Cable tunnel model display method and device and electronic equipment

Abstract

The invention discloses a cable tunnel model display method and device and electronic equipment. The method comprises the steps that a cable tunnel model of a cable tunnel is acquired, the cable tunnel model is established based on point cloud data of the cable tunnel, and the point cloud data is obtained by scanning the cable tunnel based on a laser radar; and displaying the cable tunnel model in an augmented reality (AR) form on a display interface of the mobile equipment. The technical problem that the cable tunnel is easily damaged in the construction process due to inaccurate construction disclosure information is solved.

Description

Technical Field

[0001] The present invention relates to the field of image processing, and in particular to a cable tunnel model display method, device and electronic equipment. Background Art

[0002] In the relevant technology, the power grid company needs to explain the location information of the cable tunnel to the construction unit. The method of explanation is that experienced cable operation and maintenance personnel explain it based on past experience. However, the location information of the cable tunnel obtained by this method is not accurate, which may cause the construction unit to damage the cable tunnel during the construction process, affecting the safety of cable operation.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a cable tunnel model display method, device and electronic equipment to at least solve the technical problem that the cable tunnel is easily damaged during the construction process due to inaccurate construction briefing information.

[0005] According to one aspect of an embodiment of the present invention, a cable tunnel model display method is provided, comprising: obtaining a cable tunnel model of a cable tunnel, wherein the cable tunnel model is established based on point cloud data of the cable tunnel, and the point cloud data is obtained based on a laser radar scanning of the cable tunnel; and displaying the cable tunnel model in the form of augmented reality (AR) on a display interface of a mobile device.

[0006] Optionally, the method of obtaining a cable tunnel model of a cable tunnel, wherein the cable tunnel model is established based on point cloud data of the cable tunnel, and the point cloud data is obtained based on a laser radar scanning of the cable tunnel, comprising: denoising the point cloud data to obtain denoised point cloud data; segmenting the denoised point cloud data to obtain segmented point cloud data; extracting the outer contour of the segmented point cloud data to obtain the outer contour of the spatial structure of the cable tunnel; and establishing the cable tunnel model of the cable tunnel according to the outer contour of the spatial structure of the cable tunnel.

[0007] Optionally, the cable tunnel model is displayed in the form of augmented reality (AR) on the display interface of the mobile device, including: obtaining location information of the mobile device; correcting the position and posture of the mobile device in combination with map matching and visual assistance; and establishing an AR scene on the mobile device based on the position and posture of the mobile device and the cable tunnel model of the cable tunnel, and displaying it on the display interface.

[0008] Optionally, obtaining the location information of the mobile device includes: establishing an ad hoc network communication between the mobile device and a positioning device that positions the mobile device; and obtaining the location information sent by the positioning device to the mobile device based on the ad hoc network communication.

[0009] Optionally, the combination of map matching and visual assistance to correct the position and posture of the mobile device includes: using high-precision map data to perform position comparison and posture correction on the mobile device to obtain the position information of the mobile device that matches the high-precision map data; using a camera to capture an environmental image of the mobile device, extracting feature points of the environmental image, and correcting the position and posture of the mobile device in combination with data collected by one or more sensors other than the camera on the mobile device.

[0010] Optionally, after displaying the cable tunnel model in the form of augmented reality (AR) on the display interface of the mobile device, the method further includes: when the mobile device moves, obtaining the position of the mobile device after movement; based on the position after movement, updating the AR scene, obtaining the updated AR scene and displaying it on the display interface.

[0011] According to another aspect of the present invention, a cable tunnel model display device is provided, comprising: an acquisition module for acquiring a cable tunnel model of a cable tunnel, wherein the cable tunnel model is established based on point cloud data of the cable tunnel, and the point cloud data is obtained based on a laser radar scanning of the cable tunnel; and a display module for displaying the cable tunnel model in the form of augmented reality (AR) on a display interface of a mobile device.

[0012] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored executable program, wherein when the executable program is run, the device where the computer-readable storage medium is located is controlled to execute any one of the cable tunnel model display methods described above.

[0013] According to another aspect of the present invention, there is provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes any one of the above-mentioned cable tunnel model display methods when running.

[0014] According to another aspect of the present invention, there is provided a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of any one of the methods for displaying a cable tunnel model are implemented.

[0015] In the embodiment of the present invention, augmented reality (AR) is used to display the cable tunnel model on the display interface of the mobile device, so as to achieve the purpose of accurately explaining the cable tunnel, thereby improving the efficiency and safety of underground construction, and further solving the technical problem that the cable tunnel is easily damaged during the construction process due to inaccurate construction explanation information. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 is a schematic flow chart of a cable tunnel model display method according to an embodiment of the present invention;

[0018] Figure 2 It is a flowchart of a construction briefing method combining high-precision positioning and AR display according to an optional implementation mode of the present invention;

[0019] Figure 3 is a flow chart of underground cable tunnel point cloud data preprocessing according to an optional implementation mode of the present invention;

[0020] Figure 4 is a flow chart of introducing a high-precision positioning device into a mobile terminal according to an optional implementation mode of the present invention;

[0021] Figure 5 It is a flow chart showing the distribution of cable tunnels accurately in AR form on a mobile terminal according to an optional implementation mode of the present invention;

[0022] Figure 6 is a flow chart of an external construction site briefing according to an optional implementation mode of the present invention;

[0023] Figure 7 4 is a structural block diagram of a cable tunnel model display device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] First, some nouns or terms that appear in the description of the embodiments of the present application are subject to the following explanations:

[0027] Point cloud data: Point cloud data is a collection of points on the surface of an object or environment in three-dimensional space, which usually contain location information (such as X, Y, Z coordinates) and possible other information such as color, intensity or reflectivity. Point cloud data can be generated by devices such as lidar, 3D scanners, structured light sensors or stereo vision systems, and is widely used in 3D modeling, 3D map construction, object recognition, environmental perception of autonomous vehicles, building information models, and cultural relics protection.

[0028] Multi-View Convolutional Neural Network Model: The multi-view convolutional neural network model is a deep learning model that is mainly used to process and analyze three-dimensional data, such as point clouds or three-dimensional models. Compared with traditional two-dimensional convolutional neural networks that mainly process planar images, multi-view convolutional neural networks take different views of three-dimensional objects (i.e. two-dimensional images observed from different angles) as input, and then use multiple two-dimensional convolutional neural networks to extract features from each view separately, and finally fuse these features to achieve a better understanding and classification of three-dimensional data.

[0029] High Definition Map (HD Map): HD Map is an integral part of autonomous driving and advanced driver assistance systems. Compared with traditional navigation maps, HD Map provides more detailed and accurate data, including but not limited to the precise location of the road, lane markings, traffic signs, road edges, slopes, curvatures, traffic lights, buildings, trees and other environmental features, as well as road restrictions (such as speed limits).

[0030] Augmented Reality (AR): AR is a technology that superimposes virtual information on the real world. By using cameras and displays (such as smartphones or head-mounted displays), virtual elements such as graphics, sounds, and location data can be added to the real environment to provide richer information and interactive experience.

[0031] Construction briefing: Construction briefing is a very important link in construction projects, power projects, road construction and other projects. It refers to the process in which the technical person in charge or engineer of the project explains and explains the construction drawings, design plans, construction methods, technical requirements, safety measures and environmental protection requirements to the construction team in detail before the project starts or during the construction process. The purpose of construction briefing is to ensure that the construction personnel have a clear understanding of the specific requirements of the project, avoid mistakes and safety accidents during the construction process, and ensure the quality and progress of the project.

[0032] With the acceleration of urbanization and the continuous growth of electricity demand, the scale of cable construction in the form of underground tunnels and pipes is constantly expanding. For a region, the length of cable tunnels may have reached 5,000 to 6,000 kilometers, and for a certain enterprise, the length of cable tunnels built has also reached 1,000 to 2,000 kilometers. Taking a certain city as an example, the length of underground cable tunnels in the city is currently about 1,700 kilometers, and the length of cables is about 3,000 kilometers. The cables and cable tunnels are increasing at a rate of about 10% and 5% per year respectively. In addition, the construction of pipes and direct buried cables also maintains a high growth rate.

[0033] However, underground cable equipment is hidden and the power grid system does not have an accurate grasp of the equipment location. When construction units outside the power grid system carry out construction, due to inaccurate on-site information, some cable equipment is dug up and production safety accidents occur, causing great harm to the stable supply of electricity for production and life.

[0034] With the development of simultaneous localization and mapping (SLAM), laser point cloud and geophysical exploration technology, we now have the technical conditions to accurately collect the spatial position of underground cables and obtain the precise location information of underground cable equipment.

[0035] The method of briefing the location of cable equipment in related technologies relies on experienced underground cable operation and maintenance personnel. The underground cable operation and maintenance personnel brief the construction unit based on past experience. However, the accuracy of the information in this briefing method cannot be guaranteed. During the construction process, it is easy to cause external force damage to the cable equipment, affecting the safe operation of the cable equipment.

[0036] Based on this, an embodiment of the present invention provides a cable tunnel model display method. Specifically, it provides a method for external construction briefing of underground cables using high-precision laser point cloud model data of underground cable tunnels and high-precision positioning equipment, which solves the problem that the location of underground cables cannot be accurately and intuitively displayed and the construction briefing lacks a reliable basis.

[0037] According to an embodiment of the present invention, an embodiment of a cable tunnel model display method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0038] Figure 1 is a flow chart of a cable tunnel model display method according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0039] Step S102, obtaining a cable tunnel model of the cable tunnel, wherein the cable tunnel model is established based on point cloud data of the cable tunnel, and the point cloud data is obtained based on scanning the cable tunnel by a laser radar.

[0040] As an optional embodiment, the execution subject of the method of this embodiment may be a mobile device. The mobile device may be a variety of mobile devices, such as a mobile phone, a tablet, etc. The mobile device has a display screen for displaying the cable tunnel model; the mobile device also has a routing function for maintaining a connection with the positioning device to build a self-organizing network communication.

[0041] As an optional embodiment, when obtaining the cable tunnel model of the cable tunnel, the cable tunnel model is established based on the point cloud data of the cable tunnel, and the point cloud data is obtained by scanning the cable tunnel using a laser radar scanning technology.

[0042] As an optional embodiment, when obtaining the cable tunnel model of the cable tunnel, a variety of methods can be used. For example, when the computing performance of the mobile device is strong, the mobile device can directly scan the cable tunnel based on the laser radar to obtain point cloud data, and then directly establish the cable tunnel model based on the point cloud data; when the computing performance of the mobile device is weak, the mobile device can obtain the point cloud data obtained by the power grid system based on the laser radar scanning of the cable tunnel, and the cable tunnel model established based on the point cloud data from the power grid system. The specific method to be used for acquisition can be determined based on demand or the performance of the mobile device.

[0043] As an optional embodiment, when obtaining the cable tunnel model of the cable tunnel, a variety of methods can be used. For example, the following processing method can be used: obtain point cloud data of the cable tunnel through laser radar scanning, first denoise the above point cloud data to obtain denoised point cloud data, and a variety of denoising methods can be used when denoising the above point cloud data. For example, radius filtering technology can be used. Through denoising, noise points in the above point cloud data can be effectively removed, and point cloud data that can characterize the relevant information of the cable tunnel can be retained; then the denoised point cloud data is segmented to obtain segmented point cloud data, and a multi-view convolutional neural network model is used to identify the structure of the cable tunnel based on the denoised point cloud data, such as the direction of the tunnel, branches, etc., extract the geometric feature key points of the above structure, construct a spatial bounding volume, and segment the denoised point cloud data according to the above spatial bounding volume to obtain the segmented point cloud data. The above point cloud data of the tunnel is divided into multiple independent areas to ensure that each component or structure of the above cable tunnel can be processed separately; then the outer contour of the above segmented point cloud data is extracted to obtain the outer contour of the spatial structure of the above cable tunnel, and each point cloud area in the above segmented point cloud data is sliced ​​cross-sectionally, and the contour is extracted from the above cross-sectional slices, and the outer contour cross-sectional key points of the above cross-sectional slices are constructed, and the above outer contour cross-sectional key points are fitted to form the above spatial structure outer contour of the above cable tunnel. The relative position and posture between different cross sections are considered, and the continuity and accuracy of the outer contour of the above cable tunnel can be ensured; finally, according to the above spatial structure outer contour of the above cable tunnel, the cable tunnel model of the above cable tunnel is established, the key points of the outer contour of the above spatial structure are extracted, the combination of the key points of the outer contour of the above spatial structure, and the connection relationship are determined, and the cable tunnel model of the above cable tunnel is constructed. Due to the series of operations of denoising, segmentation, and outer contour extraction on the above point cloud data, the established cable model is more efficient and accurate, thereby improving the accuracy of subsequent AR display and information disclosure.

[0044] Step S104: displaying the cable tunnel model in the form of augmented reality (AR) on the display interface of the mobile device.

[0045] As an optional embodiment, when the cable tunnel model is displayed in the form of augmented reality AR on the display interface of the mobile device, the location information of the mobile device can be obtained first; then the position and posture of the mobile device can be corrected in combination with map matching and visual assistance; finally, based on the position and posture of the mobile device and the cable tunnel model of the cable tunnel, an AR scene is established on the mobile device and displayed on the display interface. By obtaining the location information of the mobile device and correcting the position and posture of the location information of the mobile device, it can be ensured that the real environment in which the mobile device is located and the virtual elements of the AR scene can be aligned, so that when the cable tunnel model is displayed in the form of AR on the display interface of the mobile device, the display result is more accurate. The above method is adopted to realize the combination of cable disclosure and AR. Compared with the method of using artificial experience explanation in related technologies, the cable tunnel model can be displayed more realistically and timely in combination with actual conditions. The combination of virtual and real methods obviously reflects the efficiency of the disclosure of the cable tunnel.

[0046] As an optional embodiment, when obtaining the location information of the mobile device, multiple methods can be used. For example, a positioning device can be used to locate the mobile device. First, a self-organizing network communication is established between the mobile device and the positioning device that locates the mobile device; then, based on the self-organizing network communication, the location information sent by the positioning device to the mobile device is obtained. Among them, the positioning device can adopt differential positioning technology, by receiving differential correction data provided by one or more base stations with known precise positions, combined with the satellite observation data of the positioning device itself, to calculate accurate location information, thereby achieving accurate acquisition of location information. At the same time, both the mobile device and the positioning device have routing functions. By establishing a self-organizing network communication between the two through the routing functions of the two, the connection between the mobile device and the positioning device can be dynamically maintained, and the optimal transmission path can be selected according to the routing protocol to ensure that the positioning device can reliably transmit the location information of the mobile device to the mobile device.

[0047] As an optional embodiment, when combining map matching and visual assistance to correct the position and posture of the mobile device, multiple methods can be used. For example, the high-precision map data can be used to first compare the position and correct the posture of the mobile device to obtain the position information of the mobile device that matches the high-precision map data; then the camera is used to capture the environmental image of the mobile device, and the feature points of the environmental image are extracted. The position and posture of the mobile device are corrected in combination with the data collected by one or more sensors other than the camera on the mobile device. By comparing with the high-precision map data, the position information of the mobile device is offset according to the coordinates of the high-precision map, and the coordinates of the position information and the coordinates of the high-precision map can be aligned, thereby correcting the position and posture of the mobile device. By using the camera on the mobile device to capture the image of the surrounding environment, and combining the data collected by other sensors on the mobile device (for example, an electronic compass, etc.), the position and posture of the mobile device are further corrected using a posture estimation algorithm. By correcting the position and posture of the mobile device in different ways, the accuracy of the positioning of the mobile device can be further improved, so that the detailed information such as the position, posture, orientation and tilt angle of the mobile device can be obtained more accurately in a complex environment, which is helpful for the accurate display of subsequent AR scenes.

[0048] As an optional embodiment, after displaying the cable tunnel model in the form of augmented reality AR on the display interface of the mobile device, the position of the mobile device after the movement can be obtained when the mobile device moves; based on the position after the movement, the AR scene is updated to obtain the updated AR scene and display it on the display interface. Based on the corrected position information of the mobile device and the cable tunnel model established by the point cloud data, a virtual three-dimensional scene is created using AR technology, and the virtual three-dimensional scene is aligned with the real world. When the mobile device moves, the latest position information of the mobile device is re-acquired, and the virtual three-dimensional scene is updated in combination with the cable tunnel model. The movement of the mobile device is tracked in real time by the camera on the mobile device, the images captured by the camera are continuously analyzed, and the position and posture changes of the mobile device are estimated in combination with the data collected by other sensors on the mobile device, and then the AR scene is updated to ensure that the coordinates of the virtual three-dimensional scene and the coordinates of the real world are always aligned. The cable tunnel model can be displayed dynamically following the movement of the mobile device, and the interactivity of the AR display and the construction site is enhanced, so that the construction personnel can intuitively see the position relationship between the mobile device and the cable tunnel, thereby improving the construction efficiency and safety.

[0049] Through the above steps, the accurate positioning of the cable tunnel can be achieved, the cable tunnel model is established through point cloud data, and the mobile device is positioned by integrating high-precision positioning technology, which not only provides the absolute spatial position information for the mobile device, but also combines the above cable tunnel model to display the absolute position of the above cable tunnel, as well as the relative position of the above mobile device and the above cable tunnel, so as to improve the cognitive efficiency and accuracy of the above cable tunnel position, and solve the problem of inaccurate cable tunnel position information based on experience. AR can also be used to assist on-site operation visualization, and the three-dimensional model, real-time status information and maintenance guide of the above cable tunnel can be directly superimposed on the camera field of view of the above mobile device, that is, the virtual label, structural schematic and key status indicators of the cable tunnel, such as temperature, voltage, etc., can be directly displayed on the display interface of the mobile device, so as to help the operators quickly understand the equipment layout, identify potential problems, and refer to the virtual guidance for precise operation, thereby improving the operation efficiency and safety. In view of the problems of unclear information and poor communication in the construction briefing process in related technologies, the complex environment of the construction site and the cable tunnel is deeply integrated, and the virtual cable tunnel model is superimposed on the real world for display through AR technology, which can simulate the construction scene and help understand the construction points, risk areas and emergency measures. At the same time, the above embodiment also supports online collaboration and annotation functions to ensure that the cable tunnel briefing information can be fully and accurately transmitted, reduce misunderstandings and omissions, and improve the cooperation efficiency and safety of the entire construction and operation and maintenance team.

[0050] In combination with the above embodiments and optional embodiments, an optional implementation is provided. In this optional implementation, a method for accurate underground cable construction briefing based on high-precision positioning equipment is provided, which uses high-precision laser point cloud model data of underground cable tunnels and high-precision positioning equipment to conduct external construction briefings for underground cables, superimposes a virtual cable tunnel model on a real-world map, and displays it in an AR form on the display interface of a mobile device, thereby conducting accurate construction briefings. Figure 2 is a flow chart of a construction disclosure method combining high-precision positioning and AR display according to an optional implementation mode of the present invention, such as Figure 2 As shown, the method includes the following processing.

[0051] S1, underground cable tunnel point cloud data preprocessing, denoising, segmentation, contour extraction and parameterization conversion of underground cable tunnel point cloud data to meet the needs of mobile terminal display and briefing space analysis. Figure 3 is a flowchart of underground cable tunnel point cloud data preprocessing according to an optional embodiment of the present invention. Figure 3 shown.

[0052] S1.1, first of all, the underground cable tunnel point cloud data is denoised. Using radius filtering technology, a fixed radius is set for each point cloud point; the number of point cloud points within the radius is counted, and the density of the point cloud is analyzed to divide the point density distribution bounding volume. Assuming that P is a point in the point cloud and N(P) is the neighborhood point set of P, the new position or attribute of P can be calculated by the average or median of N(P), such as P = |N(P)|1∑p∈N(P)p; by analyzing the point cloud data in bounding boxes of different radii, according to the appearance type of equipment such as underground cable tunnels and drainage pipes, the outer wall of the equipment is focused on denoising.

[0053] S1.2, then the point cloud data of the underground cable tunnel is segmented. Based on the image segmentation and recognition algorithm of the convolutional neural network model, a multi-view convolutional neural network model is constructed to sort out the structural information of the laser point cloud data. On this basis, the geometric features of the point cloud structure are identified and analyzed, and the geometric feature key points are extracted according to the positional relationship between the point cloud points. Multiple spatial bounding volumes are constructed in the form of key point arrangement and combination, and the point cloud is segmented according to the bounding volume range. Among them, the feature extraction of the point cloud set can adopt the Intrinsic Shape Signatures (ISS) method, extract key points based on the positional relationship between the point cloud points (such as distance, angle, etc.), and construct bounding volumes (such as spheres, cubes, etc.) according to the relative positions between the key points. The point cloud data of the underground cable tunnel can be divided into multiple independent regions or components through the point cloud segmentation algorithm (such as based on region growth, cluster analysis, etc.), ensuring that each component or structure can be processed separately.

[0054] S1.3, then extract the outer contour of the spatial structure of the point cloud data of the underground cable tunnel. On the basis of point cloud segmentation, the point cloud posture after segmentation is sliced ​​in cross section, and the contour is extracted for each cross section, and the outer contour cross section key points of each cross section are constructed, and each cross section key point is fitted to form the outer contour of the spatial structure. Among them, for each component after segmentation, cross-sectional slicing can be performed along its main axis (such as the extension direction of the cable) or a specific direction. The slicing operation usually involves defining a plane in the point cloud data and calculating the intersection of the plane and the point cloud to obtain a series of cross-sectional point clouds. Contour extraction for each cross-sectional point cloud involves identifying and connecting the boundary points on the cross section to form a closed contour line. The contour extraction algorithm can realize the fitting of geometric shapes such as circles or ellipses based on edge detection, Hough transform, least squares method and other methods. After extracting key points from the contour of each cross section (such as the vertices, inflection points, etc. of the contour), since these key points represent the main shape features of the contour, these key points are connected to form a smooth spatial curve. Combining the key point fitting curves of all cross sections can form the outer contour of the spatial structure of the entire underground cable tunnel. In the process of key point fitting, for linear fitting, the least square method can be used to fit the curve, the formula is y = mx + b, where m is the slope and b is the intercept. m and b are solved by minimizing the residual sum of squares. For more complex curves, other curve fitting or interpolation algorithms can be used for fitting, for example, B-spline curves can be used for fitting. In the process of forming the outer contour of the spatial structure of the entire cable tunnel, the relative position and posture between different cross sections need to be considered to ensure the continuity and accuracy of the outer contour.

[0055] S1.4, construction of parametric model of underground cable equipment, extracts key points from the outer contour structure of the underground cable equipment model based on the outer contour of the point cloud, combines the key points according to the rules, and clarifies the connection relationship to form a parametric model. The parametric model allows the shape and size of the model to be changed by adjusting the parameters without redesigning the entire model. During the construction process, a series of parameters need to be defined to describe the position of key points, the type of connection relationship (such as straight line, curve), and the overall size of the model. Among them, the connection relationship can be expressed by straight line equations (such as y=mx+b), curve equations (such as quadratic curve y=ax 2 +bx+c or more complex parametric equations) and the conversions and combinations between them.

[0056] S2, high-precision positioning equipment is introduced into the mobile terminal, and communication between the high-precision positioning equipment and the mobile terminal device is established through self-organizing network to meet the needs of mobile terminal application for underground cable tunnel space display. Figure 4 is a flow chart of introducing a high-precision positioning device into a mobile terminal according to an optional implementation mode of the present invention, such as Figure 4 shown.

[0057] S2.1, the high-precision positioning device receives the differential data information of the online differential service and forms accurate location information through calculation. Differential positioning technology improves positioning accuracy by eliminating various errors in the satellite signal propagation process, such as satellite orbit error, satellite clock error, ionosphere and tropospheric delay, etc. Online differential services are usually provided by one or more base stations, which are located at known precise locations and can calculate and broadcast differential correction data in real time. After receiving these differential data, the high-precision positioning device combines its own satellite observation data and obtains accurate location information through a series of calculations to achieve accurate acquisition of location information.

[0058] S2.2, build an ad hoc network between the positioning device and the mobile terminal, and realize wireless communication between the two by installing a WiFi signal source on the positioning device and connecting the mobile terminal to the signal. An ad hoc network is a centerless, self-organizing wireless multi-hop communication network, which allows devices to automatically form a network without a central control node to achieve communication and data exchange between devices. It is particularly important for application scenarios that require rapid network construction because it can flexibly build a network environment to achieve communication between devices. In this network, each node (including positioning devices and mobile terminals) has the function of a router and can dynamically maintain connections with other nodes. Commonly used routing protocols include table-driven routing protocols (such as Destination-Sequenced Distance Vector Routing (DSDV) and Optimized Link State Routing (OLSR)) and on-demand routing protocols (such as Dynamic Source Routing (DSR) and Ad-hoc On-demand Distance Vector Routing (AODV)). These protocols can dynamically select the optimal path according to changes in network topology to ensure reliable transmission of data packets.

[0059] S3 accurately displays the distribution of cable tunnels in AR form on the mobile terminal, solving the problem of accuracy in obtaining the position and posture of the mobile terminal, thereby ensuring the stability of the position relationship between the cable tunnel model in the AR scene and the real scene. Figure 5 is a flow chart showing the distribution of cable tunnels accurately in AR form on a mobile terminal according to an optional implementation mode of the present invention, such as Figure 5 shown.

[0060] S3.1, first of all, the mobile terminal position and posture are determined based on map matching. High-precision map data (including road networks, landmark buildings, traffic signs, etc.) are used to offset the location information according to the coordinate offset rules of the high-precision map. The topological structure and geometric features of the road network, such as road direction and curvature, are used to compare the processed coordinates with the map data to correct the position and posture data.

[0061] S3.2, further correct the position information based on visual assistance, use the camera on the mobile device to capture the surrounding environment image, and use algorithms such as Scale-Invariant Feature Transform (SIFT) and Speeded Up Robust Features (SURF) to extract feature points in the image, combine visual sensor data and electronic compass data, and use posture estimation algorithms (such as Kalman filtering, particle filtering, etc.) to correct the position and posture of the mobile device.

[0062] S3.3, then the AR scene is initialized. Based on the results of environmental perception, the AR system can build a virtual three-dimensional scene and align the virtual three-dimensional scene with the real world. In the process of building the AR scene, it is necessary to create a virtual camera view that matches the camera view of the mobile device and place virtual elements in it.

[0063] S3.4, finally, it is also necessary to realize dynamic control of AR scene according to the positioning movement of mobile device, that is, as the user moves, the mobile device carried by the user is also moving, and the AR system needs to track the movement of the camera of the mobile device in real time. This can be achieved by continuously analyzing the images captured by the camera, and using the feature points or planes in the image to estimate the position and posture changes of the camera. At the same time, the AR system can also combine sensor data to provide smoother and more accurate tracking effects. According to the movement of the camera, the AR system needs to update the position of virtual elements in real time to ensure that the virtual three-dimensional scene is consistent with the real world. This requires calculating the new position of the virtual elements in the virtual three-dimensional scene and rendering the virtual elements into the camera view. In order to achieve the above process, the AR system can use a process called "registration", which is to align the coordinate system of the virtual element with the coordinate system of the real world.

[0064] S4, external construction site briefing, using the constructed underground cable tunnel AR scene to display the underground cable burial depth, direction and other information, and use this to explain to the construction unit. Figure 6 is a flow chart of an external construction site briefing according to an optional implementation mode of the present invention, such as Figure 6 shown.

[0065] S4.1, first conduct a cross-sectional analysis of the underground cable protection range, and construct a cross-sectional diagram of the underground cable protection zone based on the processing results of the underground cable tunnel model and the grid company's demarcation specifications for the underground cable protection zone.

[0066] S4.2, then conduct the underground cable construction briefing information display. According to the construction requirements, the distribution area of ​​the cable tunnel, the buried depth and direction of the underground cable and other information will be displayed, and the on-site briefing will be carried out.

[0067] The above-mentioned underground cable external construction briefing method based on high-precision positioning equipment can effectively support the briefing work of underground cable external construction and improve the accuracy of the briefing.

[0068] According to an embodiment of the present invention, a cable tunnel model display device is provided. Figure 7 is a structural block diagram of a cable tunnel model display device according to an embodiment of the present invention. Figure 7 As shown, the device includes: a first acquisition module 702 and a first display module 704. The device is described below.

[0069] The first acquisition module 702 is used to acquire a cable tunnel model of the cable tunnel, wherein the cable tunnel model is established based on point cloud data of the cable tunnel, and the point cloud data is obtained by scanning the cable tunnel through a laser radar; the first display module 704 is connected to the first acquisition module 702, and is used to display the cable tunnel model in the form of augmented reality (AR) on the display interface of a mobile device.

[0070] It should be noted here that the above-mentioned first acquisition module 702 and first display module 704 correspond to steps S102 to S104 in the embodiment, and the examples and application scenarios implemented by multiple modules and corresponding steps are the same, but are not limited to the contents disclosed in the above-mentioned embodiment.

[0071] As an optional embodiment, the first acquisition module 702 includes: a denoising unit, a segmentation unit, an extraction unit and a modeling unit. The denoising unit is used to denoise the point cloud data to obtain the denoised point cloud data; the segmentation unit is connected to the denoising unit to segment the denoised point cloud data to obtain the segmented point cloud data; the extraction unit is connected to the segmentation unit to extract the outer contour of the segmented point cloud data to obtain the outer contour of the spatial structure of the cable tunnel; the modeling unit is connected to the extraction unit to establish a cable tunnel model of the cable tunnel according to the outer contour of the spatial structure of the cable tunnel.

[0072] As an optional embodiment, the first display module 704 includes: an acquisition unit, a correction unit and a display unit. The acquisition unit is used to acquire the location information of the mobile device; the correction unit is connected to the acquisition unit and is used to correct the position and posture of the mobile device in combination with map matching and visual assistance; the display unit is connected to the correction unit and is used to establish an AR scene on the mobile device based on the position and posture of the mobile device and the cable tunnel model of the cable tunnel and display it on the display interface.

[0073] As an optional embodiment, the acquisition unit includes: a construction subunit and an acquisition subunit. The construction subunit is used to establish an ad hoc network communication between the mobile device and a positioning device that locates the mobile device; the acquisition subunit is connected to the construction subunit and is used to acquire the location information sent by the positioning device to the mobile device based on the ad hoc network communication.

[0074] As an optional embodiment, the correction unit includes: an acquisition subunit and a correction subunit. The acquisition subunit is used to use the high-precision map data to perform position comparison and posture correction on the mobile device to obtain the position information of the mobile device that matches the high-precision map data; the correction subunit is connected to the acquisition subunit and is used to use a camera to capture the environment image of the mobile device, extract feature points of the environment image, and correct the position and posture of the mobile device in combination with data collected by one or more sensors other than the camera on the mobile device.

[0075] As an optional embodiment, the device further includes: a second acquisition module and a second display module. The second acquisition module is used to acquire the position of the mobile device after the mobile device moves when the mobile device moves; the second display module is connected to the second acquisition module and is used to update the AR scene based on the position after the movement, obtain the updated AR scene and display it on the display interface.

[0076] According to an embodiment of the present invention, a computer-readable storage medium is provided, characterized in that the above-mentioned computer-readable storage medium includes a stored executable program, wherein when the above-mentioned executable program is running, the device where the above-mentioned computer-readable storage medium is located is controlled to execute any one of the above-mentioned cable tunnel model display methods.

[0077] According to an embodiment of the present invention, an electronic device is provided, comprising: a memory storing an executable program; and a processor for running the program, wherein when the program is running, any one of the cable tunnel model display methods is executed.

[0078] According to an embodiment of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of any one of the above methods are implemented.

[0079] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0080] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0081] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0082] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0083] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0084] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0085] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A cable tunnel model display method, characterized in that: include: Acquire a cable tunnel model of a cable tunnel, wherein the cable tunnel model is established based on point cloud data of the cable tunnel, and the point cloud data is obtained based on a laser radar scanning of the cable tunnel; The cable tunnel model is displayed in the form of augmented reality (AR) on the display interface of the mobile device.

2. The method according to claim 1, characterized in that Acquiring a cable tunnel model of a cable tunnel, wherein the cable tunnel model is established based on point cloud data of the cable tunnel, and the point cloud data is obtained based on a laser radar scanning of the cable tunnel, including: De-noising the point cloud data to obtain de-noised point cloud data; Segmenting the denoised point cloud data to obtain segmented point cloud data; Extracting the outer contour of the segmented point cloud data to obtain the outer contour of the spatial structure of the cable tunnel; A cable tunnel model of the cable tunnel is established according to the spatial structural outer contour of the cable tunnel.

3. The method according to claim 1, characterized in that The display interface of the mobile device displays the cable tunnel model in the form of augmented reality (AR), including: Obtaining location information of the mobile device; Correcting the position and posture of the mobile device by combining map matching and visual assistance; Based on the position and the posture of the mobile device and the cable tunnel model of the cable tunnel, an AR scene is established on the mobile device and displayed on the display interface.

4. The method according to claim 3, characterized in that The obtaining the location information of the mobile device includes: An ad hoc network communication is established between the mobile device and a positioning device for positioning the mobile device; based on the ad hoc network communication, location information sent by the positioning device to the mobile device is obtained.

5. The method according to claim 3, characterized in that: The method of combining map matching and visual assistance to correct the position and posture of the mobile device includes: Using high-precision map data to perform position comparison and posture correction on the mobile device to obtain the position information of the mobile device that matches the high-precision map data; The environment image of the mobile device is captured by a camera, feature points of the environment image are extracted, and the position and posture of the mobile device are corrected by combining data collected by one or more sensors other than the camera on the mobile device.

6. The method according to any one of claims 1 to 5, characterized in that After the cable tunnel model is displayed in the form of augmented reality (AR) on the display interface of the mobile device, the method further includes: When the mobile device moves, obtaining a position of the mobile device after the movement; Based on the moved position, the AR scene is updated, and the updated AR scene is obtained and displayed on the display interface.

7. A cable tunnel model display device, characterized in that: include: An acquisition module, used for acquiring a cable tunnel model of a cable tunnel, wherein the cable tunnel model is established based on point cloud data of the cable tunnel, and the point cloud data is obtained based on scanning the cable tunnel by a laser radar; The display module is used to display the cable tunnel model in the form of augmented reality (AR) on the display interface of the mobile device.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the cable tunnel model display method according to any one of claims 1 to 6.

9. An electronic device, characterized in that: include: A memory storing an executable program; A processor is used to run the program, wherein the program executes the cable tunnel model display method described in any one of claims 1 to 6 when running.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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