Target point continuous positioning and digital twinning method for indoor high-altitude curved surface structure

Abstract

The invention provides a target point continuous positioning and digital twinning method for an indoor high-altitude curved surface structure, and belongs to the technical field of engineering. Calculating a space mapping equation; and digital twinborn inversion is realized. Through modular thinking, the upper layer and the lower layer of the structure are subjected to digital modeling, and upper-layer and lower-layer track coordinate information can be conveniently obtained at the same time through a visual positioning mode of a lower-layer robot. According to the mapping positioning method, the base station arrangement steps are reduced, the investment and implementation difficulty are reduced, and the coordinate information can be accurately and continuously obtained. According to the coordinate information, the defect can be reversely positioned and an accurate position can be marked through a digital twin system, so that technical support is provided for subsequent repair implementation.

Description

Technical Field

[0001] The present invention relates to the field of engineering technology, and in particular to a target point continuous positioning and digital twin method for an indoor high-altitude curved surface structure. Background Art

[0002] Digital twin is an important visualization technology for future engineering management and operation. Its main steps are data collection, integration, and platform simulation modeling. The data part is divided into two categories: fixed-point long-term monitoring data and temporary detection data. Long-term fixed-point monitoring points can be planned directly when the platform is built, and 1:1 model restoration can be achieved by subsequent implementation according to the plan. Temporary detection data is uncertain both in time and space, so it is a key development direction of the industry to build a dynamic data twin model for mobile detection. In places where there are space satellite signals outdoors, relatively accurate spatial coordinate information can be obtained by installing a GNSS system. Indoor plane detection can achieve relatively accurate two-dimensional positioning through technologies such as laser radar and UWB. However, there are more indoor space structures and inspections with curved surfaces such as large airports, comprehensive buildings, subway tunnels, etc. Solving the twin positioning of such curved surface spatial coordinates to model coordinates is a major problem.

[0003] Indoor ground positioning technology can be very accurate in plane imaging and path modeling, but this kind of precise positioning method cannot be used on top curved structures. At present, the indoor solutions that can be provided are still mainly based on UWB, which has low positioning accuracy and requires continuous self-built base stations, making implementation difficult. Quality problems of building structures often occur in the top structure, so many top inspections and tests cannot accurately repair the defective locations at the time after implementation, and the data cannot be used to manage system positioning twins.

[0004] Therefore, this field urgently needs a technical solution that can solve the twin positioning of large surface space coordinates to model coordinates.

[0005] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0006] The purpose of the present invention is to provide a technical solution that can solve the problem of twin positioning from large surface space coordinates to model coordinates.

[0007] To achieve the above object, the present invention provides the following solutions:

[0008] A method for continuous positioning of target points and digital twinning of an indoor high-altitude curved surface structure, comprising:

[0009] S1: Get plane coordinates;

[0010] S2: Calculate the spatial mapping equation;

[0011] S3: Realize digital twin inversion.

[0012] Optionally, obtaining plane coordinates includes:

[0013] The ground following robot realizes ground area modeling and ground positioning through IMU module and 2D LiDAR;

[0014] Operate the wall-climbing robot to move on the curved surface, add a vertical beacon on the back of the wall-climbing robot, and when the wall-climbing robot moves on the top curved surface, the ground robot follows the movement of the wall-climbing robot through manual remote control or automatic following. A gimbal monocular camera is installed on the top of the ground robot. When the monocular camera turns to patrol, it finds the vertical beacon of the wall-climbing robot, centers it, and then moves the ground robot to directly under the wall-climbing robot according to the pitch angle of the gimbal.

[0015] Optionally, the calculation space mapping equation includes:

[0016] During each wall-climbing robot inspection, the ground robot provides the corresponding plane coordinates;

[0017] The corresponding parametric equation of the wall-climbing robot motion plane is expressed as:

[0018] h(u,v) and f(u,v)f(u,v)=x(u,v)i+y(u,v)j+z(u,v)k;

[0019] Among them, u and v are the plane coordinate axes of the ground and high-altitude curved surface projection; x, y, and z are the three-dimensional coordinate axes of space.

[0020] By combining the plane coordinates, the three-dimensional coordinates of the wall-climbing robot moving on the top curved surface can be obtained, and the coordinates of the upper and lower layers are used for digital twin display.

[0021] Optionally, the implementing digital twin inversion includes:

[0022] Based on the known surface equation, inverse mapping can be performed. Taking the tunnel vault structure as an example, a digital twin coordinate system is established based on the tunnel centerline;

[0023] Through S1 and S2, the plane coordinates h(u, v) of the detection point are obtained. Combining the tunnel coordinate system with the arch surface formula, the design radius of the tunnel arch is r, and the three-dimensional coordinates f(u, v) of the wall-climbing robot on the surface can be obtained by simultaneous equations;

[0024]

[0025] u and v are the plane coordinate axes of the projection of the ground and high-altitude curved surfaces; x, y, and z are the three-dimensional coordinate axes of space.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention provides a method for continuous positioning of target points and digital twins of indoor high-altitude curved surface structures. Through modular thinking, the upper and lower layers of the structure are digitally modeled separately, and the coordinate information of the upper and lower layers can be conveniently obtained at the same time through the visual positioning method of the lower robot. This mapping positioning method reduces the steps of base station layout, reduces investment and implementation difficulty, and can accurately and continuously obtain coordinate information. The coordinate information can be used through the digital twin system to reversely locate defects and mark the exact position, providing technical support for subsequent repair implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0029] Figure 1 A schematic diagram of a method flow chart provided by an embodiment of the present invention.

[0030] Figure 2 A schematic diagram of plane coordinate modeling provided by an embodiment of the present invention.

[0031] Figure 3 A schematic diagram of a high-altitude curved surface projection provided by an embodiment of the present invention.

[0032] Figure 4 This is a diagram of the twinning results of the tunnel surface provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0034] The purpose of the present invention is to provide a method capable of solving the twin positioning of large-scale curved surface space coordinates to model coordinates.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Embodiment 1:

[0037] like Figure 1 As shown, this embodiment provides a method for continuous positioning of target points and digital twinning of an indoor high-altitude curved surface structure, including:

[0038] S1: Get plane coordinates;

[0039] S2: Calculate the spatial mapping equation;

[0040] S3: Realize digital twin inversion.

[0041] Further, the obtaining of plane coordinates includes:

[0042] The ground following robot realizes ground area modeling and ground positioning through IMU module and 2D LiDAR;

[0043] Operate the wall-climbing robot to move on the curved surface, add a vertical beacon on the back of the wall-climbing robot, and when the wall-climbing robot moves on the top curved surface, the ground robot follows the movement of the wall-climbing robot through manual remote control or automatic following. A gimbal monocular camera is installed on the top of the ground robot. When the monocular camera turns to patrol, it finds the vertical beacon of the wall-climbing robot, centers it, and then moves the ground robot to directly under the wall-climbing robot according to the pitch angle of the gimbal.

[0044] Furthermore, the calculation space mapping equation includes:

[0045] During each wall-climbing robot inspection, the ground robot provides the corresponding plane coordinates;

[0046] The corresponding parametric equation of the wall-climbing robot motion plane is expressed as:

[0047] h(u,v) and f(u,v)f(u,v)=x(u,v)i+y(u,v)j+z(u,v)k;

[0048] Among them, u and v are the plane coordinate axes of the projection of the ground and high-altitude surface; x, y, and z are the three-dimensional coordinate axes of space. However, since the high-altitude working surface is a continuous structure, the three-dimensional coordinates of the high-altitude surface can be expressed by two parameters f(u, v).

[0049] By combining the plane coordinates, the three-dimensional coordinates of the wall-climbing robot moving on the top curved surface can be obtained, and the coordinates of the upper and lower layers are used for digital twin display.

[0050] Furthermore, the implementation of digital twin inversion includes:

[0051] Based on the known surface equation, inverse mapping can be performed. Taking the tunnel vault structure as an example, a digital twin coordinate system is established based on the tunnel centerline;

[0052] Through S1 and S2, the plane coordinates h(u,v) of the detection point are obtained. Combining the tunnel coordinate system with the arch surface formula, the design radius of the tunnel arch is r, and the three-dimensional coordinates f(u,v) of the wall-climbing robot on the surface can be obtained by simultaneous equations;

[0053]

[0054] Among them, u and v are the plane coordinate axes of the ground and high-altitude curved surface projection; x, y, and z are the three-dimensional coordinate axes of space.

[0055] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0056] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for continuous positioning of target points and digital twinning of indoor high-altitude curved surface structures, characterized in that: include: S1: Get plane coordinates; S2: Calculate the spatial mapping equation; S3: Realize digital twin inversion.

2. The method for continuous target point positioning and digital twinning of indoor high-altitude curved surface structures according to claim 1 is characterized in that: The obtaining of plane coordinates comprises: The ground following robot realizes ground area modeling and ground positioning through IMU module and 2D LiDAR; Operate the wall-climbing robot to move on the curved surface, add a vertical beacon on the back of the wall-climbing robot, and when the wall-climbing robot moves on the top curved surface, the ground robot follows the movement of the wall-climbing robot through manual remote control or automatic following. A gimbal monocular camera is installed on the top of the ground robot. When the monocular camera turns to patrol, it finds the vertical beacon of the wall-climbing robot, centers it, and then moves the ground robot to directly under the wall-climbing robot according to the pitch angle of the gimbal.

3. The target point continuous positioning and digital twin method of indoor high-altitude curved surface structure according to claim 1 is characterized in that: The calculation space mapping equation includes: During each detection by the wall-climbing robot, the ground robot provides the corresponding plane coordinates; The corresponding parametric equation of the wall-climbing robot motion plane is expressed as: Plane coordinates h(u,v); high altitude surface coordinates f(u,v)=x(u,v)i+y(u,v)j+z(u,v)k; Among them, u and v are the plane coordinate axes of the ground and high-altitude curved surface projection; x, y, z are the three-dimensional coordinate values ​​in space; By combining the plane coordinates, the three-dimensional coordinates of the wall-climbing robot moving on the top curved surface can be obtained, and the coordinates of the upper and lower layers are used for digital twin display.

4. The method for continuous target point positioning and digital twinning of indoor high-altitude curved surface structures according to claim 1 is characterized in that: The implementation of digital twin inversion includes: Based on the known surface equation, inverse mapping can be performed. Taking the tunnel vault structure as an example, a digital twin coordinate system is established based on the tunnel centerline; Through S1 and S2, the plane coordinates h(u,v) of the detection point are obtained. Combining the tunnel coordinate system with the arch surface formula, the design radius of the tunnel arch is r, and the three-dimensional coordinates f(u,v) of the wall-climbing robot on the surface can be obtained by simultaneous equations; Among them, u and v are the plane coordinate axes of the ground and high-altitude curved surface projection; x, y, z are the three-dimensional coordinate axes of space.

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