A method, device, equipment and storage medium for visualizing an underground pipe gallery

Abstract

The application discloses a kind of underground pipe gallery visual method, device, equipment and storage medium, method includes: obtaining the pipe gallery data of underground pipe gallery to be visualized;The network of the pipe gallery data is divided, and the normal position and normal direction of each network grid point are confirmed;According to the ground point cloud data in each grid point, the height of each grid point is confirmed;According to the normal position, the normal direction and the height, the tunnel model of the underground pipe gallery to be visualized is constructed;Based on the tunnel model, the underground pipe gallery to be visualized is displayed using AR technology.It can realize underground pipe gallery visualization by using the embodiment of the application, while improving the virtual-real combination effect of underground pipe gallery visualization.

Description

Technical Field

[0001] This invention relates to the field of image technology, and in particular to a visualization method, apparatus, device, and storage medium for underground utility tunnels. Background Technology

[0002] Urban underground utility tunnel systems undertake the installation, operation, management, and maintenance of numerous urban equipment and facilities, including power systems such as electricity and gas, communication networks, and water supply and drainage systems. They play an increasingly important role in current urban construction and planning. Therefore, accurately understanding the current status of underground utility tunnels has become a key research focus.

[0003] Currently, AR technology is used to project virtual pipeline data onto mobile devices in the form of 3D models to visualize underground utility tunnels. However, the current visualization solution has poor integration of virtual and real elements. The main problem is that the virtual pipelines are directly superimposed on the actual environment texture. Due to the height difference and the lack of reference objects, such as tunnels that are level with the ground, the pipelines appear to be "drifting" during movement, which is an unrealistic effect. Summary of the Invention

[0004] This invention provides a visualization method, apparatus, equipment, and storage medium for underground utility tunnels, addressing the problem of poor virtual-real integration in existing technologies. This invention enables visualization of underground utility tunnels while simultaneously improving the virtual-real integration effect of such visualizations.

[0005] To achieve the above objectives, embodiments of the present invention provide a visualization method for underground utility tunnels, comprising:

[0006] Obtain the underground utility tunnel data to be visualized;

[0007] The utility tunnel data is divided into a network to determine the normal position and normal direction of each network grid point;

[0008] The height of each grid point is determined based on the ground point cloud data in each grid point;

[0009] Based on the normal position, the normal direction, and the height, construct the tunnel model of the underground utility tunnel to be visualized;

[0010] Based on the tunnel model, AR technology is used to display the underground utility tunnel to be visualized.

[0011] As an improvement to the above solution, the step of dividing the utility tunnel data into a network and confirming the normal position and normal direction of each network grid point includes:

[0012] The ground projection range of the pipe gallery data is meshed, and the mesh type of each mesh point is determined; wherein, the mesh type includes a gallery mesh point and a general mesh point;

[0013] The boundary type of each mesh point is confirmed;

[0014] According to the boundary type, the normal position and the normal direction of each gallery mesh point are confirmed.

[0015] As an improvement of the above scheme, the height of each mesh point is confirmed according to the ground point cloud data in each mesh point, including:

[0016] The ground point cloud data is obtained;

[0017] According to a preset distance threshold, the ground point cloud data is divided into different mesh points;

[0018] Each mesh point is layered, and the number of ground point cloud data in each layer is counted;

[0019] According to the number, the height of each mesh point is confirmed.

[0020] As an improvement of the above scheme, the height of each mesh point is confirmed according to the number, including:

[0021] When the number is greater than a preset number threshold, the height of the mesh point is the sum of the product of the layer number and the layer height of the mesh point and the height of the lowest point cloud data in the mesh point;

[0022] When the number is less than or equal to the number threshold, the height of the mesh point is a preset height.

[0023] To achieve the above purpose, the embodiment of the present application also provides a kind of underground pipe gallery visualization device, comprising:

[0024] Pipe gallery data acquisition module, for obtaining the pipe gallery data of underground pipe gallery to be visualized;

[0025] Network division module, for network division of the pipe gallery data, confirming the normal position and the normal direction of each network point;

[0026] Mesh height calculation module, for confirming the height of each mesh point according to the ground point cloud data in each mesh point;

[0027] Gallery model construction module, for constructing the gallery model of the underground pipe gallery to be visualized according to the normal position, the normal direction and the height;

[0028] The underground pipe gallery visualization module is used for displaying the underground pipe gallery to be visualized based on the gallery model by using AR technology.

[0029] As an improvement of the above scheme, the network division of the gallery data, the normal position and the normal direction of each network grid point are confirmed, including:

[0030] The ground projection range of the gallery data is divided into grids, and the grid type of each grid point is determined; wherein, the grid type includes gallery grid points and ordinary grid points;

[0031] The boundary type of each grid point is confirmed;

[0032] According to the boundary type, the normal position and the normal direction of each gallery grid point are confirmed.

[0033] As an improvement of the above scheme, the height of each grid point is confirmed according to the ground point cloud data in each grid point, including:

[0034] The ground point cloud data is obtained;

[0035] According to a preset distance threshold, the ground point cloud data is divided into different grid points;

[0036] Each grid point is layered, and the number of ground point cloud data in each layer is counted;

[0037] According to the number, the height of each grid point is confirmed.

[0038] As an improvement of the above scheme, the height of each grid point is confirmed according to the number, including:

[0039] When the number is greater than a preset number threshold, the height of the grid point is the sum of the product of the layer number and the layer height of the grid point and the height of the lowest point cloud data in the grid point;

[0040] When the number is less than or equal to the number threshold, the height of the grid point is a preset height.

[0041] To achieve the above purpose, the embodiment of the present application also provides an underground pipe gallery visualization device, including a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the underground pipe gallery visualization method as described above when executing the computer program.

[0042] To achieve the above object, the embodiment of the present application further provides a computer readable storage medium, which comprises a stored computer program; wherein the computer program controls the device where the computer readable storage medium is located to execute the visualization method of underground pipe gallery when running.

[0043] Compared with the prior art, the embodiment of the present application provides a visualization method, device, equipment and storage medium of underground pipe gallery, which can calculate correct lighting results and height information, and then accurately simulate the tunnel model, avoid the unrealistic effect of "drifting" of the pipeline in the moving process, and have good virtual-real combination effect, by network division of pipe gallery data, confirmation of normal position and normal direction of each network grid point, confirmation of height of each grid point according to ground point cloud data in each grid point, and construction of the tunnel model of the underground pipe gallery to be visualized according to the normal position, the normal direction and the height. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is a flow chart of the visualization method of underground pipe gallery provided by the embodiment of the present application;

[0045] Figure 2 is a structural block diagram of the visualization device of underground pipe gallery provided by the embodiment of the present application;

[0046] Figure 3 is a structural block diagram of the visualization equipment of underground pipe gallery provided by the embodiment of the present application. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0048] Referring to Figure 1 , Figure 1 is a flow chart of the visualization method of underground pipe gallery provided by the embodiment of the present application, and the visualization method of underground pipe gallery comprises:

[0049] S1, acquiring pipe gallery data of underground pipe gallery to be visualized;

[0050] S2, network division of the pipe gallery data, confirmation of normal position and normal direction of each network grid point;

[0051] S3, according to ground point cloud data in each grid point, confirmation of height of each grid point;

[0052] S4, constructing a tunnel model of the underground pipe gallery to be visualized according to the normal position, the normal direction and the height;

[0053] S5, displaying the underground pipe gallery to be visualized by using AR technology based on the tunnel model.

[0054] In an alternative embodiment, the step S1 of acquiring the pipe gallery data of the underground pipe gallery to be visualized comprises:

[0055] acquiring the pipe gallery data of the underground pipe gallery to be visualized through building drawing data; or,

[0056] scanning the underground pipe gallery to be visualized to acquire the pipe gallery data.

[0057] In an alternative embodiment, the step S2 of dividing the network of the pipe gallery data and confirming the normal position and the normal direction of each network grid point comprises:

[0058] dividing the grid of the ground projection range of the pipe gallery data to determine the grid type of each grid point; wherein the grid type comprises a tunnel grid point and a normal grid point;

[0059] confirming the boundary type of each grid point;

[0060] confirming the normal position and the normal direction of each tunnel grid point according to the boundary type.

[0061] For example, first, the node position data of all pipe networks is acquired, then the maximum and minimum values xmin, ymin, xmax and ymax of the xy coordinates (i.e. the projection plane) of all nodes are calculated, then a rectangular range is drawn according to the four values, and finally the rectangular range is divided into grids according to the grid size input by the user;

[0062] The grid points are classified, for example, the grid points through which the pipe passes and within a certain extension range are marked as "tunnel grid points", and the grid points without the pipe passing through are marked as "normal grid points".

[0063] By traversing each grid point, the boundary type of each grid point is confirmed, for example, when a grid point A is identified as a tunnel grid point, the grid point B on the left side of the grid point A is dynamically modified as a RightEdge (right edge) type, when the grid point above the grid point B is a tunnel grid point, the grid point B is dynamically modified as a RightTopCorner (right top corner) type, and so on until all grid points are traversed.

[0064] According to the boundary type, the normal position and the normal direction of each tunnel grid point are confirmed, for example, the top vertex of RightTopCorner is determined, and the normal direction is (0.577, 0.577, 0.577). According to the correct normal direction, the correct lighting result can be calculated to accurately simulate the tunnel model. The grid type is different from the boundary type concept. The grid type is marked as the tunnel grid point, and the tunnel needs to be drawn. The ordinary grid point does not need to be drawn.

[0065] In an optional embodiment, the step S3 of confirming the height of each grid point according to the ground point cloud data in each grid point comprises:

[0066] Obtaining ground point cloud data;

[0067] According to a preset distance threshold, the ground point cloud data is divided into different grid points;

[0068] Each grid point is layered, and the number of ground point cloud data in each layer is counted;

[0069] According to the number, the height of each grid point is confirmed.

[0070] In an optional embodiment, the step of confirming the height of each grid point according to the number comprises:

[0071] When the number is greater than a preset number threshold, the height of the grid point is the sum of the product of the number of layers of the grid point and the layer height and the height of the lowest point cloud data in the grid point;

[0072] When the number is less than or equal to the number threshold, the height of the grid point is a preset height.

[0073] It can be understood that the pipe gallery data is only composed of points and lines, including the world coordinates of manhole covers and pipelines and their connecting lines, and the ground point cloud data is the scanned ground (street) three-dimensional point cloud.

[0074] For example, according to a preset distance threshold, the ground point cloud data is divided into different grid points, for example, the distance threshold is 1m, and all the ground point cloud data is traversed. When the distance between the ground point cloud data and the grid point is less than 1m, the point number is put into the array corresponding to the grid point number.

[0075] The ground point cloud data stored in the grid point is layered by height, and the number of ground point cloud data in each layer of the grid point is counted, for example, the layer height is set to 0.1m, and the number of point cloud points in each layer is counted.

[0076] According to the quantity, the height of each grid point is confirmed, for example, the quantity threshold is 10, the hierarchical data stored in the grid point is traversed from low to high, when the point number is greater than 10, it is indicated that the height of the grid point is the lowest point altitude of the point cloud + layer number * layer height, when the point number is less than or equal to 10, the layer height cannot be confirmed, and the height of the grid point is a pre-set height.

[0077] It can be understood that, according to the normal position, the normal direction and the height obtained by the above calculation, and in combination with the grid point coordinates (xy coordinates, uv coordinates), a tunnel model can be dynamically constructed and a correct material can be assigned, and the function tunnelMeshFilter.sharedMesh.normals=tunnelNormals.ToArray() is used for construction. After obtaining the tunnel data, the underground pipe gallery to be visualized is displayed by using AR technology.

[0078] The underground pipe gallery visualization method provided by the embodiment of the application can confirm the normal position and the normal direction of each network grid point by network division of pipe gallery data, confirm the height of each grid point according to ground point cloud data in each grid point, construct a tunnel model of the underground pipe gallery to be visualized according to the normal position, the normal direction and the height, can calculate correct lighting results and height information, and can accurately simulate the tunnel model, so that the unrealistic effect that the pipe appears to drift in the moving process is avoided, and the virtual-real combination effect is good.

[0079] Referring to Figure 2 , Figure 2 is a structural block diagram of an underground pipe gallery visualization device 10 provided by the embodiment of the application, and the underground pipe gallery visualization device 10 comprises:

[0080] A pipe gallery data acquisition module 11 is configured to acquire pipe gallery data of an underground pipe gallery to be visualized.

[0081] A network division module 12 is configured to divide the pipe gallery data into networks, and confirm the normal position and the normal direction of each network grid point.

[0082] A grid height calculation module 13 is configured to confirm the height of each grid point according to ground point cloud data in each grid point.

[0083] A tunnel model construction module 14 is configured to construct a tunnel model of the underground pipe gallery to be visualized according to the normal position, the normal direction and the height.

[0084] An underground pipe gallery visualization module 15 is configured to display the underground pipe gallery to be visualized by using AR technology based on the tunnel model.

[0085] Optionally, the network partitioning of the pipe gallery data, confirming the normal position and the normal direction of each network node, comprises:

[0086] The ground projection range of the pipe gallery data is grid partitioned to determine the grid type of each grid node; wherein, the grid type comprises a tunnel grid node and a normal grid node;

[0087] The boundary type of each grid node is confirmed;

[0088] According to the boundary type, the normal position and the normal direction of each tunnel grid node are confirmed.

[0089] Optionally, the height of each grid node is confirmed according to the ground point cloud data in each grid node, comprising:

[0090] The ground point cloud data is obtained;

[0091] According to a preset distance threshold, the ground point cloud data is divided into different grid nodes;

[0092] Each grid node is layered, and the number of ground point cloud data in each layer is counted;

[0093] According to the number, the height of each grid node is confirmed.

[0094] Optionally, the height of each grid node is confirmed according to the number, comprising:

[0095] When the number is greater than a preset number threshold, the height of the grid node is the sum of the product of the layer number and the layer height of the grid node and the height of the lowest point cloud data in the grid node;

[0096] When the number is less than or equal to the number threshold, the height of the grid node is a preset height.

[0097] It is worth noting that the working process of each module in the underground pipe gallery visualization device 10 described in the embodiments of the present application can refer to the working process of the underground pipe gallery visualization method described in the above embodiments, which will not be repeated here.

[0098] The underground pipe gallery visualization device 10 provided by the embodiment of the present application can confirm the normal position and normal direction of each network grid point by network partitioning of pipe gallery data, confirm the height of each grid point according to the ground point cloud data in each grid point, construct the gallery model of the underground pipe gallery to be visualized according to the normal position, the normal direction and the height, can calculate correct lighting results and height information, and can accurately simulate the gallery model, thereby avoiding the unrealistic effect that the pipeline appears to be drifting in the moving process, and achieving good virtual-real combination effect.

[0099] The embodiment of the present application further provides a computer readable storage medium, which comprises a stored computer program; wherein the computer program controls the device where the computer readable storage medium is located to execute the underground pipe gallery visualization method according to any one of the above embodiments when running.

[0100] Referring to Figure 3 , Figure 3 is a structural block diagram of the underground pipe gallery visualization device 20 provided by the embodiment of the present application, which comprises a processor 21, a memory 22, and a computer program stored in the memory 22 and executable on the processor 21. The processor 21 implements the steps in the above underground pipe gallery visualization method embodiments when executing the computer program. Alternatively, the processor 21 implements the functions of each module / unit in the above device embodiments when executing the computer program.

[0101] For example, the computer program can be divided into one or more modules / units, which are stored in the memory 22 and executed by the processor 21 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the underground pipe gallery visualization device 20.

[0102] The underground pipe gallery visualization device 20 can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The underground pipe gallery visualization device 20 can include, but is not limited to, a processor 21 and a memory 22. Those skilled in the art can understand that the schematic diagram is only an example of the underground pipe gallery visualization device 20, and does not constitute a limitation on the underground pipe gallery visualization device 20, and can include more or fewer components than the diagram, or combine certain components, or different components, for example, the underground pipe gallery visualization device 20 can also include an input / output device, a network access device, a bus, etc.

[0103] The processor 21 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or can also be any conventional processor. The processor 21 is a control center of the underground pipe gallery visualization device 20, and is connected to various parts of the underground pipe gallery visualization device 20 through various interfaces and lines.

[0104] The memory 22 can be used to store computer programs and / or modules. The processor 21 realizes various functions of the underground pipe gallery visualization device 20 by running or executing the computer programs and / or modules stored in the memory 22, and calling data stored in the memory 22. The memory 22 can mainly include a program storage area and a data storage area. The program storage area can store an operating system, at least one application program required for a function (such as a sound playing function, an image playing function, etc.), etc. The data storage area can store data created according to use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory 22 can include a high-speed random access memory, and can also include a nonvolatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory device.

[0105] The modules / units integrated in the visualization device 20 of the underground pipe gallery can be stored in a computer readable storage medium if they are implemented in the form of software function units and sold or used as independent products. Based on this understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware. The computer program can be stored in a computer readable storage medium. When the computer program is executed by the processor 21, the steps of the above-mentioned various method embodiments can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms, etc. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0106] It should be noted that the above-described device embodiments are only schematic, and the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e., they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. In addition, the connection relationship between the modules in the device embodiment provided by the present application indicates that there is a communication connection between them, which can be implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement it without creative labor.

[0107] The above is the preferred embodiment of the present application. It should be noted that those skilled in the art can make several improvements and refinements without departing from the principles of the present application, and these improvements and refinements are also considered within the protection scope of the present application.

Claims

1. A visualization method for underground utility tunnels, characterized in that, include: Obtain the underground utility tunnel data to be visualized; The utility tunnel data is divided into grids to determine the normal position and direction of each grid point; The height of each grid point is determined based on the ground point cloud data in each grid point; Based on the normal position, the normal direction, and the height, construct the tunnel model of the underground utility tunnel to be visualized; Based on the tunnel model, AR technology is used to display the underground utility tunnel to be visualized; The step of dividing the utility tunnel data into grids and determining the normal position and direction of each grid point includes: The ground projection range of the utility tunnel data is divided into grids to determine the grid type of each grid point; wherein, the grid type includes tunnel grid points and ordinary grid points; Confirm the boundary type of each grid point; Based on the boundary type, confirm the normal position and normal direction of each of the tunnel grid points; The step of determining the height of each grid point based on the ground point cloud data in each grid point includes: Acquire ground point cloud data; Based on a preset distance threshold, the ground point cloud data is divided into different grid points; Each grid point is divided into layers, and the number of ground point cloud data in each layer is counted. Based on the stated quantity, determine the height of each of the stated grid points; Determining the height of each grid point based on the quantity includes: When the quantity is greater than a preset quantity threshold, the height of the grid point is the sum of the product of the number of layers and the layer height of the grid point and the height of the lowest point cloud data in the grid point; When the quantity is less than or equal to the quantity threshold, the height of the grid points is a preset height.

2. A visualization device for underground utility tunnels, characterized in that, include: The utility tunnel data acquisition module is used to acquire the utility tunnel data to be visualized. The grid division module is used to divide the pipe gallery data into grids and confirm the normal position and normal direction of each grid point. The grid height calculation module is used to determine the height of each grid point based on the ground point cloud data in each grid point; The tunnel model construction module is used to construct the tunnel model of the underground utility tunnel to be visualized based on the normal position, the normal direction, and the height. The underground utility tunnel visualization module is used to display the underground utility tunnel to be visualized based on the tunnel model using AR technology; The step of dividing the utility tunnel data into grids and determining the normal position and direction of each grid point includes: The ground projection range of the utility tunnel data is divided into grids to determine the grid type of each grid point; wherein, the grid type includes tunnel grid points and ordinary grid points; Confirm the boundary type of each grid point; Based on the boundary type, confirm the normal position and normal direction of each of the tunnel grid points; The step of determining the height of each grid point based on the ground point cloud data in each grid point includes: Acquire ground point cloud data; Based on a preset distance threshold, the ground point cloud data is divided into different grid points; Each grid point is divided into layers, and the number of ground point cloud data in each layer is counted. Based on the stated quantity, determine the height of each of the stated grid points; Determining the height of each grid point based on the quantity includes: When the quantity is greater than a preset quantity threshold, the height of the grid point is the sum of the product of the number of layers and the layer height of the grid point and the height of the lowest point cloud data in the grid point; When the quantity is less than or equal to the quantity threshold, the height of the grid points is a preset height.

3. A visualization device for underground utility tunnels, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the visualization method for underground utility tunnels as described in claim 1.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program; wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform the visualization method for underground utility tunnels as described in claim 1.

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