavating equipment；
Three-dimensional city planting ductwork based on AR calculates the relative position of the underground pipe network of excavating equipment.
Preferably, it is provided with inertial sensor on the excavating equipment, for acquiring the posture of excavating equipment.
Preferably, the relative distance of the excavating equipment and underground pipe network is obtained by calculating excavating equipment tip.
Preferably, when the relative distance is less than preset value, alarm is initiated.
Preferably, the relative position is obtained by inside-out technology.
In certain embodiments of the present invention, excavating equipment operation is superimposed on the three-dimensional city planting ductwork described based on AR
Spatial data.
The operating space data include depth, mining head tip location locating for size of digging pit, current operation equipment.
According to the second aspect of the invention, the present invention provides a kind of excavation auxiliary system based on augmented reality,
Comprising:
Positioning unit, for obtaining precise location information；
AR equipment information collection unit, for obtaining orientation information, equipment moving state and deflection angle；
Pipe network data library stores GIS information, pipe network integrity information and pipeline attribute information in relation to pipe network；
Central processing unit transfers the pipe network information of municipal pipeline database according to location information, according to the range of setting
Parameter draws pipe network in three-dimensional model；
Excavating equipment Posture acquisition unit, for obtaining orientation information, equipment moving state and the deflection angle of excavating equipment
Degree.
Preferably, the excavating equipment Posture acquisition unit includes the sensor for needing to be mounted on excavating equipment.
Preferably, the AR equipment information collection unit includes Inside-out module.
Detailed description of the invention
By reading the detailed description of non-limiting embodiments with reference to made by once attached drawing, of the invention other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the schematic diagram for showing schematically the method for some embodiments of the present invention.
Fig. 2 is the system construction drawing for showing schematically certain specific embodiments of the invention.
Fig. 3 is the flow chart for showing schematically the method for some embodiments of the present invention.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it will be apparent to one skilled in the art that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
In the present invention, term " combined tracking technology " refers to the technology positioned using multiple sensors, described more
Kind sensor includes but is not limited to machinery, ultrasonic wave, electromagnetic tracker, global positioning system (Global positioning
System, GPS), digital compass, vision camera or inertia tracker.
Term " generalized information system " GIS belongs to one kind of information system, and it is geographical referring to number that difference is that it can operate and handle
According to.Geography describes the position and category of earth surface (including atmosphere and shallower earth's surface down space) Space Elements referring to data
Property, two kinds of geodata ingredients in GIS: spatial data, it is related with Space Elements geometrical property；Attribute data provides sky
Between element information.
GIS-Geographic Information System (GIS) and global positioning system (GPS), remote sensing (RS) are collectively referred to as 3S.One GIS-Geographic Information System
It is a kind of data management system with information system space specialized form.In a strict sense, this be one have concentrate,
The computer system of storage, operation and display geographical reference information.
GIS data is demonstrated by real world objective objects (highway, land use, height above sea level) in the form of digital data.It is existing
Real world's objective objects can be divided into two abstract concepts: discrete objects (such as house) and continuous object domain (such as rainfall
Amount or height above sea level).This main two kinds of method of two kinds of abstraction storing datas in generalized information system are as follows: grid (grid) and vector.
Grid (grid) data are made of the row and column of storage unique value storage unit.It and grid (grid) image are classes
As, other than using suitable color, the numerical value of each unit record is also likely to be (such as the land use of a sorting group
Situation), a continuous value (such as rainfall) or the null value recorded when data are not available.Raster dataset
Resolution ratio depends on the mesh width of ground unit.It is commonly stored unit and represents the square region on ground, but can also be used to generation
Table other shapes.Raster data can both be used to represent one piece of region, can also be used to indicate a material object.
Geometric figure such as point, line (series of points coordinate) or face is utilized in vector data (shape is decided by line)
Show objective objects.For example, representing produce boundary in house subdivision with polygon, to put come Precise Representation position.Vector
It may also used to the field for indicating that there are consecutive variations.It is indicated using contour and sealene triangle grid (TIN)
The value of height above sea level or other consecutive variations.The record of TIN for these connect into one by triangular at irregular grid
Point is assessed.Face where triangle represents topographical surface.
In addition to geometric vector coordinate or grid cell position come the spatial data expressed other than, other Non-spatial Data
It can also be stored.In vector data, these additional datas are the attribute of objective objects.For example, forest reserves is more
Side shape may include an identifier value and the information in relation to tree families.Cell value can store attribute letter in raster data
Breath, but can also serve as identifier relevant to recording in other tables.
In the present invention, related data information includes the GIS information of pipe network, pipe network integrity information, pipeline attribute
Information etc..The pipeline attribute information includes but is not limited to: caliber, length, wall thickness, weld bond, buried depth, defect, deployment date, dimension
Protect information etc..These information can be drawn by auxiliary becomes three-dimensional tube line, to form visualization effect.
In the present invention, term " CORS " refers to continuous operation (satellite positioning service) reference station (Continuously
Operating Reference Stations), it is abbreviated as CORS).It is established using more base station network RTK technologies, is satellite
The high and new technologies such as location technology, computer networking technology, digital communication technology are multi-faceted, depth crystallization product.CORS system
By five base station net, data processing centre, data transmission system, positioning navigation data broadcasting system, user's application system portions
It is grouped as, is linked into an integrated entity between each base station and monitoring analysis center by data transmission system, form dedicated network.
Term " Inside-out " is a kind of optical tracking system, and light source emitter is mounted on tracked target, obtains
Sensor/mark point of light signal is taken to be fixed in use environment, principle is all the measurement based on triangle polyester fibre algorithm
Target reflects the light either actively emitted, and the spatial position of target is convertible by the special vision algorithm of computer
Data, to realize the position tracking to target.It is not necessarily to the sensor accessory outside, only relies on equipment itself, so that it may
To realize the space orientation in virtual scene, human-computer interaction etc..Specific to VR equipment, then mainly taken the photograph by being installed on the VR helmet
As head, and the VR helmet is allowed oneself can to detect external environment variation, the space bit of the VR helmet is calculated by computer or algorithm chip
It sets.It is exactly depth camera, the environment sensing camera etc. carried by machine such as Microsoft HoloLens for AR equipment
Bring outstanding user experience.
Automatic modeling is formed city planting ductwork based on augmented reality of the invention in the following way:
S110 obtains precise location information, orientation information, elevation information and obtains equipment moving state and deflection angle
Degree.
Current precise location information is obtained by the station GPS, Beidou or CORS；It is obtained by gyroscope, electronic compass accurate
Orientation information；Present level information is obtained in conjunction with GPS positioning data and height above sea level referring to database by pressure sensor；It is logical
Gyroscope is crossed, the motion state and deflection angle of equipment are obtained.
Nearby setting relative positioning point uses relative positioning scheme when location information is inaccurate.For example, can be with
AR marker corresponding in augmented reality content is calibrated according to ground marker.
The land mark object includes but is not limited to: well lid, ground nail, electric pole, mark building, lock well, valve, label
One of or it is a variety of.Preferably, the land mark object is municipal ground facility.
AR marker corresponding in augmented reality content can be calibrated according at least two land mark objects.It is preferred that
At least three land mark objects calibrate AR marker corresponding in augmented reality content.
Right above the land mark object, the x, y, z axis in AR is adjusted, is made in the land mark object and augmented reality
Corresponding AR marker is overlapped in appearance.
S120 transfers the pipe network information of municipal pipeline database according to location information；
GIS information, pipe network integrity information and pipeline attribute information of the municipal pipeline database purchase in relation to pipe network.It is described
Pipeline attribute information includes but is not limited to: caliber, length, wall thickness, weld bond, buried depth, defect, deployment date, maintenance information.
According to location information, the pipe network information near anchor point is transferred.Described " near " can artificially be adjusted by AR equipment
Section, can also preset according to use habit.
S130 draws pipe network in three-dimensional model according to the range parameter of setting；
By drawing reference planes, correct ground perspective relativeness is formed.
S140 is modified according to the position of orientation information, elevation information and deflection angle to threedimensional model.
AR in the present invention shows that equipment includes but is not limited to that AR glasses, AR wear display equipment, smart phone, plate electricity
Brain etc..
It is got in touch with by wireless communication module and satellite, network or mobile base station, obtains location information, carry out data transmission.
Excavation householder method based on augmented reality of the invention, as shown in figure 3, comprising:
S210 positions excavating equipment；
Geographic locating device is installed on excavating equipment, determines that excavation is set using such as GPS or Beidou or mobile base station
Standby geographical location.
S220 transfers the three-dimensional city planting ductwork based on AR near the position location；
GIS information, pipe network integrity information and pipeline attribute information of the three-dimensional municipal pipeline database purchase in relation to pipe network.
The pipeline attribute information includes but is not limited to: caliber, length, wall thickness, weld bond, buried depth, defect, deployment date, maintenance information.
According to location information, the pipe network information near anchor point is transferred.Described " near " can artificially be adjusted by AR equipment
Section, can also preset according to use habit.
The posture of S230 acquisition excavating equipment；
Inertial sensor is installed on excavating equipment, it is preferable that inertial sensor may be mounted at mechanical joint.
It before each starting device, needs to carry out posture initialization, the data that can be then moved according to each artis
To calculate the position excavating cantilever and being presently in.
Since tip can contact a large amount of husky, stone, sensor cannot be installed at tip, be merely able to by cantilever
The movement of sensor calculates the location of tip.
S240 calculates the relative position of the underground pipe network of excavating equipment based on the three-dimensional city planting ductwork of AR.
Display is formed by superposition three-dimensional data based on the above results in AR three-dimensional pipeline, including size of digging pit, current
Operate depth, mining head tip location locating for equipment.
By the position for digging head, elevation information and three-dimensional tube line number according to being compared, as operation and the foundation alarmed.Work as digging
When pick tip is located in preset threshold range close to pipeline, warning message is provided.
Embodiment 1
(1) self-position is positioned, three-dimensional city planting ductwork is shown in AR equipment.
(2) inertial sensor is installed on excavating equipment, the position where cantilever to understand current excavating equipment.It is excellent
Selection of land, inertial sensor may be mounted at mechanical joint.
(3) attitude control system is used, conveys athletic posture to system by excavating equipment.
Cantilever is adjusted to the position of some agreement (as all stretched joint to water by activation system and all sensors
Flat or all joints bend 90 degree clockwise), carry out system initialization.At this point, system will record current posture and sensor
Position, be defined as at 0 point.Such as definition mining machine initial position is (X0, Y0, Z0), first artis initial position is (X1,
Y1, Z1), n-th of artis initial position is (Xn, Yn, Zn)。
(4) relative position at excavating equipment tip is calculated.
When cantilever starts free movement, each artis is likely to occur 6 to movement.When being subjected to displacement, by continuing
The 6 of each node are tracked to motion information, the motion profile of egress can be drawn, (including is dug to calculate each node
Pick machine) real-time displacement.Offset passes to system, and system calculates the appearance of entire cantilever according to the offset in each joint
State finally calculates the position for digging head, elevation information.In the present embodiment, the position of excavator terminal can pass through the last one
Bend downward degree (Pitch) of the position of node and terminal length and the last one node is determined.
(5) by inside-out relevant locating technology, excavating equipment is obtained in the relative position of operating space.
Certainly, those skilled in the art also can choose other parameters according to used software and hardware and site environment
Calculate relative position.
(6) display is formed by superposition three-dimensional data based on the above results in AR three-dimensional pipeline, including size of digging pit, when
Depth locating for preceding operation equipment, mining head tip location.
The position for digging head, elevation information and three-dimensional tube line number evidence are compared by system, the foundation as operation and alarm.
(7) when excavation tip is located in preset threshold range close to pipeline, warning message is provided.
The present invention is not limited to the above embodiments, and various modifications may be made in the scope of the inventive concept.The present invention
It is illustrated through the foregoing embodiment, but it is to be understood that, the above-mentioned embodiments are only for the purpose of illustration and description,
It is not intended to limit the invention to the scope of the described embodiments.Furthermore it will be appreciated by persons skilled in the art that originally
Invention is not limited to above-described embodiment, and introduction can also make more kinds of variants and modifications according to the present invention, these modifications
All fall within the scope of the claimed invention with modification.Protection scope of the present invention by the appended claims and its
Equivalent scope is defined.
Claims (10)
1. a kind of excavation householder method based on augmented reality comprising:
Excavating equipment is positioned；
Transfer the three-dimensional city planting ductwork based on AR near the position location；
Acquire the posture of excavating equipment；
Three-dimensional city planting ductwork based on AR calculates the relative position of the underground pipe network of excavating equipment.
2. being excavated according to the method described in claim 1, being wherein provided with inertial sensor on the excavating equipment for acquiring
The posture of equipment.
3. according to the method described in claim 1, wherein obtaining the excavating equipment and underground by calculating excavating equipment tip
The relative distance of pipe network.
4. according to the method described in claim 3, wherein initiating alarm when the relative distance is less than preset value.
5. according to the method described in claim 1, wherein the relative position is obtained by inside-out technology.
6. according to the method described in claim 1, being wherein superimposed excavating equipment behaviour on the three-dimensional city planting ductwork described based on AR
Make spatial data.
7. according to the method described in claim 6, wherein the operating space data include dig pit size, current operation equipment institute
Locate depth, mining head tip location.
8. a kind of excavation auxiliary system based on augmented reality comprising:
Positioning unit, for obtaining precise location information；
AR equipment information collection unit, for obtaining orientation information, equipment moving state and deflection angle；
Pipe network data library stores GIS information, pipe network integrity information and pipeline attribute information in relation to pipe network；
Central processing unit transfers the pipe network information of municipal pipeline database according to location information, according to the range parameter of setting
Draw pipe network in three-dimensional model；
Excavating equipment Posture acquisition unit, for obtaining orientation information, equipment moving state and the deflection angle of excavating equipment.
9. system according to claim 8, wherein the excavating equipment Posture acquisition unit includes needing to be mounted on excavation
Sensor in equipment.
10. system according to claim 8, wherein the AR equipment information collection unit includes Inside-out module.
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Application publication date: 20181207 |