An indoor digital twin scene motion precision correction method based on Bluetooth positioning

Abstract

This invention discloses a method for correcting motion accuracy in indoor digital twin scenes based on Bluetooth positioning, mainly including the following steps: S100, obtaining the current position information 'a' of the target through a Bluetooth base station, mapping the current position information of the target to the indoor digital twin scene and saving the current position 'a' of the target, with coordinates (x1, y1, z1); S200, continuously collecting new position information 'β' of the target through Bluetooth broadcast, with coordinates (x2, y2, z2); and S300, calculating the relative displacement 'd' of the target in real time. This invention innovatively combines Bluetooth positioning technology and BIM collision detection technology to solve the accuracy problem of motion in indoor digital twin scenes. Through this invention, the accuracy problem in existing virtual twin scenes can be significantly improved, and the occurrence of situations such as the target drifting outside the building or getting stuck on a wall can be effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of indoor digital twin scene motion, specifically to a method for correcting the motion accuracy of indoor digital twin scenes based on Bluetooth positioning. Background Technology

[0002] Dr. Michael Grieves, a professor at the University of Michigan, first applied the concept of digital twins to manufacturing in 2002 and formally announced the concept of digital twin software. John Vickers of NASA formally introduced the term "digital twin" in 2010. A digital twin refers to a simulation process that fully utilizes data such as physical models, sensor updates, and operational history to integrate multiple disciplines, multiple physical quantities, multiple scales, and multiple probabilities, completing a mapping in virtual space to reflect the entire lifecycle of the corresponding physical equipment. A digital twin is a concept that transcends reality and can be viewed as a digital mapping system of one or more important, interdependent equipment systems.

[0003] As an important derivative application link in the 5G industry chain, digital twins can promote the formation of the Internet of Things (IoT) and the digitization of IoT devices, strongly coupling with the demand for the Internet of Everything, one of the three major scenarios of 5G. In the future 5G era, as the new generation of information technology accelerates its integration with the real economy, the evolution trend of digitalization, networking, and intelligence in industry will become increasingly apparent, giving rise to a number of new models and new business forms of digital transformation in the manufacturing industry.

[0004] However, in current digital twin applications, the location information captured from external sources often has significant inaccuracies. Therefore, when applied to virtual scenes, this often results in characters getting stuck in walls, deviating from their actual positions, or even drifting outside of buildings. Thus, solving the problem of object localization and correcting movement trajectories in digital twin applications is a pressing technical challenge that needs to be addressed. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned problems and provide a method for correcting motion accuracy in indoor digital twin scenes based on Bluetooth positioning.

[0006] This invention is achieved through the following technical solution: a method for correcting motion accuracy in indoor digital twin scenes based on Bluetooth positioning, mainly including the following steps:

[0007] S100. Obtain the target's current location information a through a Bluetooth base station, and simultaneously map the target's current location information to the indoor digital twin scene and save the target's current location a. The coordinates of the current location a are (x1, y1, z1).

[0008] S200 continuously collects new location information β of the target via Bluetooth broadcast. The coordinates of the new location information β are (x2, y2, z2).

[0009] S300, calculates the relative displacement d of the target in real time;

[0010] S400. Establish a linear model L based on the relative displacement.

[0011] S500: Detect whether there is a collision point between the straight line model L and the indoor digital twin scene. If yes, proceed to step S600; otherwise, correct the data according to the step size to obtain the corrected target coordinate position RESULT.

[0012] S600: Use the BIM engine to obtain the location of the collision point, and assign the coordinates γ(x3,y3,z3) of the collision point closest to a to β. Recalculate the relative displacement d of the target to obtain the corrected target coordinate position RESULT.

[0013] Furthermore, the calculation formula for "real-time calculation of the relative displacement d of the target" mentioned in step S300 is d 2 =(x2-x1) 2 +(y2-y1) 2 , where z takes the value 0.

[0014] As a preferred embodiment of the present invention, the step S500 of "detecting whether there is a collision point between the straight line model L and the indoor digital twin scene" is performed using a BIM collision detection tool, and the detection result is assigned to a Boolean value C; when the Boolean value C = FALSE, it indicates that there is no collision point; when C = TRUE, it indicates that there is a collision point.

[0015] Furthermore, the "data correction based on step size" mentioned in step S500 specifically includes the following:

[0016] (1) When d>52cm, take the coordinate point with d=52 in the direction of the straight line between α and β, and assign the point to the target coordinate position RESULT to obtain the corrected target coordinate position Result(x,y,z);

[0017] (2) When d < 52cm, β is directly assigned to Result to obtain the corrected target coordinate position Result(x,y,z).

[0018] The step S600, "recalculating the relative displacement d of the target to obtain the corrected target coordinate position RESULT", specifically includes the following:

[0019] When d < 30cm, discard the β value, assuming the target has not moved.

[0020] When 30 cm < d < (52 cm + 30 cm), a coordinate point 30 cm deviating from the γ coordinate is taken in the α and β linear directions, and this point is assigned to the target coordinate position Result, obtaining the corrected coordinate position Result(x, y, z).

[0021] When d > (52 cm + 30 cm), a coordinate point 52 cm deviating from the α coordinate is taken in the α and β linear directions, and this point is assigned to the target coordinate position Result, obtaining the corrected coordinate position Result(x, y, z).

[0022] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0023] The present invention creatively combines Bluetooth positioning technology and BIM collision detection technology to solve the accuracy problem of movement in indoor digital twin scenarios. Through the present invention, the accuracy problem in the existing virtual twin scenarios can be significantly improved, and the situations such as the target drifting outside the building and getting stuck on the wall can be effectively avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall process of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The following further elaborates the present invention in conjunction with embodiments, but the implementation manners of the present invention are not limited thereto.

[0026] Embodiment

[0027] The main principle of the present invention is to utilize technologies such as Bluetooth positioning technology, BIM analysis technology, human biological analysis technology, computer vision, machine learning, and deep neural networks to intelligently correct the situations where the target may get stuck on the wall or deviate from the normal building according to the general step length of humans, scene movement correlation, road width within the model, and BIM model collision. The target in this embodiment can be a person or various other objects that need to be virtually displayed.

[0028] In this embodiment, the target is illustrated using a person as an example. When applying this invention, firstly, a QR code needs to be scanned to open a Bluetooth terminal device (using a mobile phone as an example) to obtain the real location in the physical environment. Then, the person model is imported into the corresponding position in the virtual scene, while maintaining Bluetooth paging broadcast. When the person moves in the physical environment, the Bluetooth device held by the person will send real-time location data to the base station. After receiving the location data, the host computer of this invention hands it over to an algorithm for identification, calculating the person's position in the virtual scene. When this position collides with objects such as building walls or furniture, and exceeds the normal step size, the model's position data after movement will be corrected, and the corrected position data will be passed to the graphics engine for real-time animation display.

[0029] like Figure 1 As shown in the figure, the indoor digital twin scene motion accuracy correction method based on Bluetooth positioning described in this embodiment mainly includes the following steps:

[0030] S100. Obtain the target's current location information a through a Bluetooth base station, and simultaneously map the target's current location information to the indoor digital twin scene and save the target's current location a, where the coordinates of the current location a are (x1, y1, z1).

[0031] S200 continuously collects new location information β of the target via Bluetooth broadcast. The coordinates of the new location information β are (x2, y2, z2).

[0032] S300, calculates the relative displacement d of the target in real time.

[0033] In this step, the relative displacement of the target is calculated using the formula d = β(x2,y2,z2) - α(x1,y1,z1). Since the target in this embodiment is moved in a planar manner, the value of z is 0. Therefore, the formula for calculating the relative displacement d of the target is d... 2 =(x2-x1) 2 +(y2-y1) 2 ,Right now

[0034] S400. Establish a linear model L based on the relative displacement.

[0035] S500: Detect whether there is a collision point between the linear model L and the indoor digital twin scene. If yes, proceed to step S600; otherwise, correct the data according to the step size to obtain the corrected target coordinate position RESULT.

[0036] In this step, for the operation of "detecting whether there are collision points between the straight line model L and the indoor digital twin scenario", a BIM collision detection tool is used for detection. In this embodiment, the detection result is assigned to the boolean quantity C; when the boolean quantity C = FALSE, it means that there are no collision points; when C = TRUE, it means that there are collision points.

[0037] When the system determines that there are no collision points between the straight line model L and the indoor digital twin scenario, data correction is performed according to the step size, which specifically includes the following:

[0038] (1) When d > 52 cm, coordinate points where d = 52 are taken in the α and β straight line directions, and this point is assigned to the target coordinate position RESULT, obtaining the corrected target coordinate position Result(x, y, z).

[0039] (2) When d < 52 cm, β is directly assigned to Result, obtaining the corrected target coordinate position Result(x, y, z).

[0040] S600. Obtain the position of the collision point with the help of the BIM engine, assign the coordinates γ(x3, y3, z3) of the collision point closest to the distance a to β, recalculate the relative displacement d of the target, and obtain the corrected target coordinate position RESULT.

[0041] The operation of "recalculating the relative displacement d of the target and obtaining the corrected target coordinate position RESULT" in this step specifically includes the following:

[0042] When d < 30 cm, discard this β value and consider that the target has not moved.

[0043] When 30 cm < d < (52 cm + 30 cm), coordinate points deviating 30 cm from the γ coordinate are taken in the α and β straight line directions, and this point is assigned to the target coordinate position Result, obtaining the corrected coordinate position Result(x, y, z). Here, 30 cm is considered based on the common sense that a person should keep at least 30 cm when viewing things normally.

[0044] When d > (52 cm + 30 cm), coordinate points deviating 52 cm from the α coordinate are taken in the α and β straight line directions, and this point is assigned to the target coordinate position Result, obtaining the corrected coordinate position Result(x, y, z). Here, 52 cm is considered based on the fact that a person's normal walking step length is 52 cm.

[0045] As described above, the present invention can be well implemented.

Claims

1. A method for correcting motion accuracy of an indoor digital twin scene based on Bluetooth positioning, characterized in that, It mainly includes the following steps: S100. Obtain the current position information a of the target through a Bluetooth base station, and at the same time map the current position information of the target into the indoor digital twin scenario and save the current position a of the target. The coordinates of the current position a are (x1, y1, z1). S200. Continuously collect the new position information β of the target through Bluetooth broadcasting. The coordinates of the new position information β are (x2, y2, z2). S300. Calculate the relative displacement d of the target in real time. S400. Establish a straight-line model L based on the relative displacement. S500. Detect whether there is a collision point between the straight-line model L and the indoor digital twin scenario. If yes, execute step S600; if no, perform data correction according to the step size to obtain the corrected target coordinate position RESULT. S600. Obtain the position of the collision point with the help of a BIM engine, and assign the coordinates γ (x3, y3, z3) of the collision point closest to a to β, recalculate the relative displacement d of the target, and obtain the corrected target coordinate position RESULT. For the "detect whether there is a collision point between the straight-line model L and the indoor digital twin scenario" described in step S500, it is detected using a BIM collision detection tool, and the detection result is assigned to the boolean quantity C. When the boolean quantity C = FALSE, it means there is no collision point; when C = TRUE, it means there is a collision point. The "perform data correction according to the step size" described in step S500 specifically includes the following content: (1) When d > 52 cm, take the coordinate point where d = 52 in the direction of the α-β straight line and assign this point to the target coordinate position RESULT to obtain the corrected target coordinate position Result (x, y, z). (2) When d < 52 cm, directly assign β to Result to obtain the corrected target coordinate position Result (x, y, z). The "recalculate the relative displacement d of the target and obtain the corrected target coordinate position RESULT" described in step S600 specifically includes the following content: When d < 30 cm, discard this β value and consider that the target has not moved. When 30 cm < d < (52 cm + 30 cm), take the coordinate point 30 cm away from the γ coordinate in the direction of the α-β straight line and assign this point to the target coordinate position Result to obtain the corrected coordinate position Result (x, y, z). When d > (52 cm + 30 cm), take the coordinate point 52 cm away from the α coordinate in the direction of the α-β straight line and assign this point to the target coordinate position Result to obtain the corrected coordinate position Result (x, y, z).

2. The method of claim 1, wherein the method is characterized by: The "relative displacement amount d" of the target calculated in step S300 is calculated by the following formula 2 = (x2 - x1) 2 + (y2 - y1) 2 where z is 0.

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