A method, device, system, equipment and medium for visualizing a model of an underground pipeline

Abstract

This invention discloses a method, device, system, equipment, and medium for visualizing underground pipeline models. The method comprises: acquiring real-time positioning information, which is initial positioning coordinates obtained using real-time dynamic differential positioning technology; initializing the positioning of a preset AR device based on the real-time positioning information to obtain model positioning information; and calling the preset AR device to visualize the underground pipeline model corresponding to the model positioning information. This invention improves positioning accuracy through real-time dynamic differential positioning technology; further, precise positioning followed by model lookup and display enhances the accuracy of model display, reduces deviations between the displayed pipeline model and the actual pipeline, and avoids displaying incorrect models. Subsequent technicians can perform construction and maintenance based on the model's accurate location, reducing the probability of construction errors or accidents and lowering the difficulty of pipeline operation and management.

Description

Technical Field

[0001] This invention relates to the technical field of engineering assistance, and in particular to a method, apparatus, system, equipment and medium for visualizing underground pipeline models. Background Technology

[0002] Urban underground pipe networks (including water supply, gas, electricity, and communication lines) are the "vascular network" of urban infrastructure. As the "pulse" of the city, these networks undertake multiple functions such as water supply, drainage, heating, gas supply, power supply, and communication, and are essential infrastructure for ensuring the normal operation of the city and the production of businesses. Their importance is reflected in their impact on residents' lives, industrial production, and urban safety.

[0003] Because the pipeline network consists of buried pipes with complex and intricate routes, locating and navigating them is crucial for maintenance and repair, facilitating technical personnel's work. With technological advancements, a common method involves collecting construction drawings of each pipeline and creating a 3D model. This model is then located using mobile devices or manually marked on-site. AR technology is used to display the BIM model of the location to users, and the navigation function of the mobile device provides real-time navigation information to guide construction workers through the necessary procedures.

[0004] However, the commonly used methods have the following technical problems: manual markings are easily damaged, leading to positioning errors; and mobile devices are also easily interfered with by various complex environmental factors in the street, causing the mobile devices to position incorrectly, resulting in deviations between the pipeline model displayed by the terminal device and the actual pipeline, which in turn leads to construction errors or construction accidents, increasing the difficulty of pipeline operation and maintenance. Summary of the Invention

[0005] This invention provides a method, device, system, equipment, and medium for visualizing underground pipeline models, which can solve the technical problem that the displayed model deviates from the actual model due to positioning errors in the prior art.

[0006] A first aspect of this invention provides a method for visualizing an underground pipeline model, the method comprising:

[0007] Acquire real-time positioning information, wherein the real-time positioning information is the initial positioning coordinates obtained using real-time dynamic differential positioning technology;

[0008] The positioning of the preset AR device is initialized based on the real-time positioning information to obtain the model positioning information;

[0009] A preset AR device is invoked to visualize the underground pipeline model corresponding to the model's location information.

[0010] In conjunction with the first aspect, in one implementation, the step of initializing the preset AR device positioning based on the real-time positioning information to obtain model positioning information includes:

[0011] The real-time positioning information is transformed according to a preset coordinate system to obtain transformed positioning information, wherein the preset coordinate system is the preset coordinate system of the BIM model stored in the AR device.

[0012] The coordinate position and orientation angle are determined from the transformed positioning information to obtain the model positioning information.

[0013] In conjunction with the first aspect, in one implementation, the step of calling a preset AR device to visualize the underground pipeline model corresponding to the model positioning information includes:

[0014] Extract the model coordinates and model orientation angle from the model positioning information;

[0015] The model coordinates and the model orientation angle are transmitted to a preset AR device, which then locates the corresponding underground pipeline model and controls the 3D rendering engine to visualize and render the underground pipeline model.

[0016] In conjunction with the first aspect, in one implementation, after the step of acquiring real-time location information, the method further includes:

[0017] Obtain the device location information of the preset AR device;

[0018] The device location information is updated using the real-time location information.

[0019] In conjunction with the first aspect, in one implementation, updating the device location information using the real-time location information includes:

[0020] The device relative parameters are extracted from the device positioning information and the positioning relative parameters are extracted from the real-time positioning information, wherein the device relative parameters are the position and orientation parameters of the positioning relative parameters within an update cycle;

[0021] The parameter deviation value is calculated using the relative parameters of the equipment and the relative parameters of the positioning.

[0022] If the parameter deviation value is greater than the preset deviation value, the device relative parameter is updated using the positioning relative parameter.

[0023] In conjunction with the first aspect, in one implementation, the underground pipeline model is a lightweight BIM model, and the acquisition operation of the underground pipeline model includes:

[0024] The isomorphic model plugin converts a preset BIM model into a Gltf lightweight data format model, resulting in a converted model.

[0025] The underground pipeline model is obtained by extracting and storing the component attribute data from the transformation model.

[0026] A second aspect of this invention provides a visualization device for an underground pipeline model, the device comprising:

[0027] The acquisition module is used to acquire real-time positioning information, which is the initial positioning coordinates obtained using real-time dynamic differential positioning technology.

[0028] An initialization module is used to initialize the positioning of a preset AR device based on the real-time positioning information to obtain model positioning information;

[0029] The display module is used to call a preset AR device to visualize the underground pipeline model corresponding to the model positioning information.

[0030] A third aspect of this invention provides a visualization system for an underground pipeline model, the system comprising: 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 visualization method of underground pipeline models as described above.

[0032] Compared to existing technologies, the present invention provides a method, apparatus, system, equipment, and medium for visualizing underground pipeline models, which offers the following advantages: The present invention utilizes real-time dynamic differential positioning technology to obtain real-time positioning information; it initializes the positioning of a preset AR device based on the real-time positioning information to obtain model positioning information; it calls the preset AR device to visualize the underground pipeline model corresponding to the model positioning information; the real-time dynamic differential positioning technology improves positioning accuracy; and precise positioning followed by model search and display improves model display accuracy, reduces deviation between the displayed pipeline model and the actual pipeline, and avoids displaying incorrect models; subsequently, technicians can perform construction and maintenance based on the model at accurate locations, reducing the probability of construction errors or accidents, and lowering the difficulty of pipeline operation and management. Attached Figure Description

[0033] Figure 1 This is a flowchart illustrating a method for visualizing an underground pipeline model according to an embodiment of the present invention.

[0034] Figure 2 This is a schematic diagram of the initialization and construction of a preset coordinate system provided in an embodiment of the present invention;

[0035] Figure 3 This is an operation flowchart of a method for visualizing an underground pipeline model according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the structure of a visualization display device for an underground pipeline model provided in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the structure of a visualization display system for an underground pipeline model provided in an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the application structure of an AR device provided in an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the operation process of a visualization display system for an underground pipeline model provided in an embodiment of the present invention. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Urban underground pipe networks (including water supply, gas, electricity, and communication lines) are the "vascular network" of urban infrastructure. As the "pulse" of the city, these networks undertake multiple functions such as water supply, drainage, heating, gas supply, power supply, and communication, and are essential infrastructure for ensuring the normal operation of the city and the production of businesses. Their importance is reflected in their impact on residents' lives, industrial production, and urban safety.

[0042] Because the pipeline network consists of buried pipes with complex and intricate routes, locating and navigating them is crucial for maintenance and repair, facilitating technical personnel's work. With technological advancements, a common method involves collecting construction drawings of each pipeline and creating a 3D model. This model is then located using mobile devices or manually marked on-site. AR technology is used to display the BIM model of the location to users, and the navigation function of the mobile device provides real-time navigation information to guide construction workers through the necessary procedures.

[0043] However, the commonly used methods have the following technical problems: manual markings are easily damaged, leading to positioning errors; and mobile devices are also easily interfered with by various complex environmental factors in the street, causing the mobile devices to position incorrectly, resulting in deviations between the pipeline model displayed by the terminal device and the actual pipeline, which in turn leads to construction errors or construction accidents, increasing the difficulty of pipeline operation and maintenance.

[0044] To address the aforementioned issues, the following detailed embodiments will be used to illustrate and explain a visualization method, apparatus, system, equipment, and medium for underground pipeline models provided in this application.

[0045] To address the technical problem of discrepancies between the displayed model and the actual model caused by positioning errors in existing technologies, referencing Figure 1 The diagram shows a flowchart of a method for visualizing an underground pipeline model according to an embodiment of the present invention.

[0046] In one embodiment, the visualization method for the underground pipeline model can be applied to AR devices or other smart terminals. Specifically, it can be a smart terminal used by technicians who inspect and maintain underground pipelines.

[0047] As an example, the visualization method for the underground pipeline model may include:

[0048] S11. Obtain real-time positioning information, wherein the real-time positioning information is the initial positioning coordinates obtained using real-time dynamic differential positioning technology.

[0049] In one embodiment, the smart terminal or AR device can acquire real-time positioning information, which may be the initial positioning coordinates obtained using real-time dynamic differential positioning technology.

[0050] In one operating mode, the AR device can connect to an RTK device and obtain real-time location information using real-time dynamic differential positioning technology.

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

[0052] The Beidou Star Explorer portable high-precision GNSS receiver has a diameter of 3cm, a length of 13cm, a weight of 104g, and a power consumption as low as 0.6W. The device comes with a 3300mAh battery, which can guarantee more than 20 hours of continuous operation and can be charged via a Type-C interface.

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

[0054] The RTK device uses Bluetooth 5.0 to connect to the handheld device, with a data transmission latency of <100ms.

[0055] After the RTK device is integrated with the AR device, in actual operation, the technicians hold the device and use it on the ground at the construction site. It can be further developed based on the SDK (secondary development toolkit) of the Beidou Star Exploration portable high-precision GNSS receiver, and can obtain real-time positioning information such as location, time, accuracy, status and number of satellites collected by the GNSS receiver in real time via Bluetooth.

[0056] S12. Initialize the preset AR device positioning based on the real-time positioning information to obtain model positioning information.

[0057] After obtaining real-time location information, the current location of the preset AR device can be initialized based on the real-time location information, and the parameters of the AR device after initialization can be obtained to obtain the model positioning information.

[0058] During initialization, technicians only need to hold the device and slowly move it horizontally for 1-2 seconds to complete the initialization. There is no need to collect real-time location information during subsequent use.

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

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

[0061] S122. Determine the coordinate position and orientation angle from the transformed positioning information to obtain the model positioning information.

[0062] Reference Figure 2 The diagram illustrates the initialization and construction of a preset coordinate system according to an embodiment of the present invention.

[0063] In one embodiment, a coordinate system for a BIM model of an underground pipeline can be pre-constructed to obtain a preset coordinate system, which is an ENU coordinate system, a rectangular coordinate system. In practice, the preset coordinate system can be constructed using the AR device's initial position as the global coordinate origin, as detailed below. Figure 2 As shown.

[0064] In addition, when constructing the preset coordinate system, it is also necessary to preset the coordinates of the BIM model, such as 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 coordinates, orientation angle, and heading angle, the corresponding underground pipeline model can be found in the AR device based on the coordinates and orientation angle. Then, the rendering angle is adjusted according to the orientation angle, and the model is visualized on a preset AR device, making it convenient for technicians to view the underground pipeline model.

[0078] In one embodiment, step S13 may include the following sub-steps:

[0079] S131. Extract the model coordinates and model orientation angle from the model positioning information.

[0080] S132. Transmit the model coordinates and the model orientation angle to a preset AR device so that the preset AR device controls the 3D rendering engine to render and display the underground pipeline model.

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

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

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

[0084] Next, the position P of the underground pipeline's BIM model in the global coordinate system can be calculated. Specifically, the latitude and longitude coordinates P1 of the RTK equipment (converted to ENU) and the initial position coordinates P2 of the preset coordinate system (converted to ENU) can be obtained, and the relative displacement p = P1 - P2 can be calculated, which is the position of the BIM model in the global coordinate system. Then, the orientation Q of the underground pipeline's BIM model in the global coordinate system can be obtained to get the model's orientation angle. This can be 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 pass the model coordinates P(x,y,z) and the model orientation angle Q(q) to the 3D rendering engine, which can then correctly render the BIM model on the device screen. Specifically, the BIM model can be automatically updated and rendered using the Three.js engine, allowing technicians to view it in real time on the AR device's screen.

[0088] The initial positioning coordinates obtained by using RTK equipment with real-time dynamic differential positioning technology can improve positioning accuracy. Based on this, model search and display after accurate positioning 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. Subsequently, technicians can carry out construction and maintenance based on the model with accurate location, reducing the probability of construction errors or construction accidents, and reducing the difficulty of pipeline operation and maintenance management.

[0089] Moreover, the real-time positioning acquired by the RTK device is absolute positioning, with a frequency of 1Hz (updated once per second). The high update frequency enables rapid positioning and also allows for smooth transformation of the BIM model's pose.

[0090] In one embodiment, a typical AR device can be a web-based AR application, usually developed using WebXR. The AR device can also perform localization; the collected WebXR data represents the relative positioning of the AR device (depending on device performance, generally not lower than 60Hz). WebXR uses the AR engine of ARCore or ARKit at its core, which is essentially SLAM based on vision + IMU, acquiring the relative pose changes of the device. In situations such as solid color backgrounds, weak textures, and dynamic environments, the relative pose calculation error will be exacerbated. Errors exist in the data calculation for each relative pose change, and these errors accumulate over time. Prolonged operation leads to error accumulation, affecting the overall accuracy of localization. Therefore, a single AR localization technology (such as RTK or SLAM) cannot simultaneously guarantee initialization accuracy and dynamic tracking stability.

[0091] To reduce errors, as an example, after the step of acquiring real-time location information, the method may further include the following sub-steps:

[0092] S21. Obtain the device location information of the preset AR device.

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

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

[0095] In one operating mode, the device positioning information of the preset AR device can be obtained. WebXR: A web-based extended reality (XR, including AR / VR / MR) development standard, developed by the W3C, aims to achieve cross-platform immersive interactive experiences through browsers. Its core is to support developers in creating, rendering, and interacting with AR (Augmented Reality) and VR (Virtual Reality) content directly in web pages through a unified API interface, without relying on specific hardware or local applications. Its advantages include cross-platform compatibility (no application installation required), low development cost (based on the web technology stack), and ease of dissemination (shared via URL).

[0096] The acquired device positioning information is WebXR data (60Hz). The relative pose transformation matrix of the WebXR device can be obtained through the WebXR API. Each relative matrix is ​​multiplied and then assigned to the global transformation matrix. Specifically, it can be shown in the following formula:

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

[0098] Where: Matrix is ​​a 4*4 pose transformation matrix, which is periodically initialized according to the RTK update frequency and initialized as an identity matrix.

[0099] Matrix1, matrix2, and matrix60, etc., each matrix is ​​a device-relative pose transformation matrix obtained from WebXR via API per frame.

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

[0101] It can also obtain real-time positioning information, which is RTK data (1HZ). It can obtain RTK latitude and longitude coordinates and elevation and convert them into ENU coordinates P; it can also obtain RTK positioning accuracy HV (in meters).

[0102] Next, real-time location information can be used to update the device's location information. By using the absolute positioning of the RTK device, the relative errors accumulated by WebXR can be periodically corrected, thereby improving the global positioning accuracy.

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

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

[0105] S222. Calculate the parameter deviation value using the relative parameters of the equipment and the relative parameters of the positioning.

[0106] S223. If the parameter deviation value is greater than the preset deviation value, then the device relative parameter is updated using the positioning relative parameter.

[0107] In one embodiment, relative parameters of the device can be extracted from the device positioning information, that is, the position change parameter △P and the orientation change parameter △Q can be extracted from the Matrix.

[0108] Specifically, the position change parameter △P and orientation change parameter △Q of an RTK device can be extracted within an update cycle by using the recorded global pose transformation matrix Matrix of the BIM model.

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

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

[0111] position.setFromMatrix4(matrix);

[0112] △P1(x,y,z)=position;

[0113] The following code can be used to extract the rotation angle around the y-axis from the transformation matrix to obtain the orientation change parameter ΔQ:

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

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

[0116] △Q1(q)=euler.y.

[0117] Simultaneously, relative positioning parameters can be extracted from real-time positioning information, which may include position parameters and orientation parameters.

[0118] Specifically, based on the update frequency of the RTK equipment, the position P1 and orientation Q1 of the previous underground pipeline BIM model in the global coordinate system can be recorded.

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

[0120] Q1(q);

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

[0122] Next, the location of the underground pipeline's BIM model can be calculated based on the RTK equipment's positioning. Specifically, by using the obtained BIM model's preset poses p0 and q0 and the RTK poses p and q, the BIM model's position P2 and orientation Q2 in the global coordinate system can be calculated, as shown in the following formula:

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

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

[0125] Then, the relative positioning parameters (position △P2 and orientation △Q2) can be calculated using the two positions and orientations mentioned above, as shown in the following formula:

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

[0127] △Q2=Q2-Q1=(q2-q1);

[0128] Next, the deviation between position and orientation can be calculated using the equipment relative parameters and positioning relative parameters, and then the parameter deviation can be calculated using the deviation between position and orientation. The deviation between position and orientation can be expressed by the following formula:

[0129] △P(x,y,z)=△P1-△P1;

[0130] △Q(q)=△Q1-△Q2;

[0131] Specifically, the parameter deviation value is calculated by summing the arithmetic squares of the cube (x, y, z). Then, it is determined whether the parameter deviation value is greater than the preset deviation value.

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

[0133] The preset deviation value can be the positioning accuracy HV value of the RKT device. If the parameter deviation value is greater than the preset deviation value (x 2 +y 2 +z 2 ≥HV 2This indicates that the WebXR positioning deviation of the AR device is too large and should be corrected based on the positioning data of the RTK device. The heading angle should also be updated accordingly. Conversely, if the parameter deviation value is less than the preset deviation value (x... 2 +y 2 +z 2 ≤HV 2 This indicates that the WebXR positioning accuracy is controllable, and no correction should be made in this pose update.

[0134] In an optional embodiment, the real-time positioning information and the device positioning information can also be fused using an EKF filter to obtain fused positioning information. The BIM model is then determined based on the fused positioning information, and finally the BIM model is automatically updated and rendered using the Three.js engine. Technicians can then view the BIM model in real time on the screen of an AR device.

[0135] In one embodiment, since the underground pipeline model is stored in the cloud and the AR device displays the BIM model based on a web application, the BIM model data needs to be retrieved from the cloud every time the AR device needs to display the BIM model. If the model data volume is large, communication and data transmission can be time-consuming. Therefore, the underground pipeline model can be a lightweight BIM model.

[0136] As an example, the process of obtaining the underground pipeline model may include the following steps:

[0137] S31, the isomorphic model plugin converts the preset BIM model into a Gltf lightweight data format model, resulting in a converted model.

[0138] S32. Extract and store component attribute data from the transformation model to obtain the underground pipeline model.

[0139] Lightweighting refers to reducing the amount of geometric data in the model, optimizing the data structure, and simplifying the rendering process. After simplifying the model data, when mobile AR devices need to access BIM model data online in real time, the amount of data transmitted can also be reduced, and smooth rendering can be achieved. This makes the model more efficient in storage, transmission, and display, while maintaining the model's accuracy and usability.

[0140] This invention allows for the precise pre-reconstruction of underground pipe networks using BIM modeling software, including the dimensions and materials of standard pipe sections, as well as related accessories such as inspection wells and drainage outlets. Next, a self-developed lightweight BIM model plugin converts the BIM model to the GLTF lightweight data format, extracting component attribute data separately. This makes the BIM model lightweight while maintaining the integrity of component material and attribute data. Through lightweight processing, the model size is reduced by 60%-90%, lowering hardware requirements and improving loading speed. This enables efficient collaborative applications of the BIM model on AR devices' web interfaces, particularly improving display and operation efficiency on mobile devices.

[0141] Alternatively, the lightweight GLTF model and JSON attribute data can be stored in a database for easier data access and interaction later. Secondly, the origin (0,0,0) of the current project BIM model is used as the positioning point in the global navigation satellite system (GNSS) of the overall model. The latitude, longitude, and elevation (x, y, z) of the project origin in the GNSS are recorded as the alignment basis for the BIM model in AR device applications. By presetting latitude, longitude, and elevation coordinates and default orientation, the BIM model is aligned to the real-world location. This is particularly important for underground pipeline network operation and maintenance projects based on BIM+GIS and BIM+AR, enabling integrated three-dimensional management from macro to micro levels. Then, according to project requirements, the data interfaces for pipeline material traceability and operation and maintenance are connected to provide third-party data support for subsequent interactive applications between AR devices and BIM models.

[0142] Reference Figure 3 The diagram illustrates an operation flowchart of a visualization method for an underground pipeline model provided by an embodiment of the present invention.

[0143] Specifically, the operation of the visualization method for the underground pipeline model may include the following steps:

[0144] The first step is to select and integrate lightweight RTK devices to combine RTK devices with AR devices.

[0145] The second step is to use an RTK-based unmarked BIM+AR initialization positioning algorithm to initialize the AR device using RTK positioning.

[0146] The third step involves using a positioning fusion algorithm to combine the positioning of the RTK device with the WebXR positioning of the AR device.

[0147] The fourth step is to apply RTK+WebXR+BIM to the operation and maintenance of underground pipeline networks.

[0148] In this embodiment, the present invention provides a method for visualizing underground pipeline models. Its advantages are as follows: the present invention can utilize real-time dynamic differential positioning technology to obtain real-time positioning information; initialize the positioning of a preset AR device based on the real-time positioning information to obtain model positioning information; call the preset AR device to visualize the underground pipeline model corresponding to the model positioning information; positioning through real-time dynamic differential positioning technology can improve positioning accuracy; further, accurate positioning followed by model search and display can improve the model display accuracy, reduce the deviation between the displayed pipeline model and the actual pipeline, and avoid displaying incorrect models; subsequently, technicians can perform construction and maintenance based on the model with accurate location, reducing the probability of construction errors or accidents, and lowering the difficulty of pipeline operation and management.

[0149] This invention also provides a visualization device for underground pipeline models, see [link / reference]. Figure 4 The diagram shows a schematic representation of a visualization device for an underground pipeline model provided in an embodiment of the present invention.

[0150] As an example, the visualization device for the underground pipeline model may include:

[0151] The acquisition module 201 is used to acquire real-time positioning information, wherein the real-time positioning information is the initial positioning coordinates obtained using real-time dynamic differential positioning technology;

[0152] Initialization module 202 is used to initialize the positioning of the preset AR device according to the real-time positioning information to obtain model positioning information;

[0153] The display module 203 is used to call a preset AR device to visualize the underground pipeline model corresponding to the model positioning information.

[0154] Optionally, the step of initializing the preset AR device positioning based on the real-time positioning information to obtain model positioning information includes:

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

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

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

[0158] Extract the model coordinates and model orientation angle from the model positioning information;

[0159] The model coordinates and the model orientation angle are transmitted to a preset AR device, which then locates the corresponding underground pipeline model and controls the 3D rendering engine to visualize and render the underground pipeline model.

[0160] Optionally, after the step of obtaining real-time location information, the method further includes:

[0161] Obtain the device location information of the preset AR device;

[0162] The device location information is updated using the real-time location information.

[0163] Optionally, updating the device location information using the real-time location information includes:

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

[0165] The parameter deviation value is calculated using the relative parameters of the equipment and the relative parameters of the positioning.

[0166] If the parameter deviation value is greater than the preset deviation value, the device relative parameter is updated using the positioning relative parameter.

[0167] Optionally, the underground pipeline model is a lightweight BIM model, and the acquisition operation of the underground pipeline model includes:

[0168] The isomorphic model plugin converts a preset BIM model into a Gltf lightweight data format model, resulting in a converted model.

[0169] The underground pipeline model is obtained by extracting and storing the component attribute data from the transformation model.

[0170] This invention also provides a visualization system for underground pipeline models, see [link to documentation]. Figure 5 The diagram shows a schematic representation of a visualization system for an underground pipeline model provided in an embodiment of the present invention.

[0171] As an example, the visualization system for the underground pipeline model may include 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 visualization method of underground pipeline models as described in the above embodiments.

[0173] Specifically, the RTK device (2) and the AR device (1) can be fixedly connected together. For example, the RTK device (2) and the AR device (1) can be fixedly connected using clamps and fixing tools, such as... Figure 5 As shown.

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

[0175] Reference Figure 6 The diagram shows an application structure schematic of an AR device provided in an embodiment of the present invention.

[0176] The operation and maintenance of underground pipelines plays a crucial role in ensuring the normal operation of urban lifelines. During the operation and maintenance phase, existing pipe quality traceability data is often difficult to transmit to frontline personnel. Workers typically obtain pipe data through verbal instructions or by reviewing paper documents, resulting in insufficient data sharing and failing to leverage the guiding value of pipeline data for operation and maintenance, leading to prolonged pipeline maintenance cycles. The application architecture of the AR device (1) of this invention is as follows: Figure 6 As shown.

[0177] Through the screen of the AR device (1), the underground pipeline network BIM model can be accurately displayed in the actual location. The operation and maintenance personnel can easily see the underground pipeline network BIM model through the AR device (1), and at the same time obtain pipeline 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 of the underground pipeline network operation and maintenance stage, reduces the difficulty for front-line workers to obtain maintenance data, and improves the efficiency of operation and maintenance.

[0178] Reference Figure 7 The diagram illustrates the operation flow of a visualization system for an underground pipeline model provided in an embodiment of the present invention.

[0179] When in use, the technicians at the project site will fix the RTK device (2) and AR device (1) together; turn on the RTK device (2) and the AR device (1); the technicians will open the browser on the AR device (1) and access the project website (the BIM model and corresponding latitude and longitude are preset in the project management background in advance); complete the data link between the AR device (1) and the RTK device (2) via Bluetooth; the technicians will hold the integrated device and move it slowly 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 on reality); the technicians can perform AR applications and interact and obtain the displayed pipeline data by clicking on the BIM pipeline on the screen.

[0180] Optionally, to further optimize positioning, the current pose of the integrated device can be calculated in real time through an EKF filter, and the pose of the BIM model can be updated in reverse to maintain the correct overlay of the BIM model and the implementation; allowing technicians to interact and obtain display pipe data by clicking on the BIM pipes on the screen.

[0181] At the project site, turn on Bluetooth between the RTK GNSS device and the AR device (1), and securely connect them using the AR device (1) clip and fixture. Then, enter the project access address in your browser to access the project, and select RTK GNSS from the pop-up Bluetooth device list to connect and access RTK data.

[0182] Technicians can slowly move the AR device (1), pointing the rear camera of the AR device (1) at the surroundings and slowly moving it while waiting for initialization to complete. The underground pipeline model will then be overlaid on the site. If there is a discrepancy between the BIM model and the site overlay, adjustments can be made manually using the page buttons.

[0183] After initialization, BIM+AR-based application interaction can be performed through the AR device (1) page. By clicking on the BIM model component, a pipe data related information box will pop up on the interface, which includes the pipe material code, manufacturer, product name, batch number, and the full life cycle data record of the pipe material from chip implantation, warehousing, outbound, acceptance to installation. Clicking the "Associate" button can associate inspection records, problem descriptions, and taken pictures with the corresponding standard pipe section, and all records can be viewed by clicking the "List" button. Clicking on each record can view the detailed information of the record.

[0184] The entire process does not require AR initialization positioning with physical identifiers, eliminating the dependence on physical identifiers and allowing AR initialization to be performed at any location on the project site.

[0185] By correcting the RTK absolute positioning, the problems of AR positioning drift and AR positioning failure in solid color or dynamic backgrounds are solved, thus improving the stability of AR motion tracking.

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

[0187] Pure front-end development based on WebXR reduces technical difficulty, allows for multi-platform (Apple, Android) applications with a single development effort, shortens the development cycle by 50%, reduces maintenance costs by 30%, and also improves AR development efficiency and application compatibility.

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

[0189] Furthermore, this application also provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the visualization method for underground pipeline models as described in the above embodiments.

[0190] Furthermore, this application also provides a computer-readable storage medium storing a computer-executable program, which is used to enable a computer to execute the visualization method for underground pipeline models as described in the above embodiments.

[0191] In the description of the embodiments of the present invention, it should be noted that the terms "above," "below," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. When an element such as a layer, region, or substrate is referred to as being "above" or "on top of" another element, it may be directly on the other element, or there may be an intermediate element. Conversely, when an element is referred to as being "directly on" or "above" another element, there is no intermediate element. It should also be understood that when an element is referred to as being "below" or "under" another element, it may be directly below or under the other element, or there may be an intermediate element. Conversely, when an element is referred to as being "directly below" or "under" another element, there is no intermediate element. Unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0192] Those skilled in the art will understand that embodiments of this application may also include computer program products. Therefore, this application may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0193] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), devices, and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0194] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0195] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0196] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method of visualizing a representation of an underground pipe model, characterized in that, The method includes: Acquire real-time positioning information, wherein the real-time positioning information is the initial positioning coordinates obtained using real-time dynamic differential positioning technology; The positioning of the preset AR device is initialized based on the real-time positioning information to obtain the model positioning information; A preset AR device is invoked to visualize the underground pipeline model corresponding to the model's location information; The step of initializing the positioning of the preset AR device based on the real-time positioning information to obtain model positioning information includes: The real-time positioning information is transformed according to a preset coordinate system to obtain transformed positioning information, wherein the preset coordinate system is the preset coordinate system of the BIM model stored in the AR device. The coordinate position and orientation angle are determined from the transformed positioning information to obtain the model positioning information.

2. The visualization method for underground pipeline models according to claim 1, characterized in that, The step of calling a preset AR device to visualize the underground pipeline model corresponding to the model location information includes: Extract the model coordinates and model orientation angle from the model positioning information; The model coordinates and the model orientation angle are transmitted to a preset AR device, which then locates the corresponding underground pipeline model and controls the 3D rendering engine to visualize and render the underground pipeline model.

3. The visualization method for underground pipeline models according to claim 1, characterized in that, After the step of obtaining real-time location information, the method further includes: Obtain the device location information of the preset AR device; The device location information is updated using the real-time location information.

4. The visualization method for underground pipeline models according to claim 3, characterized in that, The step of updating the device location information using the real-time location information includes: The device relative parameters are extracted from the device positioning information and the positioning relative parameters are extracted from the real-time positioning information, wherein the device relative parameters are the position and orientation parameters of the positioning relative parameters within an update cycle; The parameter deviation value is calculated using the relative parameters of the equipment and the relative parameters of the positioning. If the parameter deviation value is greater than the preset deviation value, the device relative parameter is updated using the positioning relative parameter.

5. The visualization method for underground pipeline models according to claim 1, characterized in that, The underground pipeline model is a lightweight BIM model. The acquisition operation of the underground pipeline model includes: The isomorphic model plugin converts a preset BIM model into a Gltf lightweight data format model, resulting in a converted model. The underground pipeline model is obtained by extracting and storing the component attribute data from the transformation model.

6. A visualization device for an underground pipeline model, characterized in that, The device includes: The acquisition module is used to acquire real-time positioning information, which is the initial positioning coordinates obtained using real-time dynamic differential positioning technology. An initialization module is used to initialize the positioning of a preset AR device based on the real-time positioning information to obtain model positioning information; The display module is used to call a preset AR device to visualize the underground pipeline model corresponding to the model positioning information; The step of initializing the positioning of the preset AR device based on the real-time positioning information to obtain model positioning information includes: The real-time positioning information is transformed according to a preset coordinate system to obtain transformed positioning information, wherein the preset coordinate system is the preset coordinate system of the BIM model stored in the AR device. The coordinate position and orientation angle are determined from the transformed positioning information to obtain the model positioning information.

7. A visualization system for underground pipeline models, characterized in that, The system includes: an AR device and an RTK device, wherein the RTK device is connected to the AR device; The AR device is applicable to the visualization method for underground pipeline models as described in any one of claims 1-5.

8. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the visualization method for an underground pipeline model as described in any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer-executable program, which is used to cause a computer to perform the visualization method for an underground pipeline model as described in any one of claims 1-5.

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