Visual display method, device, system and equipment of underground pipeline model and medium

Abstract

The invention discloses a visual display method, device, system and equipment for an underground pipeline model and a medium, and the method comprises the steps: obtaining real-time positioning information which is an initial positioning coordinate obtained through a real-time dynamic differential positioning technology; initializing positioning of preset AR equipment according to the real-time positioning information to obtain model positioning information; and calling preset AR equipment to visually display the underground pipeline model corresponding to the model positioning information. According to the invention, positioning is carried out through a real-time dynamic differential positioning technology, so that the positioning precision can be improved; the model is searched and displayed through accurate positioning, so that the display precision of the model can be improved, the deviation between the displayed pipeline model and an actual pipeline is reduced, and a wrong model is prevented from being displayed; follow-up technicians can conduct construction and overhaul according to the model of the accurate position, the probability of construction errors or construction accidents is reduced, and the difficulty of pipeline operation, maintenance and management is lowered.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering assistance, and in particular to a method, device, system, equipment and medium for visual display of an underground pipeline model. BACKGROUND

[0002] Urban underground pipe network (including water supply, gas, power, communication pipelines) is the "vascular network" of urban infrastructure. As the "collateral" of the city, urban underground pipe network undertakes water supply, drainage, heating gas, power supply, communication and other functions, and is the infrastructure to ensure the normal operation of the city and enterprise production. Its importance is reflected in the life of residents, industrial production and urban safety.

[0003] Since each pipeline of the pipe network is buried underground and the pipeline route is complex, when it needs to be repaired and maintained, it needs to be positioned and navigated to facilitate the construction of technical personnel. With the development of science and technology, one of the commonly used methods is to collect construction drawings of each pipeline and build a three-dimensional model of the pipeline, position through a mobile device or manually mark on site, and display the BIM model of the positioning position to the user through AR technology. Subsequently, the mobile device provides navigation function to provide real-time navigation information for construction personnel to guide them to perform construction processing.

[0004] However, the current commonly used method has the following technical problems: manual marking is easy to damage, resulting in positioning error; and the mobile device is also easily disturbed by various complex environmental factors in the street, causing the mobile device to position incorrectly, resulting in deviation of the pipeline model displayed by the terminal device from the actual pipeline, and further causing construction errors or construction accidents, increasing the difficulty of pipeline operation and management. SUMMARY

[0005] The present application provides a method, device, system, equipment and medium for visual display of an underground pipeline model, which can solve the technical problem of deviation of the displayed model from the actual model due to positioning error in the prior art.

[0006] A first aspect of the embodiment of the present application provides a method for visual display of an underground pipeline model, the method comprising:

[0007] obtaining real-time positioning information, the real-time positioning information being initial positioning coordinates obtained by using real-time dynamic differential positioning technology;

[0008] initializing positioning of a preset AR device according to the real-time positioning information to obtain model positioning information;

[0009] calling the preset AR device to perform visual display of an underground pipeline model corresponding to the model positioning information.

[0010] In combination with the first aspect, in an implementation manner, the initializing the positioning of the preset AR device according to the real-time positioning information comprises:

[0011] performing transformation processing on the real-time positioning information according to a preset coordinate system to obtain transformed positioning information, wherein the preset coordinate system is a coordinate system of a BIM model stored by the preset AR device;

[0012] determining a coordinate position and an orientation angle from the transformed positioning information respectively to obtain the model positioning information.

[0013] In combination with the first aspect, in an implementation manner, the calling the preset AR device to visually display the underground pipeline model corresponding to the model positioning information comprises:

[0014] extracting a model coordinate and a model orientation angle from the model positioning information respectively;

[0015] transmitting the model coordinate and the model orientation angle to the preset AR device, so that the preset AR device finds the corresponding underground pipeline model and controls a three-dimensional rendering engine to visually render and display the underground pipeline model.

[0016] In combination with the first aspect, in an implementation manner, after the step of obtaining the real-time positioning information, the method further comprises:

[0017] obtaining device positioning information of the preset AR device;

[0018] updating the device positioning information by using the real-time positioning information.

[0019] In combination with the first aspect, in an implementation manner, the updating the device positioning information by using the real-time positioning information comprises:

[0020] extracting a device relative parameter from the device positioning information and a positioning relative parameter from the real-time positioning information, wherein the device relative parameter is a position and orientation parameter of the positioning relative parameter in an update period;

[0021] calculating a parameter deviation value by using the device relative parameter and the positioning relative parameter;

[0022] if the parameter deviation value is greater than a preset deviation value, updating the device relative parameter by using the positioning relative parameter.

[0023] In combination with the first aspect, in an implementation manner, the underground pipeline model is a BIM model that is subjected to lightweight processing, and the obtaining operation of the underground pipeline model comprises:

[0024] The isomorphic model plug-in converts the preset BIM model into a model in a Gltf lightweight data format, to obtain a converted model;

[0025] Component attribute data is extracted from the converted model and stored, to obtain an underground pipeline model.

[0026] The second aspect of the embodiment of the present application provides a device for visual display of an underground pipeline model, and the device comprises:

[0027] An acquisition module is configured to acquire real-time positioning information, which is initial positioning coordinates acquired by using real-time dynamic differential positioning technology;

[0028] An initialization module is configured to initialize positioning of a preset AR device according to the real-time positioning information, to obtain model positioning information;

[0029] A display module is configured to call the preset AR device to perform visual display of an underground pipeline model corresponding to the model positioning information.

[0030] The third aspect of the embodiment of the present application provides a system for visual display of an underground pipeline model, and the system comprises an AR device and an RTK device, wherein the RTK device is connected to the AR device;

[0031] The AR device is suitable for the method for visual display of an underground pipeline model.

[0032] Compared with the prior art, the method, device, system, equipment and medium for visual display of an underground pipeline model provided by the embodiment of the present application have the beneficial effects that: the real-time positioning information can be acquired by using real-time dynamic differential positioning technology; the positioning of a preset AR device is initialized according to the real-time positioning information, to obtain model positioning information; the preset AR device is called to perform visual display of an underground pipeline model corresponding to the model positioning information; the positioning is performed by using real-time dynamic differential positioning technology, so that the positioning accuracy can be improved; the model is searched and displayed after accurate positioning, so that the display accuracy of the model can be improved, the deviation between the displayed pipeline model and the actual pipeline can be reduced, and the display of an incorrect model can be avoided; subsequent technical personnel can perform construction and maintenance according to the model at the accurate position, so that the probability of construction errors or construction accidents can be reduced, and the difficulty of pipeline operation and management is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a flowchart of a method for visual display of an underground pipeline model provided by an embodiment of the present application;

[0034] Figure 2 is a schematic diagram of initialization construction of a preset coordinate system provided by an embodiment of the present application;

[0035] Figure 3 is an operation flow chart of a method for visualizing a model of underground pipelines according to an embodiment of the present application;

[0036] Figure 4 is a structural schematic diagram of a device for visualizing a model of underground pipelines according to an embodiment of the present application;

[0037] Figure 5 is a structural schematic diagram of a system for visualizing a model of underground pipelines according to an embodiment of the present application;

[0038] Figure 6 is a structural schematic diagram of an application of an AR device according to an embodiment of the present application;

[0039] Figure 7 is an operation flow chart of a system for visualizing a model of underground pipelines according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0041] Urban underground pipe network (including water supply, gas, power, communication pipelines) is the "vascular network" of urban infrastructure. As the "vein" of the city, urban underground pipe network undertakes water supply, drainage, heating gas, power supply, communication and other functions, and is the infrastructure to ensure the normal operation of the city and enterprise production. Its importance is reflected in the life of residents, industrial production and urban safety.

[0042] Since each pipeline of the pipe network is buried underground and the pipeline route is complex, when it needs to be repaired and maintained, it needs to be positioned and navigated to facilitate the construction of technical personnel. With the development of science and technology, one of the commonly used methods is to collect construction drawings of each pipeline and build a three-dimensional model of the pipeline, to position through a mobile device or manual marking on site, and to display the BIM model of the positioning position to the user through AR technology, and then to provide real-time navigation information for the construction personnel through the navigation function of the mobile device to guide them to carry out construction processing.

[0043] However, the current commonly used method has the following technical problems: manual marking is easy to damage, leading to positioning error; and mobile devices are also easily disturbed by various complex environmental factors in the street, causing the mobile device to position incorrectly, resulting in the pipeline model displayed by the terminal device deviating from the actual pipeline, and further causing construction errors or accidents, increasing the difficulty of pipeline operation and management.

[0044] To solve the above problems, the following will introduce and explain in detail a kind of underground pipeline model visualization display method, device, system, equipment and medium provided by the embodiment of the application through the following specific examples.

[0045] To solve the technical problem of the deviation of the model displayed due to positioning error in the prior art, referring to Figure 1 , a flowchart of a visualization display method of an underground pipeline model according to an embodiment of the application is shown.

[0046] In an embodiment, the visualization display method of the underground pipeline model can be applied to AR devices or other smart terminals. Specifically, it can be the smart terminal of the technician who inspects and maintains the underground pipeline.

[0047] Among them, as an example, the visualization display method of the underground pipeline model can include:

[0048] S11, acquiring real-time positioning information, the real-time positioning information is the initial positioning coordinate acquired by using real-time dynamic differential positioning technology.

[0049] In an embodiment, the smart terminal or AR device can acquire real-time positioning information, which can be the initial positioning coordinate acquired by using real-time dynamic differential positioning technology.

[0050] In an operation mode, the AR device can be connected with the RTK device, and the real-time positioning information can be acquired by the RTK device using real-time dynamic differential positioning technology.

[0051] For example, the RTK device that can be selected by the application can be a Beidou Star Explorer portable high-precision GNSS receiver, which can be integrated with the AR device (AR device or Pad).

[0052] The diameter of the Beidou Star Explorer portable high-precision GNSS receiver is 3cm, the length is 13cm, the whole machine weight is 104g, the running power consumption is as low as 0.6W, the device is equipped with a 3300mAh large battery, which can ensure continuous work for more than 20 hours, and can be charged through a TypeC interface;

[0053] The positioning accuracy of the RTK device is 1cm+1ppm CEP50 horizontally and 2cm+1ppm CEP50 vertically.

[0054] The communication interface of the RTK device is Bluetooth 5.0 connected with a handheld terminal, and the data transmission delay is less than 100 ms.

[0055] After the RTK device is integrated with the AR device, in actual operation, the device is held by a technician, and is used on the ground at a construction site, and based on the SDK (secondary development kit) of the Beidou star probe portable high-precision GNSS receiver, secondary development can be performed, and real-time positioning information such as position, time, accuracy, state, and satellite number collected by the GNSS receiver can be obtained in real time through Bluetooth.

[0056] S12, initializing the positioning of the preset AR device according to the real-time positioning information to obtain model positioning information.

[0057] After the real-time positioning information is obtained, the current positioning of the preset AR device can be initialized according to the real-time positioning information, and the parameters of the AR device after initialization can be obtained, and the model positioning information can be obtained.

[0058] In the initialization process, the technician only needs to hold the device and slowly translate for 1-2 seconds to complete the initialization, and the subsequent use process does not need to collect real-time positioning information again.

[0059] In an optional embodiment, the initializing the positioning of the preset AR device according to the real-time positioning information to obtain model positioning information can include the following sub-steps:

[0060] S121, transforming the real-time positioning information according to a preset coordinate system to obtain transformed positioning information, wherein the preset coordinate system is a coordinate system of a BIM model stored by the preset AR device.

[0061] S122, determining a coordinate position and an orientation angle from the transformed positioning information, respectively, to obtain model positioning information.

[0062] Referring to Figure 2 , an initialization construction schematic diagram of a preset coordinate system provided by an embodiment of the present application is shown.

[0063] In an embodiment, a coordinate system of a BIM model of an underground pipeline can be constructed in advance to obtain a preset coordinate system, and the preset coordinate system is an ENU coordinate system, which belongs to an orthogonal coordinate system. In actual operation, the position of the AR device at the time of initialization can be taken as a global coordinate origin, and the preset coordinate system is constructed accordingly, as shown in Figure 2 .

[0064] In addition, when constructing the preset coordinate system, the coordinates of the BIM model need to be preset, for example, the latitude, longitude, elevation, and orientation of the BIM model.

[0065] Next, the real-time positioning information can be transformed according to a preset coordinate system to obtain transformed positioning information. Specifically, the real-time positioning information can be converted to information in a preset coordinate system to obtain transformed positioning information.

[0066] Specifically, TRK latitude and longitude coordinates (WGS84 geographic coordinate system) can be converted to ENU coordinates.

[0067] RTK heading angle (or orientation) can refer to the rotation angle of the vehicle in the horizontal plane relative to true north. It is usually defined as true north as 0 degrees, with counterclockwise rotation as positive and clockwise rotation as negative.

[0068] BIM model orientation preset: When modeling, the top direction of the top view corresponds to the true north direction. Rotating counterclockwise is positive, and rotating clockwise is negative. The preset is 0 degrees.

[0069] For the conversion of the orientation angle, the RTK heading angle can be obtained, which is the initial angle that the BIM model needs to rotate in the global coordinate system.

[0070] After the transformation is completed, the coordinate position and orientation angle can be determined from the transformed positioning information to obtain the model positioning information.

[0071] by Figure 2 For example, after establishing the global coordinate system of the BIM model for underground pipelines, the current initial position of the AR device can be used as the origin of the global BIM model coordinate system, Origin(0,0,0); the orientation / heading angle is 0 degrees with true north, counterclockwise rotation is positive, and clockwise rotation is negative.

[0072] The AR device acquires the current location's latitude and longitude (lat, lon), elevation (alt), and heading angle (q) from the RTK device, and converts the latitude and longitude coordinates and elevation into ENU coordinates p. The specific coordinate transformation method can employ conventional techniques in this field and is not limited here. The following formula can be used as a reference:

[0073] P(x,y,z)={x,y,z};

[0074] Q(q) = {q};

[0075] Where x, y, and z are position data in meters, and q is heading / heading angle data in degrees.

[0076] S13. Call the preset AR device to visualize the underground pipeline model corresponding to the model positioning information.

[0077] After obtaining the coordinate position, the orientation angle and the heading angle, the underground pipeline model corresponding to the coordinate position can be found in the AR device according to the coordinate position and the orientation angle, then the rendering angle is adjusted according to the orientation angle, and then visual display is performed on the preset AR device, so that the technical personnel can conveniently check the underground pipeline model.

[0078] In one of the embodiments, the step S13 can include the following sub-steps:

[0079] S131, extracting the model coordinate and the model orientation angle from the model positioning information respectively.

[0080] S132, transmitting the model coordinate and the model orientation angle to the preset AR device, so that the preset AR device controls the three-dimensional rendering engine to render and display the underground pipeline model.

[0081] In an embodiment, the latitude (lat0), the longitude (lon0), the elevation (alt0) and the orientation (q0) of the BIM model of the underground pipeline can be obtained from the model positioning information, and the above information is converted into the latitude and longitude coordinates and the elevation coordinates p0 in the ENU coordinate system to obtain the model coordinate, which can be specifically as shown in the following formula:

[0082] p0(x, y, z);

[0083] Wherein, x, y, z are position data, and d is orientation / heading angle data.

[0084] Then, the position P of the BIM model of the underground pipeline in the global coordinate system can be calculated, which can be specifically obtained by acquiring the latitude and longitude coordinates P1 (converted into ENU) of the RTK device and the initial position coordinates P2 (converted into ENU) of the preset coordinate system, and calculating the relative displacement p=P1-P2, which is the position of the BIM model in the global coordinate system. Then, the orientation Q of the BIM model of the underground pipeline in the global coordinate system is obtained to obtain the model orientation angle. Specifically, it can be as shown in the following formula:

[0085] P(x, y, z)={x0-x, y0-y, z0-z};

[0086] Q(q)={q0-q};

[0087] Finally, the AR device can transmit the model coordinate P(x, y, z) and the model orientation angle Q(q) to the three-dimensional rendering engine, so that the BIM model can be correctly rendered on the screen of the device. Specifically, the threejs engine can be used to automatically update the rendering of the BIM model, and the technical personnel can see it in real time through the screen of the AR device.

[0088] The initial positioning coordinates obtained by the RTK device using the real-time dynamic difference positioning technology can improve the positioning accuracy. On this basis, accurate positioning is performed to search and display the model, which can improve the display accuracy of the model, reduce the deviation between the displayed pipeline model and the actual pipeline, and avoid displaying incorrect models. Subsequent technicians can perform construction and maintenance according to the model with accurate position, reduce the probability of construction errors or construction accidents, and reduce the difficulty of pipeline operation and management.

[0089] Moreover, the real-time positioning collected by the RTK device is absolute positioning, with a frequency of 1HZ (1 update per second), a relatively high update frequency, which can realize rapid positioning and smooth transformation of the BIM model pose.

[0090] In an embodiment, a general AR device can be a web-based AR application based on an AR device or the like. Generally, WebXR is used for development. The AR device can also be positioned, and the collected WebXR data is the relative positioning of the AR device (depending on the performance of the device, generally not less than 60HZ). The WebXR underlying application is the AR engine of ARCore or ARKit, which is essentially based on vision + IMU SLAM, and obtains the relative pose change of the device. In the case of a pure color background, weak texture, and dynamic environment, the relative pose calculation error will be aggravated. Each time the relative pose transformation data is calculated, there is an error, and the error will accumulate over time. Long-term operation will cause error accumulation, affecting the global accuracy of positioning. Therefore, a single AR positioning technology (such as RTK or SLAM) cannot balance the initialization accuracy and dynamic tracking stability.

[0091] To reduce errors, among them, as an example, after the step of obtaining real-time positioning information, the method can further include the following sub-steps:

[0092] S21, obtaining device positioning information of a preset AR device.

[0093] S22, updating the device positioning information using the real-time positioning information.

[0094] In an embodiment, the absolute positioning of the RTK device can be used to periodically correct the relative errors accumulated by the AR device, improving the global positioning accuracy.

[0095] In an operation mode, preset device positioning information of an AR device can be acquired. WebXR: an extended reality (XR, including AR / VR / MR) development standard based on Web technology, formulated by W3C, aiming to realize cross-platform immersive interactive experience through browsers. Its core is to support developers to create, render and interact with AR (augmented reality), VR (virtual reality) content directly in web pages through unified API interface, without relying on specific hardware or local applications. The advantages are cross-platform (no need to install applications), low development cost (based on Web technology stack) and easy dissemination (through URL sharing).

[0096] The acquired device positioning information is WebXR data (60HZ), and the relative pose transformation matrix matrix of the WebXR device can be acquired through the WebXR API. The relative matrix of each time is multiplied and assigned to the global transformation matrix Matrix. Specifically, it can be as shown in the following formula:

[0097] Matrix = matrix60 *... * matrix2 * matrix1;

[0098] Wherein: Matrix is a 4*4 pose conversion matrix, which is periodically initialized according to the RTK update frequency and initialized as a unit matrix.

[0099] The matrices matrix1, matrix2 and matrix60 are each a device relative pose transformation matrix of each frame acquired from WebXR through API:

[0100] matrix = frame.getViewerPose(xr.getReferenceSpace()).transform.matrix.

[0101] At the same time, real-time positioning information can be acquired. The real-time positioning information is RTK data (1HZ), which can acquire RTK latitude and longitude coordinates and elevation and convert them into ENU coordinates P; and RTK positioning accuracy HV (unit: meter) can be acquired.

[0102] Then, the device positioning information can be updated using real-time positioning information. By using the absolute positioning of the RTK device, the relative error accumulated by WebXR is periodically corrected, and the global positioning accuracy is improved.

[0103] As an example, the updating of the device positioning information using the real-time positioning information can include the following sub-steps:

[0104] S221, extracting device relative parameters from the device positioning information and extracting positioning relative parameters from the real-time positioning information, wherein the device relative parameters are position and orientation parameters of the positioning relative parameters in an update cycle.

[0105] S222, calculating a parameter deviation value by using the device relative parameters and the positioning relative parameters.

[0106] S223, updating the device relative parameters by using the positioning relative parameters if the parameter deviation value is greater than a preset deviation value.

[0107] In an embodiment, device relative parameters can be extracted from device positioning information, i.e., position change parameters ΔP and orientation change parameters ΔQ can be extracted from Matrix.

[0108] Specifically, by using the recorded BIM model global pose transformation matrix Matrix, position change parameters ΔP and orientation change parameters ΔQ of the device in an update cycle of the RTK device can be extracted.

[0109] The position change parameters ΔP can be extracted from the transformation matrix by using the following code:

[0110] var position = new THREE.Vector3();

[0111] position.setFromMatrix4(matrix);

[0112] ΔP1(x, y, z) = position;

[0113] The angle of rotation around the y-axis can be extracted from the transformation matrix to obtain the orientation change parameters ΔQ by using the following code:

[0114] var euler = new THREE.Euler();

[0115] euler.setFromRotationMatrix(matrix, 'YXZ');

[0116] ΔQ1(q) = euler.y.

[0117] Meanwhile, positioning relative parameters can be extracted from real-time positioning information, and the positioning relative parameters can also include position parameters and orientation parameters.

[0118] Specifically, according to the update frequency of the RTK device, the position P1 and the orientation Q1 of the last underground pipeline BIM model in the global coordinate system can be recorded.

[0119] P1(x, y, z);

[0120] Q1(q);

[0121] wherein x, y, z are position data, and q is heading / azimuth angle data.

[0122] Then, the positioning of the BIM model of the underground pipeline can be calculated according to the positioning of the RTK device. Specifically, the position P2 and the heading Q2 of the BIM model in the global coordinate system can be calculated by using the preset pose p0 and q0 of the BIM model and the RTK pose p and q, and can be calculated as follows:

[0123] P2(x, y, z) = p0-p = {x0-x, y0-y, z0-z};

[0124] Q2(q) = {q0-q}.

[0125] Then, the positioning relative parameters (position ΔP2 and heading ΔQ2) can be calculated by using the above two positions and headings, and can be calculated as follows:

[0126] ΔP2(x, y, z) = P2-P1 = (x2-x1, y2-y1, z2-z1);

[0127] ΔQ2 = Q2-Q1 = (q2-q1).

[0128] Then, the deviation values of the position and the heading can be calculated by using the device relative parameters and the positioning relative parameters, and the parameter deviation value can be calculated by using the deviation values of the position and the heading. The deviation values of the position and the heading can be calculated as follows:

[0129] ΔP(x, y, z) = ΔP1-ΔP1;

[0130] ΔQ(q) = ΔQ1-ΔQ2.

[0131] Specifically, the parameter deviation value is calculated by using the sum of the arithmetic square values of the cube (x, y, z). Then, it is judged whether the parameter deviation value is greater than a preset deviation value.

[0132] If the parameter deviation value is greater than the preset deviation value, the device relative parameters are updated by using the positioning relative parameters. Otherwise, if the parameter deviation value is less than the preset deviation value, no adjustment is made.

[0133] wherein the preset deviation value can be the positioning accuracy HV value of the RKT device, and if the parameter deviation value is greater than the preset deviation value (x 2 +y 2 +z 2 ≥HV 2), it indicates that the WebXR positioning deviation of the AR device is too large and should be corrected according to the positioning data of the RTK device, and the heading angle should also be updated; otherwise, if the parameter deviation value is less than the preset deviation value (x 2 +y 2 +z 2 ≤HV 2 ), it indicates that the WebXR positioning accuracy is controllable, and this time the pose update should not be corrected.

[0134] In an optional embodiment, the real-time positioning information and the device positioning information can also be fused by an EKF filter to obtain fused positioning information, and the BIM model is determined according to the fused positioning information, and finally the threejs engine is used to automatically update and render the BIM model, and the technician can see it in real time through the screen of the AR device.

[0135] In an embodiment, since the BIM model is stored in the cloud and the AR device displays the BIM model based on a web application, the AR device needs to obtain the data of the BIM model from the cloud every time it needs to display the BIM model. When loading and obtaining the BIM model data, if the model data is large, the communication and data transmission time-consuming is long, therefore, the underground pipeline model can be a lightweight BIM model.

[0136] Among them, as an example, the underground pipeline model obtaining operation can include the following steps:

[0137] S31, the isomorphic model plug-in converts the preset BIM model into a model in the Gltf lightweight data format to obtain a converted model.

[0138] S32, extracting and storing component attribute data from the converted model to obtain an underground pipeline model.

[0139] Lightweight means that by reducing the geometric data amount of the model, optimizing the data structure and simplifying the rendering process, after simplifying the model data, when the mobile AR device needs to access online in real time to obtain the BIM model data, the amount of data transmitted can also be reduced, and smooth rendering can be realized, so that the model is more efficient in storage, transmission and display, while maintaining the accuracy and usability of the model.

[0140] The application can restore the BIM model of the underground pipe network in advance in the BIM modeling software, including the size and material of the standard pipe section, and the related inspection wells and drainage outlets and the like accessories. Then, the BIM model is converted into the Gltf lightweight data format through a self-developed BIM model lightweight plug-in, and the component attribute data is extracted separately, so that the BIM model is light, while the integrity of the component material and attribute data is maintained. Through the lightweight processing, the model volume is reduced by 60%-90%, which can reduce the hardware requirements and improve the loading speed, so as to realize the efficient collaborative application of the BIM model in the web end of the AR device, especially the display and operation efficiency in the mobile end.

[0141] In addition, the Gltf model and the json attribute data after the above lightweight processing can also be stored in the database, which is convenient for subsequent data access interaction. Secondly, the origin (0, 0, 0) of the current project BIM model is taken as the positioning point of the overall model in the global navigation satellite system, and the longitude, latitude and elevation (x, y, z) of the project origin in the global navigation satellite system are recorded as the alignment basis for the application of the BIM model in the AR device. Through the preset longitude, latitude and elevation coordinates and the default orientation, the BIM model is aligned to the real position. This is particularly important for underground pipe network operation projects based on BIM+GIS and BIM+AR, and can realize macro-to-micro three-dimensional integrated management. Then, according to the project requirements, the pipe material traceability and operation business data interface are connected, so as to provide three-party data support for the subsequent AR device and BIM model interaction application.

[0142] Reference Figure 3 The operation flowchart of the visualization display method of the underground pipe model is shown.

[0143] Specifically, the operation of the visualization display method of the underground pipe model can include the following steps:

[0144] First step, RTK lightweight device selection and integrated design, to combine the RTK device with the AR device.

[0145] Second step, RTK-based no-identification BIM+AR initialization positioning algorithm, to initialize the AR device by using the RTK positioning.

[0146] Third step, RTK and AR device WebXR application positioning fusion algorithm, using the positioning of the RTK device and the WebXR positioning of the AR device.

[0147] Fourth step, RTK+WebXR+BIM-based underground pipe network operation application.

[0148] In the embodiment, the underground pipeline model visualization display method has the beneficial effects that: the real-time positioning information can be obtained by using the real-time dynamic differential positioning technology; the positioning of the preset AR device is initialized according to the real-time positioning information, and model positioning information is obtained; the underground pipeline model corresponding to the model positioning information is visually displayed by calling the preset AR device; the positioning is performed by using the real-time dynamic differential positioning technology, so that the positioning accuracy can be improved; the model is searched and displayed after accurate positioning, so that the display accuracy of the model can be improved, the deviation between the displayed pipeline model and the actual pipeline is reduced, and the display of the wrong model is avoided; subsequent technical personnel can perform construction and maintenance according to the model at the accurate position, the probability of construction errors or construction accidents is reduced, and the difficulty of pipeline operation and management is reduced.

[0149] The underground pipeline model visualization display device is also provided in the embodiment. Figure 4 The structure schematic diagram of the underground pipeline model visualization display device provided by the embodiment is shown.

[0150] For example, the underground pipeline model visualization display device can include:

[0151] The obtaining module 201 is configured to obtain real-time positioning information, and the real-time positioning information is an initial positioning coordinate obtained by using a real-time dynamic differential positioning technology.

[0152] The initialization module 202 is configured to initialize the positioning of a preset AR device according to the real-time positioning information, and obtain model positioning information.

[0153] The display module 203 is configured to call the preset AR device to visually display an underground pipeline model corresponding to the model positioning information.

[0154] Optionally, the initialization of the positioning of the preset AR device according to the real-time positioning information to obtain the model positioning information includes:

[0155] The real-time positioning information is transformed according to a preset coordinate system to obtain transformed positioning information, and the preset coordinate system is a coordinate system of a BIM model stored in the preset AR device.

[0156] The coordinate position and the orientation angle are determined from the transformed positioning information, respectively, to obtain the model positioning information.

[0157] Optionally, the calling of the preset AR device to visually display the underground pipeline model corresponding to the model positioning information includes:

[0158] The model coordinate and the model orientation angle are extracted from the model positioning information, respectively.

[0159] transmitting the model coordinates and the model orientation angle to a preset AR device, so that the preset AR device searches for a corresponding underground pipeline model and controls a three-dimensional rendering engine to visually render and display the underground pipeline model.

[0160] Optionally, after the step of acquiring real-time positioning information, the method further comprises:

[0161] acquiring device positioning information of the preset AR device;

[0162] updating the device positioning information by using the real-time positioning information.

[0163] Optionally, the step of updating the device positioning information by using the real-time positioning information comprises:

[0164] extracting device relative parameters from the device positioning information and extracting positioning relative parameters from the real-time positioning information, wherein the device relative parameters are position and orientation parameters of the positioning relative parameters in an update cycle;

[0165] calculating a parameter deviation value by using the device relative parameters and the positioning relative parameters;

[0166] if the parameter deviation value is greater than a preset deviation value, updating the device relative parameters by using the positioning relative parameters.

[0167] Optionally, the underground pipeline model is a BIM model that is subjected to lightweight processing, and the operation of acquiring the underground pipeline model comprises:

[0168] a same-model plug-in converts a preset BIM model into a model in a Gltf lightweight data format to obtain a converted model;

[0169] extracting and storing component attribute data from the converted model to obtain an underground pipeline model.

[0170] The embodiment of the application further provides a visual display system of an underground pipeline model. Figure 5 Fig. 1 shows a structural schematic diagram of a visual display system of an underground pipeline model according to an embodiment of the application.

[0171] As an example, the visual display system of the underground pipeline model can comprise an AR device (1) and an RTK device (2), wherein the RTK device (2) is connected to the AR device (1).

[0172] The AR device (1) is suitable for the visual display method of the underground pipeline model as described in the above embodiment.

[0173] Specifically, the RTK device (2) and the AR device (1) can be connected together in a fixed connection manner, for example, the RTK device (2) and the AR device (1) can be fixedly connected through a clamp and a fixing tool, as shown in Figure 5 .

[0174] The RTK device (2) and the AR device (1) can be connected through Bluetooth to realize data communication.

[0175] Referring to Figure 6 , an application structure schematic diagram of the AR device provided by an embodiment of the present application is shown.

[0176] The operation and maintenance of underground pipe networks are crucial for ensuring the normal operation of urban lifelines. In the operation and maintenance stage, the existing pipe material quality traceability data are often difficult to be delivered to the front-line personnel, and the workers usually only obtain the pipe material data through oral briefing or paper document reading, which has the problem of insufficient data sharing, does not play the guiding value of pipe data on operation and maintenance, and leads to a long pipe maintenance period. The application architecture of the AR device (1) is shown in Figure 6 .

[0177] Through the screen of the AR device (1), the underground pipe network model BIM model can be accurately displayed at the actual position, and the operation and maintenance personnel can easily see the underground pipe network BIM model through the AR device (1), and obtain the pipe network operation data and pipe material quality traceability data through interactive operation, which provides practical guidance for operation and maintenance, improves the data sharing level in the underground pipe network operation stage, reduces the difficulty of the front-line workers in obtaining maintenance data, and improves the efficiency of operation and maintenance.

[0178] Referring to Figure 7 , an operation flow schematic diagram of a visual display system of an underground pipe model provided by an embodiment of the present application is shown.

[0179] In use, the technician fixes the RTK device (2) and the AR device (1) at the project site; the RTK device (2) is turned on, and the AR device (1) is turned on; the technician opens a browser on the AR device (1) and accesses a project website (the BIM model and the corresponding latitude and longitude are preset in the project management background in advance); the data link between the AR device (1) and the RTK device (2) is completed through Bluetooth; the technician holds the integrated device and slowly moves for 1-2 seconds to complete the initialization of the AR device (1) (after the initialization is completed, the preset BIM model can be correctly superimposed with the reality; the technician can perform AR application and interact by clicking the BIM pipe on the screen to obtain and display pipe data.

[0180] Optionally, in order to further optimize positioning, the current pose of the all-in-one device can also be calculated in real time through the EKF filter, and the pose of the BIM model is updated in reverse to maintain the correct superposition of the BIM model and the implementation; let the technician interact by clicking the BIM pipe on the screen to obtain the display pipe data.

[0181] At the project site, open the RTK GNSS device and the AR device (1) Bluetooth, and fix them by the AR device (1) clip and the fixer. Then enter the project by inputting the project access address in the browser, and select RTK GNS in the pop-up Bluetooth device list to realize the connection and access of RTK data.

[0182] The technician can slowly move the AR device (1), aim the rear camera of the AR device (1) at the surroundings and slowly move it, and wait for the initialization to be completed. The underground pipe network model is superimposed and displayed with the site. If there is deviation between the BIM model and the site superposition, it needs to be adjusted, which can be manually fine-tuned through the page button.

[0183] After initialization is completed, BIM+AR-based application interaction can be performed through the AR device (1) page. By clicking the BIM model component, a pipe data related information box can be popped up in the interface, which contains the pipe code, manufacturer, product name, batch number, and full life cycle data record of the pipe from the implantation chip, warehousing, delivery, acceptance to installation. Clicking the "associate" button can associate the inspection record, problem description, and photographed pictures to the corresponding pipe standard section, and all records can be viewed by clicking the "list" button, and the detailed information of each record can be viewed by clicking the record.

[0184] The whole process does not need to identify AR initialization positioning, which can eliminate the dependence on physical markers and perform AR initialization at any location on the project site.

[0185] Through the correction of RTK absolute positioning, the problems of AR positioning drift, pure color or dynamic background AR positioning failure are solved, and the stability of AR motion tracking is improved.

[0186] By integrating a lightweight and portable RTK device (2), the device portability of RTK+AR application is effectively improved.

[0187] Based on WebXR, pure front-end development is performed, which reduces the technical difficulty, realizes multi-platform (Apple, Android) application with one development, shortens the development cycle by 50%, reduces the maintenance cost by 30%, improves the AR development efficiency and application compatibility.

[0188] Those skilled in the art can clearly understand that, for the convenience of description and conciseness, the specific working process of the device described above can refer to the corresponding process in the foregoing method embodiments, and will not be described here.

[0189] Further, the embodiment of the present application further provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the method for visualizing and displaying the underground pipeline model according to the foregoing embodiment when executing the program.

[0190] Further, the embodiment of the present application further provides a computer readable storage medium, which stores a computer executable program, and the computer executable program is used for making a computer execute the method for visualizing and displaying the underground pipeline model according to the foregoing embodiment.

[0191] In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. When an element such as a layer, a region, or a substrate is referred to as "on" or "above" another element, it can be directly on the other element, or there can be an intermediate element. In contrast, when an element is referred to as "directly on" or "directly above" another element, there is no intermediate element. It should also be understood that when an element is referred to as "below" or "under" another element, it can be directly below or under the other element, or there can be an intermediate element. In contrast, when an element is referred to as "directly below" or "directly under" another element, there is no intermediate element. Unless otherwise specifically defined and limited, the terms "mount", "connect", "connect" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, and it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0192] Those skilled in the art will appreciate that the embodiments of the present application can also provide a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0193] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0194] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0195] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0196] The above only is the preferred embodiment of the present application, it should be pointed out that, for those skilled in the technical field, without departing from the technical principles of the present application, can also make a number of improvements and variations, these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. A method of visualizing a representation of an underground pipe model, characterized in that, The method comprises: acquiring real-time positioning information, which is initial positioning coordinates acquired by using real-time dynamic differential positioning technology; initializing positioning of a preset AR device according to the real-time positioning information to obtain model positioning information; calling the preset AR device to visually display an underground pipeline model corresponding to the model positioning information.

2. The method for visualizing a representation of an underground pipeline model according to claim 1, characterized in that, The method of initializing positioning of a preset AR device according to the real-time positioning information to obtain model positioning information comprises: transforming the real-time positioning information according to a preset coordinate system to obtain transformed positioning information, wherein the preset coordinate system is a coordinate system of a BIM model stored by the preset AR device; determining a coordinate position and an orientation angle from the transformed positioning information to obtain the model positioning information.

3. The method for visualizing a representation of an underground pipeline model according to claim 1, characterized in that, The method of calling the preset AR device to visually display an underground pipeline model corresponding to the model positioning information comprises: extracting a model coordinate and a model orientation angle from the model positioning information; transmitting the model coordinate and the model orientation angle to the preset AR device to enable the preset AR device to find a corresponding underground pipeline model and control a three-dimensional rendering engine to visually render and display the underground pipeline model.

4. The method for visualizing a representation of an underground pipeline model according to claim 1, characterized in that, After the step of acquiring real-time positioning information, the method further comprises: acquiring device positioning information of the preset AR device; updating the device positioning information by using the real-time positioning information.

5. The method for visualizing a representation of an underground pipeline according to claim 4, characterized in that, The method of updating the device positioning information by using the real-time positioning information comprises: extracting a device relative parameter from the device positioning information and a positioning relative parameter from the real-time positioning information, wherein the device relative parameter is a position and orientation parameter of the positioning relative parameter within an update cycle; calculating a parameter deviation value by using the device relative parameter and the positioning relative parameter; updating the device relative parameter by using the positioning relative parameter if the parameter deviation value is greater than a preset deviation value.

6. The method of visualizing a representation of an underground pipeline according to claim 1, wherein, The underground pipeline model is a BIM model that has been subjected to lightweight processing, and the acquisition operation of the underground pipeline model comprises: a same-structure model plug-in converts a preset BIM model into a model in a Gltf lightweight data format to obtain a converted model; extracting and storing component attribute data from the converted model to obtain an underground pipeline model.

7. An apparatus for visualizing a model of an underground pipeline, characterized by The device comprises: an acquisition module configured to acquire real-time positioning information, which is initial positioning coordinates acquired by using real-time dynamic differential positioning technology; an initialization module configured to initialize positioning of a preset AR device according to the real-time positioning information to obtain model positioning information; a display module configured to call the preset AR device to visually display an underground pipeline model corresponding to the model positioning information.

8. A visual presentation system of an underground pipe model, characterized by The system comprises an AR device and an RTK device, wherein the RTK device is connected to the AR device. The AR device is suitable for the method of visually displaying an underground pipeline model according to any one of claims 1 to 6.

9. An electronic device comprising: The memory, the processor and the computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for visualizing and displaying the underground pipeline model according to any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer executable program, and the computer executable program is used for enabling the computer to execute the method for visualizing and displaying the underground pipeline model according to any one of claims 1-6.

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