An exhibition site rapid positioning and arrangement system and device based on AR technology and a storage medium

Abstract

The application discloses a kind of based on AR technology's exhibition site quick positioning and arrangement system, including by wireless network interconnection's cloud end collaborative management platform, mixed positioning anchor network and AR intelligent terminal equipment;Cloud end collaborative management platform, deployment is in remote server, store and distribute design data, carry out task collaboration and intelligent optimization calculation;Mixed positioning anchor network is constituted by multiple temporary arrangement in the smart positioning anchor of exhibition site, constructs absolute coordinate reference network;AR intelligent terminal equipment provides field operating personnel operation, receives and AR visual presentation arrangement information, provides physical placement guidance;By constructing cloud end collaborative management platform, mixed positioning anchor network and AR intelligent terminal equipment trinity and interconnected collaborative system architecture, fundamentally solve the technical problem that design data, space reference and field operation are mutually disjointed, realize seamless penetration from design information to physical arrangement.

Description

Technical Field

[0001] This invention relates to the field of exhibition service technology, and in particular to an AR-based system, device and storage medium for rapid on-site positioning and setup at exhibitions. Background Technology

[0002] With the rapid development of the global exhibition economy, the frequency and scale of large-scale exhibitions and conferences are constantly increasing. Exhibition setup work typically faces challenges such as tight deadlines, heavy workloads, and numerous participants, requiring the precise placement of a large number of booths, facilities, and materials within a very short timeframe. However, traditional exhibition setup methods have the following technical shortcomings: In existing exhibition setup technologies, design data, spatial benchmarks, and on-site operations are disconnected, resulting in a fundamental gap in the transformation process from drawings to the actual site. Specifically, digital information such as design drawings and task lists involved in exhibition setup are stored in the cloud or at the design end, while the physical space where on-site workers are located lacks a unified, high-precision coordinate reference network, and AR terminals can only achieve independent visual display functions. These three elements fail to form an organically interconnected and collaborative system. This prevents design data from being accurately mapped to the physical space, the spatial benchmark from providing continuous and reliable positioning support for AR terminals, and the on-site operations from providing real-time feedback of execution results to the cloud to form a closed loop. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a rapid on-site positioning and layout system, device and storage medium based on AR technology, so as to realize the full-process digital closed-loop management from cloud design to on-site layout, and solve the problems of low positioning accuracy, unintuitive layout, poor collaborative efficiency and lack of intelligent decision support in traditional exhibition layout.

[0004] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a rapid location and setup system for exhibition sites based on AR technology, including a cloud-based collaborative management platform interconnected via wireless network, a hybrid positioning anchor network, and AR smart terminal devices; The cloud-based collaborative management platform is deployed on a remote server and is used to store and distribute layout design data, perform task collaboration and intelligent optimization calculations. The hybrid positioning anchor network consists of multiple intelligent positioning anchors that can be temporarily deployed at the exhibition site, and is used to construct an absolute coordinate reference network. The AR smart terminal device is used by on-site workers to receive and visualize layout information in AR, and to provide guidance for the placement of physical objects.

[0005] As a preferred technical solution, the intelligent positioning anchor point integrates at least an ultra-wideband positioning unit, a visual feature identification unit, and a communication control unit; the visual feature identification unit is a graphic code with a unique code printed on the outer shell of the anchor point.

[0006] As a preferred technical solution, the AR smart terminal device includes at least a multi-sensor fusion positioning unit, an AR rendering and guidance display unit, an object recognition and comparison unit, and a terminal communication unit; the multi-sensor fusion positioning unit fuses data from a visual SLAM camera, an ultra-wideband positioning chip, and an inertial measurement unit.

[0007] As a preferred technical solution, the multi-sensor fusion positioning unit obtains the initial absolute coordinates by recognizing the visual feature markers on the smart positioning anchor point, and fuses ultra-wideband ranging data with local sensor data for continuous and accurate positioning.

[0008] As a preferred technical solution, the cloud-based collaborative management platform includes a pre-demonstration and optimization calculation module. The pre-demonstration and optimization calculation module is connected to a pre-demonstration database that stores historical layout schemes and effect data. The pre-demonstration and optimization calculation module generates alternative layout adjustment schemes based on the constraints reported on-site.

[0009] As a preferred technical solution, the AR smart terminal device also includes a progress acquisition and reporting unit. When a task node is completed, the progress acquisition and reporting unit automatically acquires on-site image data and uploads the completion status information to the cloud-based collaborative management platform.

[0010] As a preferred technical solution, each intelligent positioning anchor point in the hybrid positioning anchor point network forms a network through ultra-wideband communication, and completes the absolute coordinate calibration of the entire network through at least one known global coordinate point input from the outside.

[0011] As a preferred technical solution, the task and collaborative management module of the cloud-based collaborative management platform supports multi-user role permission management, while simultaneously assigning tasks to multiple AR smart terminal devices and aggregating the progress data reported by each terminal in real time to generate a global deployment progress visualization dashboard.

[0012] This invention provides a rapid location and setup device for exhibition venues based on AR technology. The device is an AR smart terminal device, comprising: The camera, ultra-wideband positioning chip, and inertial measurement unit are used to obtain the initial absolute coordinates by identifying the visual feature marks on the smart positioning anchor points deployed on site, and to fuse ultra-wideband ranging data with local sensor data for continuous and accurate positioning. The display is used to obtain layout design data from the cloud based on real-time positioning information and overlay virtual layout elements onto the real-time video screen of the real environment for display; when receiving alternative layout adjustment schemes from the cloud, it displays the virtual layout effects of multiple alternative schemes side by side in the same real scene screen; The camera is also used to identify the identification code on the material to be placed, generate a virtual target outline of the material, and calculate the positional deviation between the actual position and the outline in real time. When the deviation exceeds a preset threshold, an alarm signal is issued. The communication module is used for uploading and downloading data with the cloud-based collaborative management platform and the hybrid positioning anchor network; The processor is connected to the camera, ultra-wideband positioning chip, inertial measurement unit, display and communication module. The processor is configured to automatically collect on-site image data and upload completion status information to the cloud collaborative management platform when a task node is completed.

[0013] The present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it implements the function of the AR-based exhibition site rapid positioning and setup system, or the function of the AR-based exhibition site rapid positioning and setup device.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention fundamentally solves the technical problem of the separation between design data, spatial benchmarks and on-site operations by constructing a three-in-one interconnected and collaborative system architecture of cloud-based collaborative management platform, hybrid positioning anchor network and AR smart terminal device, and realizes seamless connection from design information to physical layout; Specifically, the cloud-based collaborative management platform uniformly stores and distributes layout and design data, solving the problem of data fragmentation; The hybrid positioning anchor point network temporarily constructs an absolute coordinate reference network on site, providing a unified high-precision benchmark for the physical space; AR smart terminal devices can access the network and collaborate with the cloud, accurately receive design data and visualize it in the real environment, and align the physical placement guidance process with the spatial reference in real time. The three are interconnected via wireless network, forming a complete closed loop of "data in the cloud, benchmarks in space, and guidance at the terminal," enabling design information to be transmitted to the work site without loss and accurately implemented, achieving integrated connection from design to layout. Attached Figure Description

[0015] Figure 1 This is a system framework diagram of an AR-based rapid location and setup system for exhibition venues according to the present invention. Figure 2This is a flowchart of the object identification and deviation detection process in this invention; Figure 3 This is a flowchart of the pre-optimization and alternative scheme generation process in this invention. Detailed Implementation

[0016] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0017] Example 1 like Figures 1-3 As shown, this embodiment provides a rapid location and setup system for exhibition sites based on AR technology, including a cloud-based collaborative management platform interconnected via wireless networks (such as 5G and Wi-Fi 6), a hybrid positioning anchor network, and AR smart terminal devices; The cloud-based collaborative management platform is deployed on a remote server and is used to store and distribute layout design data, perform task collaboration and intelligent optimization calculations. The hybrid positioning anchor network consists of multiple intelligent positioning anchors that can be temporarily deployed at the exhibition site, and is used to construct an absolute coordinate reference network. The AR smart terminal device is used by on-site workers to receive and visualize layout information in AR, and to provide guidance for the placement of physical objects.

[0018] The cloud-based collaborative management platform uniformly stores and distributes layout design data, and performs task collaboration and intelligent optimization calculations; the hybrid positioning anchor network consists of multiple temporarily deployed intelligent positioning anchors, providing high-precision absolute coordinate references for the entire site; the AR intelligent terminal device is operated by on-site personnel, receives and AR visualizes the layout information, and provides physical placement guidance, realizing seamless connection from design data to physical space; The cloud-based collaborative management platform is deployed on a remote server (such as Alibaba Cloud ECS), adopts a microservice architecture, and communicates with AR terminals and anchor network via RESTful APIs. The cloud-based collaborative management platform includes the following functional modules: The pre-demonstration and optimization calculation module connects to a pre-demonstration database, which stores historical layout plans and their effects (such as setup time, visitor dwell time, complaint rate, etc.). Each historical plan is stored in vector form, with features including booth type, size, facility layout, and on-site constraints. When on-site personnel report conflicts (such as the designed location being blocked by obstacles) or actively request optimization via AR terminals, the pre-demonstration and optimization calculation module performs the following processing based on the current booth constraints (obtained from on-site image recognition uploaded by the terminal or manually labeled): Similar case retrieval: The feature vector of the current booth is compared with the historical plans in the pre-show database to calculate the similarity. Cosine similarity or Euclidean distance is used to retrieve the most similar successful cases. Alternative solution generation: Adjust the layout parameters of the retrieved cases to generate multiple alternative layout adjustment schemes that meet the current constraints. Each scheme contains the precise coordinates, orientation and other data of the facilities, and is encapsulated in a 3D model format (such as glTF). Solution distribution: The generated alternative solutions are sent to relevant AR terminals through the task and collaboration management module for on-site personnel to compare and select.

[0019] The Task and Collaboration Management module is responsible for the full lifecycle management of assigned tasks, specifically including: Task Assignment: Based on the exhibition layout design drawings (such as CAD files), the system automatically parses the ID, model, target location, orientation, and other information of each material to be arranged, generating a structured task list. The system supports multi-user role-based access control (organizer, booth builder, exhibitor, etc.) and can assign tasks to designated AR smart terminal devices based on role and location. Progress aggregation: Real-time reception of task completion status and on-site image data reported by each AR terminal, and push to the front-end dashboard via WebSocket. The dashboard displays the global deployment progress in the form of a heatmap or Gantt chart, with different colors representing different completion rates (e.g., red <20%, yellow 20%-60%, green >80%). Warnings and notifications: When the progress of a certain area lags behind the plan, an warning will be automatically sent to the relevant administrators; when there are alternative solutions that need to be confirmed, a notification will be pushed to the designated personnel.

[0020] Taking a typical exhibition setup as an example, the system's workflow is as follows: Before the exhibition was set up, the construction workers temporarily installed multiple smart positioning anchor points inside the venue. The anchor points were calibrated by using an ultra-wideband communication self-organizing network and inputting at least one known global coordinate point to complete the absolute coordinate calibration, thus building a high-precision reference network. The cloud-based collaborative management platform imported the layout design of this exhibition, generated a task list, and assigned tasks to the corresponding AR terminals according to the roles of each construction team through the task and collaborative management module. Staff members wearing AR terminals enter the venue. The terminal scans the graphic code on any anchor point with a camera. The multi-sensor fusion positioning unit quickly obtains the initial absolute coordinates. Subsequently, the terminal downloads the layout design data of the surrounding area from the cloud. The AR rendering and guidance display unit displays the virtual boundary and facility icons of the area to be arranged in AR mode in the field of view. When moving physical objects (such as booth components), the object recognition and comparison unit identifies the QR code on the material and generates its virtual target outline. Staff move the object to match the outline according to the arrow guidance. The unit detects the deviation in real time and issues an alarm or confirmation sound. After the task is completed, the progress collection and reporting unit automatically takes a picture and uploads the progress. The cloud task and collaborative management module updates the global progress dashboard in real time. If a conflict occurs on-site (such as a location in the design drawing being occupied by a temporary pipeline), staff will report the conflict verbally and take photos of the site and upload them. The cloud-based simulation and optimization calculation module will search for similar historical cases based on the constraints, generate multiple alternative adjustment schemes, and distribute them to the terminal through the task and collaboration management module. The terminal AR rendering and guidance display unit displays the virtual layout effects of each scheme side by side on the same screen. After comparison, the staff selects the optimal scheme, and the system automatically updates the design data and continues to guide. Throughout the process, the cloud platform aggregates progress data from all terminals in real time, generates a visual dashboard for remote management, and issues warnings for delayed tasks. Once the exhibition is completed, the system generates a complete setup file for future reference.

[0021] As a preferred technical solution, the intelligent positioning anchor point integrates at least an ultra-wideband positioning unit, a visual feature identification unit, and a communication control unit; the visual feature identification unit is a graphic code with a unique code printed on the outer shell of the anchor point.

[0022] The hybrid positioning anchor network consists of multiple intelligent positioning anchors that can be temporarily deployed at the exhibition site. Each anchor integrates an ultra-wideband positioning unit, a visual feature identification unit, and a communication control unit. The ultra-wideband positioning unit employs a UWB radio frequency chip (such as Decawave DW1000) compliant with the IEEE 802.15.4a standard, operating in the 3.5-6.5 GHz frequency band. It supports two-way ranging (TWR) or time difference of arrival (TDOA) modes, achieving ranging accuracy up to 10 centimeters. Anchor points measure distances to each other via UWB signals, establishing a distance observation network and providing a foundation for self-organizing networks and absolute coordinate calibration. The visual feature identification unit is a graphic code (such as an ArUco code or a QR code) printed on the surface of the anchor point shell. Each code has a unique code. The graphic code is usually 15cm×15cm in size and has positioning patterns at the four corners to facilitate quick detection and recognition by the AR terminal camera. This identification provides the AR terminal with the absolute reference point required for visual positioning. The communication control unit integrates a Wi-Fi / Bluetooth module for self-organizing networks between anchor points and communication with the cloud platform. It has a built-in ARM Cortex-M4 processor responsible for running the ranging protocol, managing communication timing, and storing anchor point IDs and initial calibration data.

[0023] The anchor points automatically start after being powered on. They measure distances to each other through ultra-wideband communication units and establish a preliminary relative coordinate network using a self-organizing network protocol. Specifically, the anchor points exchange distance measurement data, and the relative positions of each anchor point are solved using the Multidimensional Scaling (MDS) algorithm. Let the distance measurement value between anchor points i and j be... Then, solve the following optimization problem:

[0024] in Let i be the three-dimensional coordinate vector of anchor point i. Solve for the coordinates of each anchor point in the local coordinate system.

[0025] Subsequently, by inputting at least one known global coordinate point (e.g., using RTK-GPS to measure the latitude and longitude of a fixed point in the venue, or extracting the coordinates of a column from the venue's BIM model), a rigid body transformation is performed on the entire anchor point network to complete the absolute coordinate calibration. The transformation parameters (rotation matrix R, translation vector t) are obtained through least-squares matching.

[0026] This problem is solved using the SVD decomposition method, and the calibrated anchor point network provides a unified centimeter-level absolute coordinate reference for the entire field.

[0027] As a preferred technical solution, the cloud-based collaborative management platform includes a pre-demonstration and optimization calculation module. The pre-demonstration and optimization calculation module is connected to a pre-demonstration database that stores historical layout schemes and effect data. The pre-demonstration and optimization calculation module generates alternative layout adjustment schemes based on the constraints reported on-site.

[0028] As a preferred technical solution, the AR smart terminal device also includes a progress acquisition and reporting unit. When a task node is completed, the progress acquisition and reporting unit automatically acquires on-site image data and uploads the completion status information to the cloud-based collaborative management platform.

[0029] As a preferred technical solution, each intelligent positioning anchor point in the hybrid positioning anchor point network forms a network through ultra-wideband communication, and completes the absolute coordinate calibration of the entire network through at least one known global coordinate point input from the outside.

[0030] As a preferred technical solution, the task and collaborative management module of the cloud-based collaborative management platform supports multi-user role permission management, while simultaneously assigning tasks to multiple AR smart terminal devices and aggregating the progress data reported by each terminal in real time to generate a global deployment progress visualization dashboard.

[0031] As a preferred technical solution, the AR smart terminal device includes at least a multi-sensor fusion positioning unit, an AR rendering and guidance display unit, an object recognition and comparison unit, and a terminal communication unit; the multi-sensor fusion positioning unit fuses data from a visual SLAM camera, an ultra-wideband positioning chip, and an inertial measurement unit.

[0032] As a preferred technical solution, the multi-sensor fusion positioning unit obtains the initial absolute coordinates by recognizing the visual feature markers on the smart positioning anchor point, and fuses ultra-wideband ranging data with local sensor data for continuous and accurate positioning.

[0033] AR smart terminal devices are mobile computing devices worn or held by on-site workers, such as industrial-grade AR glasses or ruggedized tablets. Their hardware includes: a visual SLAM camera (global shutter, 30fps), an ultra-wideband positioning chip (same model as the anchor point), a six-axis inertial measurement unit (accelerometer + gyroscope), a high-brightness display (≥1000 nits), a communication module (5G / Wi-Fi / Bluetooth), and a processor (industrial-grade SoC with AI acceleration unit). A customized AR deployment guidance app runs on the device, enabling the following functionalities: The multi-sensor fusion positioning unit integrates visual SLAM, UWB ranging, and IMU data to achieve continuous and accurate positioning of the device itself. Its operation is as follows: Quick initialization: After the device starts up, the camera scans the environment. When a graphic code appears on any smart positioning anchor point in the field of view, the ArUco code detection algorithm is used to identify the ID of the code and the pixel coordinates of its four corner points in the image. , Given the three-dimensional coordinates of the anchor point corner in the world coordinate system (). , , (Obtained from anchor point network calibration results), the rotation matrix of the current camera coordinate system relative to the world coordinate system is solved using the EPNP algorithm. Translation vector :

[0034] Where K is the camera intrinsic parameter matrix (pre-calibrated), and s is the scale factor, the initial position of the device in the world coordinate system can be obtained from this. Achieve second-level initialization; Fusion and Continuous Localization: After initialization, extended Kalman filter (EKF) is used to fuse multi-source data. The state vector is defined as:

[0035] Where p is the 3D position, v is the velocity, q is the attitude quaternion, ba and bg are the zero biases of the accelerometer and gyroscope, respectively. The prediction step uses the IMU kinematic equations, and the update step fuses UWB ranging observations and visual SLAM observations. The UWB ranging observation equation is:

[0036] in For anchor point coordinates, To mitigate ranging noise, visual SLAM employs the ORB-SLAM algorithm to provide inter-frame relative pose constraints. Through tight coupling fusion, the system can maintain positioning by relying on visual inertia even when UWB signals are occluded, and correct drift by relying on UWB when visual features are lacking, thus achieving continuous and stable positioning throughout the entire venue.

[0037] The AR rendering and guided display unit retrieves layout design data from the cloud based on real-time positioning information and overlays virtual layout elements onto the real-time video feed of the environment using augmented reality. Specific implementation includes: Coordinate system alignment: The model coordinates of each element in the design drawing are transformed to the world coordinate system through rigid body transformation, then transformed to the camera coordinate system according to the current camera pose (R_cw, t_cw), and finally mapped to the screen through the projection matrix; Virtual-real occlusion handling: Depth testing is performed using sparse point clouds constructed in real time using SLAM to ensure that real objects can occlude virtual elements behind them; Visual enhancement: Areas to be arranged are marked with a semi-transparent green border, facilities to be placed are displayed as 3D outlines or icons, and areas that have been arranged are grayed out and marked "Completed". When receiving alternative layout adjustment plans from the cloud-based collaborative management platform, this unit displays the virtual layout effects of multiple alternative plans side by side in different colors (such as red, blue, and green) in the same real-world scene, allowing on-site personnel to intuitively compare and select. The physical object recognition and comparison unit identifies the markings (such as QR codes and ARUco codes) on the materials to be arranged using a camera or identifies the material category using a target detection model (YOLOv5). It then compares the physical objects with the virtual design model in real time within the AR interface. The specific process is as follows: Material identification: Identify the QR code on the material to obtain the material ID and model; for materials without a code, use a target detection model to identify the category (e.g., "red folding chair"). Virtual target outline generation: Based on the material ID, retrieve the CAD model or standard size template of the material from the cloud and generate its ideal outline (3D wireframe) at the design location. Real-time pose estimation: For the identified object, the PNP algorithm is used to estimate the object's pose in the current camera coordinate system, and then transformed to the world coordinate system to obtain the object's actual position. ; Deviation calculation: Calculate the deviation between the actual position of the physical object and the designed position.

[0038] When Δp > 5cm or Δθ > 3°, it is determined to be a placement deviation; In the AR view, green arrows indicate the direction and distance the object should move, and red highlights indicate areas where deviations exceed the standard. When the overlap between the object and the virtual outline meets the standard, the device emits a "beep" sound to confirm and displays a green checkmark on the interface.

[0039] The progress acquisition and reporting unit automatically collects on-site image data and uploads completion status information to the cloud-based collaborative management platform when task nodes are completed. Triggering methods include: Automatic judgment: If the object recognition and comparison unit detects that the object has overlapped with the virtual outline and remains stable for more than 3 seconds, and the deviation is consistently less than the threshold, then the task is automatically judged to be completed. Manual confirmation: For complex tasks, staff can confirm task completion through voice commands (such as "complete"), gestures, or clicking on interface buttons; Data Acquisition: Automatically capture RGB images of the current scene (including depth maps if necessary), attach metadata such as timestamps, task IDs, and device IDs, and upload them to the cloud via the communication module. In weak network environments, the data is temporarily stored in a local database and automatically resumes transmission once the network is restored.

[0040] The terminal communication unit is responsible for data interaction with the cloud-based collaborative management platform and the hybrid positioning anchor network. It uses 5G / Wi-Fi to transmit large amounts of data with the cloud (such as downloading design drawings, receiving alternative solutions, and uploading images), and uses UWB to communicate with the anchor network for ranging, obtaining anchor coordinates and ranging values.

[0041] The present invention provides a rapid positioning and setup device for exhibition sites based on AR technology. The device is an AR smart terminal device that is worn or handheld by on-site personnel, such as industrial-grade AR glasses (e.g., RealWear Navigator520) or ruggedized tablet computers (e.g., Samsung Galaxy Tab Active5). The device integrates the following hardware components: a visual SLAM camera (global shutter, 30fps frame rate, 1280×720 resolution), an ultra-wideband positioning chip (the same model as the anchor point, such as Decawave DW1000), a six-axis inertial measurement unit (including a three-axis accelerometer and a three-axis gyroscope), a high-brightness display (OLED or LCD, brightness ≥1000 nits, meeting clear display requirements under different indoor and outdoor lighting conditions), a communication module (supporting 5G / 4G full network connectivity, Wi-Fi 6, Bluetooth 5.2), and an industrial-grade processor (Qualcomm Snapdragon or similar SoC, with an AI acceleration unit). Each component is connected to the processor via an internal bus, and is coordinated and controlled by the processor. A customized AR deployment guidance application runs on the device to achieve functions such as positioning, guidance, comparison, and reporting.

[0042] The camera, ultra-wideband positioning chip, and inertial measurement unit in the AR smart terminal device work together to achieve high-precision continuous positioning of the device itself at the exhibition site. When staff members enter the venue wearing the equipment, cameras collect environmental images in real time. The device's built-in recognition algorithm continuously detects whether visual feature identifiers (such as ArUco codes or QR codes) appear on smart positioning anchors in the hybrid positioning anchor network within the field of view. Once a graphic code is detected, the system uses a graphic code detection algorithm to identify the unique ID of the code and extracts the pixel coordinates of its four corner points in the image; Since the visual feature identifiers of each anchor point have been pre-calibrated, the three-dimensional coordinates of its corner points in the world coordinate system are known (obtained from the anchor point network calibration results). The system uses the EPNP algorithm to solve the rotation matrix and translation vector of the current camera coordinate system relative to the world coordinate system. The solution process is based on the camera imaging model, and the optimal rotation matrix is ​​obtained by minimizing the reprojection error. Translation vector ; Then, based on the camera imaging geometry, the initial position of the device in the world coordinate system can be calculated by the transpose of the rotation matrix and the translation vector; Specifically, the device position is equal to the negative value of the product of the transpose of the camera rotation matrix and the camera translation vector; This process can be completed in seconds, enabling rapid initialization and positioning of the device; After initialization, the system enters continuous positioning mode and uses the extended Kalman filter algorithm to fuse multi-source sensor data; The state vector includes the device's three-dimensional position, velocity, attitude quaternions, and zero bias of the accelerometer and gyroscope; During the prediction phase, the system primarily uses data from the inertial measurement unit (IMU) to recursively deduce the device's state at the next moment based on the IMU's kinematic equations. Specifically, the device's acceleration in the navigation coordinate system is calculated using the current attitude and accelerometer measurements, and the attitude is updated by combining the angular velocity measured by the gyroscope, taking into account the effects of gravity compensation and zero bias. During the update phase, the system integrates two types of observation data; The first type is ultra-wideband ranging observation: when the device receives the UWB signal broadcast by the anchor point network, the distance between the device and the anchor point is obtained through two-way ranging or time difference of arrival technology. The observation equation is that the distance is equal to the Euclidean distance between the current position of the device and the coordinates of the anchor point plus the ranging noise; The second category is visual SLAM observation: continuous image frames captured by the camera are used to extract feature points and match them to obtain the relative pose constraints between frames. The extended Kalman filter performs a prediction step at the IMU frequency (typically 100 Hz) and an update step asynchronously when UWB data (about 10 Hz) or visual data (about 30 Hz) arrives. Through this tightly coupled fusion method, the system can still maintain positioning accuracy by relying on visual inertia when the UWB signal is blocked by metal structures or NLOS propagation. When visual features are lacking (such as in open areas or weak texture environments), it can rely on UWB ranging to correct accumulated drift, thus achieving continuous and stable high-precision positioning throughout the venue.

[0043] The display of AR smart terminal devices is used to overlay virtual layout elements onto the real environment and supports the side-by-side display of alternative solutions; The device obtains the layout design data of the surrounding area from the cloud-based collaborative management platform through the communication module; The AR rendering engine performs coordinate system alignment: it transforms the model coordinates of each element in the design drawing to the world coordinate system through rigid body transformation, then transforms them to the camera coordinate system according to the current camera pose (rotation matrix and translation vector), and finally maps them to the screen coordinate system through the projection matrix. The rendering engine uses sparse point clouds built in real time by SLAM to perform depth testing. When rendering virtual elements, it compares the depth values ​​pixel by pixel to ensure that real objects (such as pillars and walls) can occlude virtual elements located behind them, thereby enhancing the sense of realism. The boundaries of the booths to be set up are displayed with a semi-transparent green border. Facilities to be placed (such as tables, chairs, booths, and AV equipment) are presented in the form of their 3D outlines or icons. Areas that have been set up are displayed in semi-transparent gray and marked with the word "Completed". When the design drawings do not match the actual situation on site, the cloud-based collaborative management platform will generate multiple alternative layout adjustment schemes based on the constraints reported on site, and send them to the AR terminal through the communication module. After receiving the alternative solutions, the AR rendering engine simultaneously displays the virtual layout effects of multiple alternative solutions in the same real-world scene with different colors (e.g., red for option one, blue for option two, and green for option three) or different transparency. Staff can use voice commands or touch operations to switch between viewing the advantages and disadvantages of each solution, and intuitively compare the visual effects and pedestrian flow occupancy of different solutions in the actual space, so as to select the optimal solution to implement. This side-by-side display function allows on-site personnel to directly evaluate the feasibility and effectiveness of different solutions in a real-world environment, avoiding the drawbacks of repeatedly switching drawings or relying on experience in the traditional approach.

[0044] The camera on the AR smart terminal device is also used to identify the identification code on the material to be placed and compare it with the design location in real time. The equipment uses a camera to capture images of the materials to be placed. For materials with QR codes or ArUco codes, the system uses ZBar or ZXing libraries to quickly identify the code content and obtain the material ID and model information; For materials without codes, the system uses target detection models such as YOLOv5 to identify the material category (such as "red folding chair", "42-inch TV", "standard display board"). After identifying the material, the device retrieves the CAD model or standard size template of the material from the cloud based on the material ID and generates its ideal outline at the design location. The outline is represented in the form of a three-dimensional wireframe, containing the coordinates of the material's key control points for subsequent comparison; The system performs real-time pose estimation on the identified objects; The PNP algorithm, similar to that used for positioning initialization, is employed to estimate the pose of the object in the current camera coordinate system based on identifiable feature points on the object (such as QR code corner points and material contour feature points). By combining the camera's pose in the world coordinate system, the actual position and orientation of the object in the world coordinate system can be calculated. Subsequently, the system calculates the deviation between the actual position of the physical object and the designed position; Position deviation is the Euclidean distance between the actual position and the design position; The angular deviation is the angle between the actual orientation and the designed orientation, which can be calculated using the traces of two rotation matrices; When the positional deviation exceeds the preset threshold (usually set to 5 cm) or the angle deviation exceeds the preset threshold (usually set to 3°), the system determines it as a placement deviation and issues an alarm signal on the display. Specifically, in the AR view, areas with excessive deviations will be highlighted in red, while green arrows will indicate the direction and distance the object should move. When the overlap between the physical object and the virtual outline meets the requirements, the device emits a "beep" sound to confirm and displays a green checkmark icon on the interface.

[0045] The processor of the AR smart terminal device is configured to automatically collect on-site image data and upload it to the cloud-based collaborative management platform when the task node is completed. There are two ways to trigger progress reporting: automatic completion judgment and manual confirmation; In automatic completion judgment mode, the object recognition and comparison unit continuously monitors the overlap status between the object and the virtual contour. When it is detected that the object has overlapped with the virtual contour and has remained stable for more than 3 seconds, and the position deviation and angle deviation are continuously less than the threshold, the system automatically determines that the task is completed. In manual confirmation mode, for complex tasks that cannot be automatically determined (such as equipment that requires wiring and debugging), staff can confirm the completion of the task through voice commands (such as "complete"), gestures (thumbs up) or clicking on the interface button. After the task completion judgment is triggered, the system automatically performs the following operations: the camera captures an RGB image of the current scene (if the device is equipped with a depth sensor, a depth map is also captured at the same time), the processor packages the image data with metadata such as timestamp, task ID, device ID, and staff ID, and uploads it to the cloud collaborative management platform via the communication module using the MQTT protocol; In a weak network environment, data is temporarily stored in a local SQLite database and will be automatically resumed after the network is restored. The uploaded progress data is used by the cloud platform to update the overall setup progress dashboard in real time. Managers can remotely view the completion status, completion time, and on-site images of each booth, achieving transparent control over the entire setup process.

[0046] The present invention also provides a computer-readable storage medium having a computer program stored thereon; the storage medium may be any medium that contains, stores, communicates, propagates or transmits a program for use by an instruction execution system, apparatus or device, such as: read-only memory (ROM), random access memory (RAM), magnetic disk, optical disk, flash drive, solid-state drive (SSD) and the like; When the computer program is executed by the processor, it realizes the functions of the aforementioned AR-based exhibition site rapid positioning and layout system, or the functions of the aforementioned AR smart terminal device. Specifically, the computer program contains instructions that cause the processor to perform the following operations: control the camera to identify visual feature markers on the smart positioning anchor point to obtain initial absolute coordinates; Integrate ultra-wideband ranging data with IMU data for continuous and accurate positioning; Based on real-time location information, layout design data is obtained from the cloud and the display is controlled to perform AR rendering; the identification codes on the materials to be arranged are identified and the deviations are calculated. Upon completion of the task, images are captured and uploaded to the cloud; this computer program can be written in programming languages ​​such as C++, Java, and Python, and runs on operating systems such as Android, iOS, and Windows.

Claims

1. A rapid positioning and setup system for exhibition venues based on AR technology, characterized in that, This includes cloud-based collaborative management platforms interconnected via wireless networks, hybrid positioning anchor network, and AR smart terminal devices; The cloud-based collaborative management platform is deployed on a remote server to store and distribute layout design data, and to perform task collaboration and intelligent optimization calculations. The hybrid positioning anchor network consists of multiple intelligent positioning anchors that can be temporarily deployed at the exhibition site, forming an absolute coordinate reference network; The AR smart terminal device provides on-site operators with the ability to receive and visualize layout information using AR, and to provide guidance for the placement of physical objects.

2. The AR-based rapid positioning and setup system for exhibition venues according to claim 1, characterized in that, The intelligent positioning anchor point integrates at least an ultra-wideband positioning unit, a visual feature identification unit, and a communication control unit.

3. The AR-based rapid positioning and setup system for exhibition venues according to claim 1, characterized in that, The AR smart terminal device includes at least a multi-sensor fusion positioning unit, an AR rendering and guidance display unit, an object recognition and comparison unit, and a terminal communication unit; the multi-sensor fusion positioning unit fuses data from a visual SLAM camera, an ultra-wideband positioning chip, and an inertial measurement unit.

4. The AR-based rapid positioning and setup system for exhibition venues according to claim 3, characterized in that, The multi-sensor fusion positioning unit obtains initial absolute coordinates by identifying visual feature markers on the smart positioning anchor point, and fuses ultra-wideband ranging data with local sensor data for continuous and accurate positioning.

5. The AR-based rapid positioning and setup system for exhibition venues according to claim 1, characterized in that, The cloud-based collaborative management platform includes a pre-deployment and optimization calculation module. This module is connected to a pre-deployment database that stores historical layout schemes and effect data. The pre-deployment and optimization calculation module generates alternative layout adjustment schemes based on the constraints reported on-site.

6. A rapid positioning and setup system for exhibition venues based on AR technology according to claim 1 or 5, characterized in that, The AR smart terminal device also includes a progress acquisition and reporting unit. When a task node is completed, the progress acquisition and reporting unit automatically acquires on-site image data and uploads the completion status information to the cloud-based collaborative management platform.

7. A rapid positioning and setup system for exhibition venues based on AR technology according to claim 1, characterized in that, The intelligent positioning anchors in the hybrid positioning anchor network form a network through ultra-wideband communication and complete the absolute coordinate calibration of the entire network through at least one known global coordinate point input from the outside.

8. The AR-based rapid positioning and setup system for exhibition venues according to claim 1, characterized in that, The task and collaborative management module of the cloud-based collaborative management platform supports multi-user role permission management, and simultaneously assigns tasks to multiple AR smart terminal devices, and aggregates the progress data reported by each terminal in real time to generate a global deployment progress visualization dashboard.

9. A rapid positioning and setup device for exhibition sites based on AR technology, characterized in that, The device is an AR smart terminal device, comprising: The camera, ultra-wideband positioning chip, and inertial measurement unit are used to obtain the initial absolute coordinates by identifying the visual feature marks on the smart positioning anchor points deployed on site, and to fuse ultra-wideband ranging data with local sensor data for continuous and accurate positioning. The display is used to obtain layout design data from the cloud based on real-time positioning information and overlay virtual layout elements onto the real-time video screen of the real environment for display; when receiving alternative layout adjustment schemes from the cloud, it displays the virtual layout effects of multiple alternative schemes side by side in the same real scene screen; The camera is also used to identify the identification code on the material to be placed, generate a virtual target outline of the material, and calculate the positional deviation between the actual position and the outline in real time. When the deviation exceeds a preset threshold, an alarm signal is issued. The communication module is used for uploading and downloading data with the cloud-based collaborative management platform and the hybrid positioning anchor network; The processor is connected to the camera, ultra-wideband positioning chip, inertial measurement unit, display and communication module. The processor is configured to automatically collect on-site image data and upload completion status information to the cloud collaborative management platform when a task node is completed.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the function of the AR-based exhibition site rapid positioning and setup system as described in any one of claims 1 to 8, or the function of the AR-based exhibition site rapid positioning and setup device as described in claim 9.

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