Construction method and system for assisting mixed reality through anchor point projection of unmanned aerial vehicle

Abstract

The invention provides a construction method and system for assisting mixed reality by projecting an anchor point by an unmanned aerial vehicle, and the method comprises the steps: planning the position and direction of the anchor point in a three-dimensional design system, and exporting the data of the anchor point; performing coordinate system conversion, and converting the anchor point data into data under a geographic coordinate system; importing the converted data into an unmanned aerial vehicle system, and planning a flight path; the unmanned aerial vehicle performs positioning by using RTK-GPS and flies to the anchor point position according to the planned flight path; the unmanned aerial vehicle projects a recognizable laser pattern at the anchor point position; and the mixed reality device identifies the anchor point and then performs coordinate system conversion. The problems that in the prior art, anchor point arrangement is low in efficiency and limited by the construction process and environment can be solved, and therefore the guidance efficiency and precision of mixed reality equipment on the construction site are improved.

Description

Technical Field

[0001] The present invention belongs to the field of building construction, and in particular relates to a construction method and system for unmanned aerial vehicle (UAV) anchor point projection to assist mixed reality. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In modern building construction, the influence of layout on construction quality and efficiency is crucial. Traditional layout methods mainly rely on manual measurement and marking, which has obvious limitations in efficiency and accuracy.

[0004] With the development of science and technology, the integration of RTK positioning and drone technology has provided new possibilities for high-precision geospatial data solutions. Mixed reality devices are widely used for on-site guidance and model display, but precise spatial anchors are required to ensure that the virtual model accurately matches the real environment.

[0005] Traditional anchor point layout methods usually require physical markings to be set up at the construction site in advance, which may be limited by the sequence of processes and site conditions during the construction process, resulting in limited application scope and reduced efficiency. At the same time, advance layout and other processes require a lot of manpower and time investment, and manual layout poses safety risks in complex or dangerous environments.

[0006] Therefore, how to improve the efficiency and accuracy of anchor point arrangement and expand the application scope of mixed reality equipment on construction sites has become an urgent problem to be solved. Summary of the invention

[0007] In order to solve the above problems, the present invention proposes a construction method and system for drone-projected anchor points to assist mixed reality. The present invention can solve the problems of low anchor point arrangement efficiency and limitations on construction process and environment in the prior art, thereby improving the guidance efficiency and accuracy of mixed reality equipment at the construction site.

[0008] According to some embodiments, the present invention adopts the following technical solutions:

[0009] A construction method for drone-projected anchor points to assist mixed reality, comprising the following steps:

[0010] Plan the anchor point position and direction in the 3D design system and export the anchor point data;

[0011] Perform coordinate system conversion to convert anchor point data into data in geographic coordinate system;

[0012] Import the converted data into the UAV system and plan the flight path;

[0013] The drone uses RTK-GPS for positioning and flies to the anchor point according to the planned flight path;

[0014] The drone projects a recognizable laser pattern at the anchor point location;

[0015] After the mixed reality device recognizes the projected pattern, it uses the anchor point to transform the coordinate system and align it with the physical world.

[0016] As an optional implementation, the coordinate system conversion is performed using a conversion matrix to ensure the consistency between the design coordinate system and the geographic coordinate system.

[0017] As an optional implementation, the process of coordinate system conversion is: geo =T·P design , T is the transformation matrix, P design The anchor point position that needs to be projected for planning, and the converted anchor point position P geo and anchor point orientation into the drone’s flight control system.

[0018] As an optional implementation, the process of planning a flight path includes:

[0019] For position control, the drone obtains its own position P in real time through RTK-GPS uav (t), adjust the flight trajectory to satisfy: P uav (t i )=Pgeo i ;

[0020] Perform attitude control to obtain the attitude angle θ(t) of the drone. γ(t), ensure that the projection direction is consistent with the design direction: V uav (t i )=Vgeo i .

[0021] As an optional implementation, the process of converting the anchor point position includes:

[0022] During the flight of the drone carrying the mixed reality device, the mixed reality device uses its own SLAM technology (Simultaneous Localization and Mapping, a technology that simultaneously realizes the device's own positioning and environmental map construction) to perform spatial recognition and form a spatial grid mapping of the real physical world. When the drone projects an anchor point marker at a specified location, the mixed reality device recognizes it and uses the spatial information of the anchor point in the real space and the preset information in the model space to convert the coordinate system of the model space to achieve coordinated alignment between the two.

[0023] The specific process is as follows:

[0024] When the mixed reality device is turned on, a default design model space is randomly generated based on the power-on position and posture;

[0025] Mixed reality devices use SLAM technology to identify and establish a spatial grid map of the real world during real-world roaming, forming a digital grid map of the real space;

[0026] After the mixed reality device recognizes the projected pattern, it uses the real space information of the anchor point pattern and the space information preset in the design model to perform coordinate system conversion, so as to align the design model space coordinate system with the real space.

[0027] As an optional implementation, the laser pattern is an anchor point pattern projected by laser, which is a QR code or a predetermined mark.

[0028] As an optional implementation, the mixed reality device is aligned with the physical space of the construction site, identifies and imports the actual projection position data, and updates the anchor point position to ensure that the virtual model matches the actual environment.

[0029] A construction system for drone-projected anchor points to assist mixed reality, comprising:

[0030] 3D design system for planning anchor point locations and orientations and exporting anchor point data;

[0031] The coordinate conversion module is used to convert the coordinate system and convert the anchor point data into data in the geographic coordinate system;

[0032] The UAV platform is used to import the converted data into the UAV system and plan the flight path; use RTK-GPS for positioning and fly to the anchor point according to the planned flight path; project a recognizable laser pattern at the anchor point;

[0033] After the mixed reality device recognizes the projected pattern, it uses the anchor point to transform the coordinate system and align it with the physical world.

[0034] As an optional implementation, the UAV platform is equipped with an RTK-GPS positioning module, a laser projection device and a communication module.

[0035] As an optional implementation, the mixed reality device includes multiple mixed reality devices, and each mixed reality device works collaboratively based on shared spatial anchor point data.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The present invention utilizes RTK-GPS positioning for positioning, and the positioning accuracy can reach the millimeter level, and the overall positioning error is also controlled at the millimeter level, ensuring the accuracy of the anchor point position and improving the guidance accuracy of the mixed reality device.

[0038] The present invention can realize automatic and continuous projection by the drone, significantly improve the time required for placing each anchor point, reduce manual surveying time, and improve construction progress.

[0039] The present invention does not require the advance arrangement of physical anchor points, overcomes the limitations of traditional methods in construction process and environment, can use drones to replace manual layout in complex or dangerous environments, ensure personnel safety, and can quickly cover large areas and complex sites.

[0040] The present invention seamlessly combines RTK, laser projection and MR technologies to provide an enhanced user experience.

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0043] Figure 1 is a flow chart of an embodiment;

[0044] Figure 2 is a schematic diagram of the principle of an embodiment;

[0045] Figure 3 The diagram is an auxiliary diagram of a mixed reality device at a construction site according to an embodiment. DETAILED DESCRIPTION

[0046] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0047] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0048] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0049] In the absence of conflict, the embodiments in this application and the features in the embodiments may be combined with each other.

[0050] Embodiment 1

[0051] A construction method of drone-projected anchor points to assist mixed reality, such as Figure 1 As shown, the following steps are included:

[0052] Plan the anchor point position and direction in the 3D design system and export the anchor point data;

[0053] Perform coordinate system conversion to convert anchor point data into data in geographic coordinate system;

[0054] Import the converted data into the UAV system and plan the flight path;

[0055] The drone uses RTK-GPS for positioning and flies to the anchor point according to the planned flight path;

[0056] The drone projects a recognizable laser pattern at the anchor point location;

[0057] The mixed reality device recognizes the anchor point and then performs coordinate system conversion.

[0058] Plan the position and direction of the anchor points that need to be projected in the 3D design system, convert and import the data into the UAV’s flight control system to realize automated flight and projection of the UAV.

[0059] In this embodiment, the anchor point position P to be projected is planned. desigm =(x d ,y d 、z d ), and determine the direction vector V of the anchor point design . Export this data to a standard format file.

[0060] Next, a unified coordinate system is established through data conversion to achieve data consistency between the design model, drone and mixed reality device, and the coordinate transformation matrix is ​​used to ensure accurate matching between the systems.

[0061] In this embodiment, a conversion matrix T between the design coordinate system and the geographic coordinate system is established for unification of the coordinate systems.

[0062] P geo =T·P design , T is the transformation matrix, P design The anchor point position that needs to be projected for planning, and the converted anchor point position P geo and anchor point orientation into the drone’s flight control system.

[0063] In this embodiment, RTK-GPS technology is used to achieve efficient positioning accuracy of the UAV, without the need to re-measure control points at the construction site.

[0064] Positioning accuracy reaches millimeter level through RTK-GPS, and there is no need to re-measure control points on the construction site.

[0065] In addition, the drone is equipped with a laser projection device to project a recognizable anchor pattern, such as a QR code or a predetermined logo, at a predetermined location for spatial positioning of the mixed reality device.

[0066] According to the anchor point position, the flight path of the drone is planned to meet the position and attitude requirements.

[0067] Real-time positioning and attitude control:

[0068] Position control: The drone obtains its own position in real time through RTK-GPS uav (t), adjust the flight trajectory to satisfy: P uav (t i )=Pgeo i ;

[0069] Attitude control: obtain the attitude angle θ(t) of the drone through IMU, γ(t), ensure that the projection direction is consistent with the design direction: V uav (t i )=Vgeo i .

[0070] The drone records the actual projection position P in real time during the projection process actual (t i ), feeds the data back to the 3D design system and mixed reality device for anchor point recognition, and then completes the coordinate system conversion inside the mixed reality device to achieve alignment between the model space and the real space. Figure 2 shown.

[0071] like Figure 3As shown, the MR device reads in the projection anchor points and uses them for on-site construction. The MR device reconstructs the model space to align with the physical space of the construction site, imports the actual projection position data into the mixed reality device, updates the anchor point position, and ensures that the virtual model matches the actual environment. The spatial computing capability of the mixed reality MR device is used to enhance the 3D spatial positioning accuracy.

[0072] In addition, the mixed reality equipment after reconstructing the space can also be used in the actual construction site environment to assist in layout and other construction coordination of the virtual model.

[0073] Embodiment 2

[0074] A construction system for drone-projected anchor points to assist mixed reality, comprising:

[0075] 3D design system for planning anchor point locations and orientations and exporting anchor point data;

[0076] The coordinate conversion module is used to convert the coordinate system and convert the anchor point data into data in the geographic coordinate system;

[0077] The UAV platform is used to import the converted data into the UAV system and plan the flight path; use RTK-GPS for positioning and fly to the anchor point according to the planned flight path; project a recognizable laser pattern at the anchor point;

[0078] The mixed reality device is used to recognize the projected pattern and then use the anchor point to transform the coordinate system and align it with the physical world.

[0079] In some embodiments, the following devices or functions are also provided:

[0080] Unmanned aerial vehicle (UAV) platform: equipped with RTK-GPS module, laser projection equipment and communication module.

[0081] Ground Control Station (GCS): used for mission planning, data transmission and monitoring of UAV status.

[0082] 3D Design System: used to plan anchor point locations and export task data.

[0083] Mixed reality device (MR Device): used to receive anchor point information for spatial positioning and construction guidance.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principle of the present invention without creative labor shall be included in the protection scope of the present invention.

Claims

1. A construction method for drone-projected anchor points to assist mixed reality, characterized in that: The following steps are involved: Plan the anchor point position and direction in the 3D design system and export the anchor point data; Perform coordinate system conversion to convert anchor point data into data in geographic coordinate system; Import the converted data into the UAV system and plan the flight path; The drone uses RTK-GPS for positioning and flies to the anchor point according to the planned flight path; The drone projects a recognizable laser pattern at the anchor point location; The actual projection position data is fed back to the mixed reality device for anchor point position recognition.

2. A construction method of drone-projected anchor points to assist mixed reality as claimed in claim 1, characterized in that: The coordinate system conversion is performed using a conversion matrix to ensure the consistency between the design coordinate system and the geographic coordinate system.

3. The construction method of a drone projecting anchor point assisted mixed reality as claimed in claim 1, characterized in that: The process of coordinate system conversion is: geo =T·P design , T is the transformation matrix, P design The anchor point position that needs to be projected for planning, and the converted anchor point position P geo and anchor point orientation into the drone’s flight control system.

4. The construction method of a drone projecting anchor point assisted mixed reality as claimed in claim 1, characterized in that the planning The flight path process includes: For position control, the drone obtains its own position P in real time through RTK-GPS uav (t), adjust the flight trajectory to satisfy: P uav (t i )=Pgeo i ; Perform attitude control to obtain the attitude angle θ(t) of the drone. γ(t), ensure that the projection direction is consistent with the design direction: V uav (t i )=Vgeo i .

5. The construction method of a drone projecting anchor point assisted mixed reality as claimed in claim 1, characterized in that: The process of mixed reality device anchor point location recognition includes: When the mixed reality device is turned on, a default design model space is randomly generated based on the power-on position and posture; Mixed reality devices use SLAM technology to identify and establish a spatial grid map of the real world during real-world roaming, forming a digital grid map of the real space; After the mixed reality device recognizes the projected pattern, it uses the real space information of the anchor point pattern and the space information preset in the design model to perform coordinate system conversion, so as to align the design model space coordinate system with the real space.

6. The construction method of a drone projecting anchor point assisted mixed reality as claimed in claim 1, characterized in that: The laser pattern is an anchor point pattern projected by the laser, which is a two-dimensional code or a predetermined mark.

7. The construction method of a drone projecting anchor point assisted mixed reality as claimed in claim 1, characterized in that: The mixed reality device is aligned with the physical space of the construction site, imports the actual projection position data, and updates the anchor point position to ensure that the virtual model matches the actual environment.

8. A construction system using drone-projected anchor points to assist mixed reality, characterized in that: include: 3D design system for planning anchor point locations and orientations and exporting anchor point data; The coordinate conversion module is used to convert the coordinate system and convert the anchor point data into data in the geographic coordinate system; The UAV platform is used to import the converted data into the UAV system and plan the flight path; use RTK-GPS for positioning and fly to the anchor point according to the planned flight path; project a recognizable laser pattern at the anchor point; The mixed reality device is used to recognize the projected pattern and then use the anchor point to transform the coordinate system and align it with the physical world.

9. A construction system of UAV-projected anchor points assisted by mixed reality as claimed in claim 8, characterized in that: The UAV platform is equipped with an RTK-GPS positioning module, a laser projection device and a communication module.

10. The construction system of UAV anchor projection assisted mixed reality as claimed in claim 8, characterized in that: The mixed reality device includes multiple devices, and each mixed reality device works collaboratively based on shared spatial anchor point data.

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