A concealed cable location detection and augmented reality visualization system

Abstract

The present invention discloses a concealed cable positioning detection and augmented reality visualization system, which can seamlessly integrate the buried paths, laying methods and other information of various cables in the wall into the real environment in an augmented reality visualization manner, and realize real-time interaction between the staff and the concealed cable information. The system can detect in real time and present the virtual scene on the display device at the same time. When the detection position moves, the relationship between the real object and the virtual object in position and direction can also be updated in real time. AR technology can greatly reduce the preliminary preparation work for construction, shorten the decoration period of users, and reduce circuit failures caused by damage to cables in the wall. Compared with the prior art, the advantage of the present invention is that it can not only detect concealed cables, but also simultaneously display important information such as whether they are energized, direction, cable depth, etc., and combined with the cloud server to realize the function of multiple reproductions of one detection, avoiding the shortcomings of the existing equipment that reproduces and detects.

Description

Technical Field

[0001] The invention belongs to the technical field of cable detection, and in particular relates to a concealed cable positioning detection and an augmented reality visualization system thereof. Background Art

[0002] Nowadays, for the sake of beauty, most houses are decorated with power cords buried in the wall. If you want to know the exact location, you need to use instruments to measure. At present, it is more and more common for owners to renovate and decorate the interior of the house. However, due to the lack of circuit wiring drawings of the building, the location of the wires in the wall has always been a major problem that troubles the decoration. For example, when installing paintings and wall cabinets, it is necessary to drill holes on the inner wall of the house. However, due to the lack or loss of the power line wiring diagram, it is difficult to determine whether the selected drilling location has a power line. Once a hole is drilled in a place where a power line is embedded, it is very easy to drill the power line off, which poses a great safety hazard and may even cause accidents that should not have happened. It is also very labor-intensive to repair the power line embedded in the wall afterwards. The existing detection devices for power lines in the wall on the market have problems such as high price, large size, and single display information to varying degrees. Since most of the operating tools are made of metal, considering the problem of signal interference, the existing detection devices cannot realize detection and operation at the same time, and can only mark the wall after the detection to assist in remembering the approximate location of the hidden cable. Summary of the invention

[0003] In order to solve the above problems, the present invention discloses a hidden cable positioning detection and augmented reality visualization system, which can not only collect hidden cable information at a certain position in the wall, including whether it is energized, depth and spatial position information, but also combine with the cloud server to realize multiple rapid augmented reality reproductions of one detection, avoiding the shortcomings of existing equipment reproduction and detection.

[0004] To achieve the above object, the technical solution of the present invention is as follows:

[0005] A concealed cable positioning detection and augmented reality visualization system, comprising a concealed cable detection device with self-positioning and self-attitude detection, a concealed cable reconstruction visualization device with self-positioning and self-attitude detection, and a concealed cable information remote server;

[0006] The hidden cable detection device with self-positioning and self-attitude detection is used by on-site staff to collect hidden cable information at a certain position in the wall, including whether it is energized, depth and spatial position;

[0007] The hidden cable information remote server will send a request to the hidden cable detection device to return the cable information of the current spatial position. The detection device will respond to the request and return the data. The hidden cable information remote server is responsible for receiving the data and storing the collected hidden cable information. After establishing the mapping relationship, the 3D model of the site is established based on the prefabricated hidden cable line model using augmented reality technology, and is subdivided into 3D modeling units and storage units according to functions;

[0008] The hidden cable reconstruction visualization device with self-positioning and self-posture detection can vividly display the on-site 3D model to the staff, realize the real-time interaction between the staff and the hidden cable information, and is subdivided into ranging units and display units according to their functions.

[0009] Furthermore, the concealed cable detection device includes a distance measurement module A, a distance measurement module B, a metal detection module, a power frequency detection module, a microprocessor module, a communication module, and a posture detection module.

[0010] The device has a rectangular appearance. The distance measuring module A is located on the left side of the device, and the distance measuring module B is located on the upper plane of the device. The distance measuring directions of the two are kept at 90°. The metal detection module and the power frequency detection module are both located on the back of the device near the center. The metal detection module is used to detect whether there is a cable in the wall at the current location, and the power frequency detection module is used to detect whether the cable is energized. The microprocessor module, communication module, and attitude detection module are all located inside the device. The microprocessor module is used to process and integrate the data sent back by other modules, the communication module is responsible for uploading the data processed by the microprocessor module to the storage unit, and the attitude detection module is used to detect the current attitude angle of the mobile device. The front of the device is a display screen; there are card slots for fixing universal wheels on the four sides of the device. The four universal wheels are fixed to the back of the device in a snap-on connection. The universal wheels and the device are connected to each other by an elastic mechanism; a card slot for fixing the handle is reserved on the lower plane of the device, and the lithium battery compartment and power interface are on the right side of the device.

[0011] The distance measurement module, metal detection module, power frequency detection module, communication module and posture detection module are all electrically connected to the microprocessor module, and the mutual communication between the modules adopts serial communication mode.

[0012] The storage unit is any electronic device that can store information and connect to the Internet, including PCs, mobile phones, and cloud servers.

[0013] The 3D modeling unit establishes a coordinate system with the lower left corner of the wall as the origin, the wall width as the x-axis, the wall height as the y-axis, the vertical wall surface as the z-axis, and the wall surface as the reference plane according to the spatial real-time coordinates and real-time posture uploaded by the detection unit. The corresponding model is generated according to the spatial coordinates and orientation of the cables in the wall relative to this coordinate system, and a 3D model of the cable is established based on the generated model. Based on the principle of augmented reality, the 3D model containing the hidden cables is displayed on the on-site coordinate system. The calculation method is Oriented FAST and Rotated BRIEF and Kanade-Lucas-Tomasi algorithm.

[0014] The display unit is an LCD or OLED screen mounted on the concealed cable detection device, or a terminal device with a display function, including a display screen, a PC, and a mobile phone.

[0015] The present invention also provides a method for locating and detecting concealed cables, which includes global detection and local detection. In the global detection mode, the identification code of the wall to be detected must be input on the screen first, and then the robot arm grasps the concealed cable detection device, so that the detection unit is close to the wall, and then the inspection is started from any corner of the wall. The inspection method is layer-order traversal, that is, moving parallel to the x-axis direction until the edge of the wall is reached and then moving a short distance upward along the y-axis, and repeating this cycle until the entire wall is scanned. The travel speed of the detection unit needs to meet the sensitivity requirements of all modules. In this mode, all modules of the detection unit continue to work. In the local detection mode, only the metal detection module is in working state. The robot arm operates the detection unit to quickly scan the entire wall, and a general trend map of the hidden cable is generated based on the data. Then the robot arm grasps the concealed cable detection device, so that the detection unit is close to the wall. The inspection route is the general trend map obtained by the above-mentioned rapid scanning. In this process, all modules work normally.

[0016] The wall to be tested is taken as the reference plane, and the angle generated by the rotation of the measuring device parallel to the reference plane is defined as the in-plane rotation angle, whose value is θ; the angle generated by the rotation of the measuring device on the horizontal plane is the out-of-plane horizontal rotation angle, whose value is The angle produced by the rotation of the measuring device on the vertical plane is the off-plane vertical rotation angle, and its value is ψ;

[0017] The distance measuring module on the left side of the device measures data l1, and the distance measuring module on the upper side of the device measures data l2. According to the formula

[0018] l x =l1×cosθ,l y =l2×cosθ

[0019] Get the distance l between the device and the left wall x The distance between the device and the ceilingy , that is, the spatial position information of the detection unit; if and ψ are not 0, the detection device will automatically calculate the real distance to the wall and the real depth of the hidden cable through the compensation algorithm; in actual situations, the θ, and ψ are not 0, so the space angle measured by the detection device is the orthogonal composite angle of the three. The relevant principle of orthogonal decomposition of space angle in physics is used to decompose it into θ, and ψ, and then use the compensation algorithm to automatically calculate the real distance to the wall and the real depth of the hidden cable; the metal detection module detects the electric field strength and metal signal strength within a certain range. If the electric field strength and metal signal strength change significantly at a certain place, it means that there is a cable in the wall at this place, and then the vertical distance d of the hidden cable distance detection device is obtained according to the corresponding algorithm; the power frequency detection module detects the signal frequency at the current location. Considering that the power frequency signal frequency of household electrical appliances around the world is mainly 50Hz and 60Hz, this device manually or automatically uses the detected main signal frequency as the reference frequency. If it is 50Hz, it is a powered cable, so as to judge whether the cable in the wall corresponding to the location is energized; the microprocessor module will package the information obtained by the four modules of the distance measurement module, the metal detection module, the posture detection module, and the power frequency detection module and send it to the database through the communication module. At this time, the system will enter the 3D modeling process;

[0020] This process will start after the detection is completed. The 3D modeling unit will automatically request data from the database and export it to the 3D modeling module. The 3D modeling module will generate a 3D model according to a pre-set algorithm. After the generation is completed, the data of the 3D model will be imported into the database;

[0021] The last is the reproduction process. The staff holds a hidden cable reconstruction visualization device with self-positioning and self-posture detection. After the device obtains the current spatial position information, the communication module will request the hidden cable information remote server to return all the 3D modeling data corresponding to the wall. The hidden cable information remote server will send the 3D modeling data to the mapping module in the hidden cable reconstruction visualization device through the data transmission module.

[0022] The staff adjusts the display range of the hidden cables by pinching and zooming on the screen of the visualization device. The mapping module will take the current spatial position as the center, select all 3D modeling data within the actual range corresponding to the display range, and transmit it to the display module for display.

[0023] The concealed cable detection device adopts a mechanical arm grabbing or hand-held operation mode according to the needs of the user.

[0024] As a further improvement of the concealed cable positioning detection and augmented reality visualization system of the present invention, the above-mentioned solution of determining the spatial position of the device by two ranging modules and a posture detection module can be replaced by ultra-wideband positioning technology (Ultra-wideband) with more accurate positioning accuracy. Its main technical solution is to set four signal transmission base stations on the wall and a signal receiver on the device, and the spatial position coordinates of the device can be obtained through algorithm calculation. The concealed cable reconstruction visualization device with self-positioning and self-posture detection uses this technology to realize automatic correction of the display range by sensing the distance between the device and the wall. Specifically, the farther away from the wall, the larger the display range, and vice versa.

[0025] The beneficial effects of the present invention are:

[0026] 1. The present invention realizes multiple rapid augmented reality reproductions with one measurement, avoiding the shortcomings of the existing equipment that is time-consuming and labor-intensive to reproduce and detect. Its advantages are that after the hidden cable detection device with self-positioning and self-attitude detection scans the wall and uploads the point cloud data of the hidden cable to the cloud server, the hidden cable reconstruction visualization device with self-positioning and self-attitude detection is used to perform augmented reality reproduction accurately and conveniently. Specifically, there are the following points:

[0027] 1) Any device that can obtain its own position and posture information and has a display screen can be connected to the cloud server by wired or wireless means to obtain the 3D augmented reality reproduction data of the hidden cable and display it on the device, including mobile phones and tablets;

[0028] 2) Different from the simple 2D reproduction of existing instruments, the reproduction of the present invention is a 3D augmented reality reproduction, which can not only reduce or enlarge the display range of hidden cable information with two fingers, but also can perform 3D augmented reality reproduction and observation of hidden cables at any angle in space; while keeping the spatial position of the reproduction device fixed, the screen can be slid to close the distance to the cable; no matter whether the reproduction device is placed horizontally, vertically or diagonally, the direction of the cable in the display screen is consistent with the actual direction; even if the angle between the wall and the ground is not strictly 90°, the device will automatically correct it according to the attitude angle measured by the attitude detection module;

[0029] 3) The information of hidden cables is seamlessly integrated into the real environment in the form of augmented reality, and the staff can interact with the hidden cable information in real time. The relationship between the real object and the virtual object in terms of position and direction can also be updated in real time;

[0030] 4) Unlike existing instruments, this solution can perform 3D augmented reality reproduction while working, which greatly improves work efficiency. Moreover, this solution uses augmented reality technology to synchronously display the work tools on the display screen of the reproduction equipment, and keep them consistent with the actual position and posture. It can predict in real time whether the cables will be dug up before the construction process and issue an alarm when necessary.

[0031] 2. The present invention can not only be used to detect hidden cables, but also can be used to determine whether the cable is broken based on the cable's direction diagram and whether there is an industrial frequency signal at that location; the metal detection function of the detection device can also be used to detect the steel bars in the wall and determine whether the wall is a load-bearing wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a flow chart of a measurement method according to an embodiment of the present invention;

[0033] Figure 2 is a schematic structural diagram of a detection device in an embodiment of the present invention;

[0034] Figure 3 is a schematic diagram of the characteristic of the measurement method without a specific direction according to an embodiment of the present invention;

[0035] Figure 4 is a schematic diagram of the definition of the in-plane rotation angle according to an embodiment of the present invention;

[0036] Figure 5 is a schematic diagram of the definition of the out-of-plane horizontal rotation angle according to an embodiment of the present invention;

[0037] Figure 6 is a schematic diagram of the definition of the out-of-plane vertical rotation angle according to an embodiment of the present invention;

[0038] Figure 7 It is a schematic diagram of the working principle of the metal detection module of an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0040] See also Figure 1 , Figure 1 The invention provides a concealed cable positioning detection and augmented reality visualization system, comprising: a concealed cable detection device with self-positioning and self-attitude detection, a concealed cable reconstruction visualization device with self-positioning and self-attitude detection, and a concealed cable information remote server.

[0041] Among them, the hidden cable detection device with self-positioning and self-posture detection is used by on-site staff to collect hidden cable information at a certain location in the wall, including whether it is energized, depth and spatial location.

[0042] See also Figure 2 , Figure 2 The present invention provides a concealed cable detection device with self-positioning and self-posture detection, including a distance measuring module A, a distance measuring module B, a metal detection module, a power frequency detection module, a microprocessor module, a communication module, and a posture detection module. The appearance of the concealed cable detection device is a rectangular parallelepiped. The distance measuring module A is located on the left side of the device, and the distance measuring module B is located on the upper plane of the device. The angle between the distance measuring directions of the two is maintained at 90°. The metal detection module and the power frequency detection module are both located on the back of the device near the center. The metal detection module is used to detect whether there is a cable in the wall at the current position, and the power frequency detection module is used to detect whether the cable is energized. The microprocessor module, the communication module, and the posture detection module are all located inside the device. The microprocessor module is used to process and integrate the data sent back by other modules. The communication module is responsible for uploading the data processed by the microprocessor module to the storage unit. The posture detection module is used to detect the current posture angle of the mobile device. All modules are electrically connected, and the mutual communication between the modules adopts serial communication.

[0043] There is a display screen on the front of the device, and slots for fixing universal wheels on all four sides. The four universal wheels are fixed to the back of the device with a snap connection. The universal wheels and the device are connected to each other by an elastic mechanism. A slot for fixing the handle is left on the lower plane of the device, and the lithium battery compartment and power interface are on the right side of the device. The device can be operated by a robotic arm or handheld according to the user's needs.

[0044] The hidden cable information remote server will send a request to the hidden cable detection device to return the cable information of the current spatial position. The detection device will respond to the request and return the data. The hidden cable information remote server is responsible for receiving the data and storing the collected hidden cable information. After establishing the mapping relationship, it uses augmented reality technology to establish a 3D model of the site based on the prefabricated hidden cable line model, and subdivides it into 3D modeling units and storage units according to function.

[0045] The storage unit is any electronic device that can store information and connect to the Internet, including PCs, mobile phones, and cloud servers.

[0046] The 3D modeling unit establishes a coordinate system with the lower left corner of the wall as the origin, the wall width as the x-axis, the wall height as the y-axis, the vertical wall surface as the z-axis, and the wall as the reference plane based on the spatial real-time coordinates and real-time posture uploaded by the detection device. The corresponding model is generated according to the spatial coordinates and orientation of the cables in the wall relative to this coordinate system, and a 3D model of the cable is established based on the generated model. Based on the principle of augmented reality, the 3D model containing the hidden cable is displayed on the on-site coordinate system. The calculation method is Oriented FASTandRotatedBRIEF and Kanade-Lucas-Tomasi algorithm.

[0047] See also Figure 3 ,No matter what posture the detection unit is in, the 3D model generated by the 3D modeling unit will use the actual horizontal and vertical planes as coordinate systems.

[0048] The hidden cable reconstruction visualization device with self-positioning and self-posture detection can vividly display the on-site 3D model to the staff, realize the real-time interaction between the staff and the hidden cable information, and is subdivided into ranging units and display units according to their functions.

[0049] The distance measurement scheme adopted by the distance measurement unit is the same as that of the detection device.

[0050] The display unit is an LCD or OLED screen mounted on the reconstruction visualization device, or a terminal device with a display function, including a display screen, a PC, and a mobile phone.

[0051] The working process of the system is as follows: first, there is the detection process, which has two detection modes, namely global detection and local detection; in the global detection mode, first, the wall identification code to be detected must be entered on the screen, then the robot arm grabs the hidden cable detection device, so that the detection unit is close to the wall, and then the inspection starts from any corner of the wall. The inspection method is layer-order traversal, that is, moving parallel to the x-axis until it reaches the edge of the wall and then moves a short distance upward along the y-axis, and so on and so forth until the entire wall is scanned. The travel speed of the detection unit needs to meet the sensitivity requirements of all modules. In this mode, all modules of the detection unit continue to work; in the local detection mode, only the metal detection module is in working state, and the robot arm operates the detection unit to quickly scan the entire wall, and generates a general trend map of the hidden cable based on the data. Then the robot arm grabs the hidden cable detection device, so that the detection unit is close to the wall. The inspection route is the general trend map obtained by the above-mentioned rapid scanning. During this process, all modules work normally.

[0052] Take the wall to be tested as the reference surface, refer to Figure 4 , the angle produced by the rotation of the measuring device parallel to the reference plane is defined as the in-plane rotation angle, and its value is θ; refer to Figure 5The angle produced by the rotation of the measuring device on the horizontal plane is the horizontal rotation angle off the plane, and its value is See also Figure 6 The angle produced by the rotation of the measuring device on the vertical plane is the off-plane vertical rotation angle, and its value is ψ;

[0053] The distance measuring module on the left side of the device measures data l1, and the distance measuring module on the upper side of the device measures data l2. According to the formula

[0054] l x =l1×cosθ,l y =l2×cosθ

[0055] Get the distance l between the device and the left wall x The distance between the device and the ceiling y , that is, the spatial position information of the detection unit; if and ψ are not 0, the detection device will automatically calculate the real distance to the wall and the real depth of the hidden cable through the compensation algorithm; in actual situations, the θ, and ψ are not 0, so the space angle measured by the detection device is the orthogonal composite angle of the three. It can be decomposed into θ, θ and θ corresponding to the corresponding planes using the relevant principles of orthogonal decomposition of space angles in physics. and ψ, and then use the compensation algorithm to automatically calculate the true distance to the wall and the true depth of the hidden cable;

[0056] See also Figure 7 The metal detection module can detect the electric field strength and metal signal strength within a certain range. If the electric field strength and metal signal strength change significantly at a certain place, it means that there is a cable in the wall at this place, and then the vertical distance d of the hidden cable distance detection device is obtained according to the corresponding algorithm; the power frequency detection module detects the signal frequency at the current location. Considering that the power frequency signal frequency of household electrical appliances around the world is mainly 50Hz and 60Hz, this device manually or automatically uses the detected main signal frequency as the reference frequency. If it is 50Hz, it is a powered cable, so as to judge whether the cable in the wall corresponding to the location is energized; the microprocessor module will package the information obtained by the four modules of the ranging module, metal detection module, posture detection module, and power frequency detection module, and send it to the database through the communication module. At this time, the system will enter the 3D modeling process.

[0057] This process will start after the detection is completed. The 3D modeling unit will automatically request data from the database and export it to the 3D modeling module. The 3D modeling module will generate a 3D model according to a pre-set algorithm. After the generation is completed, the 3D model data will be imported into the database.

[0058] The last step is the reproduction process. The staff holds a hidden cable reconstruction visualization device with self-positioning and self-posture detection. After the device obtains the current spatial position information, the communication module will request the hidden cable information remote server to return all 3D modeling data corresponding to the wall. The hidden cable detection device server will send the 3D modeling data to the mapping module in the hidden cable reconstruction visualization device through the data transmission module.

[0059] The staff adjusts the display range of the hidden cables by pinching and pinching on the screen of the reconstructed visualization device. The mapping module takes the current spatial position as the center, selects all 3D modeling data within the actual range corresponding to the display range, and transmits them to the display module for display.

Claims

1. A concealed cable location detection and augmented reality visualization system, characterized in that: It includes a concealed cable detection device with self-positioning and self-attitude detection, a concealed cable reconstruction visualization device with self-positioning and self-attitude detection, and a concealed cable information remote server; The hidden cable detection device with self-positioning and self-attitude detection is used by on-site staff to collect information about hidden cables at a certain location in the wall, including whether they are energized, depth, and spatial location; The detection method is shown in the following steps: In the first step, the hidden cable information remote server sends a request to the hidden cable detection device to return the cable information of the current spatial position, and the detection device responds to the request and returns data; In the second step, the detection device detects the electric field strength and metal signal strength at the current position. If the electric field strength and metal signal at the position change significantly, it is determined that there is a cable in the wall at this location; Otherwise, it is determined that there is no cable in the wall; In the third step, the detection device detects the signal frequency of the cable. If the signal frequency is detected to be a specific frequency, it is determined that the power supply of the cable here is normal; otherwise, the power supply of the wall cable here is abnormal; In the fourth step, the detection device detects the distance to the wall and the offset angle of the device, and uses a compensation algorithm to calculate the vertical distance to the wall and the true depth of the concealed cable; Step 5: The detection device calculates the coordinates of the cable in the real-time spatial coordinate system by combining the vertical distance from the wall and the real depth of the hidden cable. The detection device returns the data to the hidden cable information remote server. Step 6: The hidden cable information remote server is responsible for receiving data and storing the collected hidden cable information. After establishing the mapping relationship, an augmented reality 3D model based on the real environment is established based on the prefabricated hidden cable line model using augmented reality technology. The hidden cable information remote server is subdivided into a 3D modeling unit and a storage unit according to the function. In the seventh step, the communication module of the hidden cable reconstruction visualization device with self-positioning and self-posture detection requests the hidden cable information remote server to return all 3D modeling data corresponding to the wall. The hidden cable information remote server will send the 3D modeling data to the mapping module in the hidden cable reconstruction visualization device through the data transmission module. The hidden cable reconstruction visualization device with self-positioning and self-posture detection will vividly display the augmented reality 3D model to the staff, realize the real-time interaction between the staff and the hidden cable information, and subdivide the hidden cable reconstruction visualization device with self-positioning and self-posture detection into a ranging unit and a display unit according to the function.

2. A concealed cable location detection and augmented reality visualization system according to claim 1, characterized in that: The concealed cable detection device includes a distance measurement module A, a distance measurement module B, a metal detection module, a power frequency detection module, a microprocessor module, a communication module, and a posture detection module; The appearance of the hidden cable detection device is a rectangular parallelepiped, the ranging module A is located on the left side of the device, and the ranging module B is located on the upper plane of the device, and the angle between the two ranging directions is maintained at 90°; the metal detection module and the power frequency detection module are both located on the back of the device near the center, where the metal detection module is used to detect whether there is a cable in the wall at the current location, and the power frequency detection module is used to detect whether the cable is energized; the microprocessor module, communication module, and posture detection module are all located inside the device, where the microprocessor module is used to process and integrate the data transmitted back by the ranging module, the metal detection module, and the power frequency detection module, the communication module is responsible for uploading the data processed by the microprocessor module to the storage unit, and the posture detection module is used to detect the current posture angle of the mobile device.

3. A concealed cable location detection and augmented reality visualization system according to claim 1 or 2, characterized in that: The front of the hidden cable detection device is a display screen; the four sides of the hidden cable detection device are provided with slots for fixing universal wheels, the four universal wheels are fixed to the back of the device by snap-on connection, and the universal wheels and the hidden cable detection device are connected to each other by an elastic mechanism; a slot for fixing the handle is reserved on the lower plane of the hidden cable detection device, and the lithium battery compartment and power interface are on the right side of the hidden cable detection device.

4. A concealed cable location detection and augmented reality visualization system according to claim 2, characterized in that: The distance measurement module, metal detection module, power frequency detection module, communication module and posture detection module are all electrically connected to the microprocessor module, and the mutual communication between the modules adopts serial communication mode.

5. A concealed cable location detection and augmented reality visualization system according to claim 1, characterized in that: The storage unit is an electronic device that can store information and connect to the network, including a PC, a mobile phone, and a cloud server.

6. A concealed cable location detection and augmented reality visualization system according to claim 1, characterized in that: The 3D modeling unit establishes a wall coordinate system according to the spatial real-time coordinates and real-time attitude angles uploaded by the detection device. The wall coordinate system takes the lower left corner of the wall as the origin, the wall width as the x-axis, the wall height as the y-axis, the vertical wall surface as the z-axis, and the wall as the reference plane. A corresponding model is generated according to the spatial coordinates and orientation of the cable in the wall relative to the wall coordinate system, and a 3D model of the cable is established according to the generated model. Based on the principle of augmented reality, the 3D model containing the hidden cable is displayed on the on-site coordinate system, and the routing distribution of the hidden cable in the wall is constructed by using the Oriented FAST and Rotated BRIEF and Kanade-Lucas-Tomasi algorithms.

7. A concealed cable location detection and augmented reality visualization system according to claim 6, characterized in that: Regardless of the posture of the detection device, the 3D model generated by the 3D modeling unit uses the actual horizontal and vertical planes as the coordinate system.

8. A concealed cable location detection and augmented reality visualization system according to claim 1, characterized in that: The display unit is an LCD or OLED screen mounted on the reconstruction visualization device, or a terminal device with a display function, including a display screen, a PC, and a mobile phone.

9. A concealed cable location detection and augmented reality visualization system according to claim 1, characterized in that: The workflow of the system is as follows: First is the detection process, which has two detection modes, namely global detection and local detection; in the global detection mode, first enter the wall identification code to be detected on the screen, then the robot arm grabs the hidden cable detection device, makes the detection unit close to the wall, and then starts the inspection from any corner of the wall. The inspection method is layer-order traversal, that is, moving parallel to the x-axis until it reaches the edge of the wall and then moves a short distance upward along the y-axis, and repeats this cycle until the entire wall is scanned. The travel speed of the detection unit needs to meet the sensitivity requirements of all modules. In the global detection mode, all modules of the detection unit continue to work; in the local detection mode, only the metal detection module is in working state, the robot arm operates the detection unit to quickly scan the entire wall, and generates a general trend map of the hidden cable based on the scanning data, and then the robot arm grabs the hidden cable detection device, makes the detection unit close to the wall, and the inspection route is the hidden cable trend map obtained by the above-mentioned rapid scanning. All modules work normally during this process; The wall to be inspected is taken as the reference plane, and the angle generated by the detection device rotating parallel to the reference plane is defined as the in-plane rotation angle, whose value is θ; the angle generated by the detection device rotating on the horizontal plane is the out-of-plane horizontal rotation angle, whose value is The angle generated by the rotation of the detection device on the vertical plane is the off-plane vertical rotation angle, and its value is ψ; The distance measuring module on the left side of the detection device measures data l1, and the distance measuring module on the upper side of the detection device measures data l2. According to the formula L x =l1×cosθ,l y =l2×cosθ Get the distance l between the detection device and the left wall x The distance between the detection device and the ceiling l y , that is, the spatial position information of the detection unit; the detection device automatically calculates the real distance from the wall and the real depth of the hidden cable through the compensation algorithm; in actual situations, the θ, and ψ are not 0, so the space angle measured by the detection device is the orthogonal composite angle of the three. The relevant principle of orthogonal decomposition of space angle in physics is used to decompose it into θ, and ψ, and then use the compensation algorithm to automatically calculate the true distance to the wall and the true depth of the hidden cable; The metal detection module detects the electric field strength and metal signal strength within a certain range. If the electric field strength and metal signal strength change significantly at a certain place, it means that there is a cable in the wall at this place. Then, the vertical distance d of the hidden cable distance detection device is obtained according to the corresponding algorithm; the power frequency detection module detects the signal frequency at the current location. The power frequency signal frequency of household electricity is mainly 50Hz and 60Hz. Therefore, the detection device manually or automatically uses the detected main signal frequency as the reference frequency. If 50Hz is used as the reference frequency, if the power frequency detection module detects that the signal frequency at the current location is 50Hz, it is a powered cable, and it is judged that the cable in the wall corresponding to the location is energized. Otherwise, it is not energized; the microprocessor module packages the information obtained by the distance measurement module, the metal detection module, the posture detection module, and the power frequency detection module and sends it to the database through the communication module. At this time, the system will enter the 3D modeling process; This process will start after the detection is completed. The 3D modeling unit will automatically request data from the database and export it to the 3D modeling module. The 3D modeling module will generate a 3D model according to a pre-set algorithm. After the generation is completed, the data of the 3D model will be imported into the database; The last is the reproduction process. The staff holds a hidden cable reconstruction visualization device with self-positioning and self-posture detection. After the detection device obtains the current spatial position information, the communication module will request the hidden cable information remote server to return all the 3D modeling data corresponding to the wall. The hidden cable information remote server will send the 3D modeling data to the mapping module in the hidden cable reconstruction visualization device through the data transmission module. The staff adjusts the display range of the hidden cables by pinching and pinching on the screen of the reconstructed visualization device. The mapping module takes the current spatial position as the center, selects all 3D modeling data within the actual range corresponding to the display range, and transmits them to the display module for display.

10. A concealed cable location detection and augmented reality visualization system according to claim 9, characterized in that: The concealed cable detection device can be operated by a mechanical arm or handheld according to the user's needs.

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