A virtual reality maintenance system of a high-fidelity underground cable scene

Abstract

The application provides a kind of high simulation underground cable scene virtual reality maintenance system, it is related to internet of things intelligent terminal technical field, including: scene construction module, for obtaining the BIM model of underground cable pipe gallery and the GIS model of city terrain, the BIM model includes the geometry and attribute information of power cabin, pipe section and internal various monitoring devices;Coordinate mapping module is used to calculate the coordinate transformation matrix of the local coordinate system of the BIM model to the geographic coordinate system of the GIS model, and map the BIM model into the GIS model based on the matrix, generate virtual mapping scene.The application solves the defects that the existing two-dimensional drawing lacks spatial relationship and pure BIM cannot support large-scale spatial analysis.

Description

Technical Field

[0001] This invention relates to the field of Internet of Things (IoT) smart terminal technology, and in particular to a virtual reality inspection system that provides a highly realistic simulation of underground cable scenarios. Background Technology

[0002] Urban underground cable tunnels (such as the Lilac Tunnel) are an important part of urban infrastructure. They contain power compartments, pipe sections, and monitoring equipment such as temperature probes, methane probes, and humidity probes. At the same time, the tunnel is located in a large-scale urban geographical environment that includes above-ground buildings and other underground pipelines.

[0003] During the operation and maintenance of underground cables, the system needs to process massive amounts of high-precision polygonal data to achieve high-precision 3D visualization and status awareness of local monitoring equipment. However, when this data is overlaid with large-scale GIS terrain at the city level, it can easily cause rendering lag and lead to the loss of spatial analysis capabilities. From the perspective of data carrying capacity, the model needs to simultaneously support extremely high geometric accuracy within local compartments and a vast spatial range at the city level, which is difficult to effectively balance under a single model architecture.

[0004] To address the above problems, existing technical solutions have some shortcomings, such as: Using purely 2D CAD drawings lacks three-dimensional spatial relationships, making it prone to errors and omissions. It also fails to intuitively demonstrate the spatial avoidance relationships between underground cables and surrounding pipelines. While pure BIM 3D modeling can provide a detailed model throughout its entire lifecycle, it supports a limited spatial range and cannot handle massive amounts of large-scale terrain data. It also lacks urban-scale spatial analysis and clash detection capabilities. Both solutions can only meet single needs for local accuracy or large-scale coverage, and cannot achieve high-precision local and large-scale spatial analysis at different levels, posing significant challenges to the visualized operation, maintenance, and emergency repair of underground cable tunnels. Summary of the Invention

[0005] This invention provides a virtual reality inspection system for highly realistic underground cable scenarios, which solves the shortcomings of existing two-dimensional drawings that lack spatial relationships and pure BIM that cannot support large-scale spatial analysis.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: Firstly, a virtual reality inspection system for a highly realistic underground cable scenario includes: The scene construction module is used to acquire the BIM model of the underground cable tunnel and the GIS model of the urban terrain. The BIM model includes the geometric and attribute information of the power compartment, pipe sections and various monitoring equipment inside. The coordinate mapping module is used to calculate the coordinate transformation matrix from the local coordinate system of the BIM model to the geographic coordinate system of the GIS model, and to map the BIM model to the GIS model based on the matrix to generate a virtual-real mapping scene. The data access module is used to receive real-time operating data from the monitoring equipment, including temperature values ​​collected by the temperature probe, gas concentration values ​​collected by the methane probe, and humidity values ​​collected by the humidity probe. The status assessment module is used to generate a warning command for the corresponding power compartment when the temperature value is greater than a preset temperature threshold, the gas concentration value is greater than a preset concentration threshold, or the humidity value is greater than a preset humidity threshold. The maintenance display module is used to respond to the early warning command, locate the geospatial position of the monitoring equipment in the virtual-real mapping scenario, retrieve the BIM model to display the internal three-dimensional structure at the level of the internal facilities of the pipe gallery, and retrieve the GIS model to display the avoidance relationship of surrounding pipelines at the level of the city geography. This realizes the transformation from processing by a single BIM system to joint processing of BIM facility model and GIS geographic information system according to coordinate transformation and semantic mapping rules, so as to guide on-site maintenance operations.

[0007] The above-described solution of the present invention has at least the following beneficial effects: By using BIM models to represent geometry and attributes at the level of internal facilities within the utility tunnel, the system meets the requirements for extremely high geometric accuracy and 3D visualization of local monitoring equipment. At the urban geographic level, GIS models are used to represent terrain and pipelines, meeting the requirements for large-scale spatial carrying capacity and analysis capabilities at the city level. This avoids rendering lag caused by excessive model data volume, while retaining spatial analysis and collision detection functions, thus satisfying both high-precision local and large-scale spatial analysis at different levels.

[0008] In a virtual-real mapping scenario, the system can quickly locate the geospatial position of monitoring equipment, retrieve the BIM model inside the utility tunnel to display the internal three-dimensional structure, and retrieve the GIS model at the urban geographic level to display the avoidance relationship of surrounding pipelines. This realizes the transformation from processing by a single BIM system to joint processing of BIM facility models and GIS geographic information systems according to coordinate transformation and semantic mapping rules. The entire system improves the status perception capability of underground cable tunnels, the efficiency of early warning response, and the intuitiveness and accuracy of on-site maintenance operations. It effectively solves the defects of existing two-dimensional drawings that lack spatial relationships and the inability of pure BIM to support large-scale spatial analysis. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of a virtual reality maintenance system for a highly realistic underground cable scene provided by an embodiment of the present invention.

[0010] Figure 2This is a schematic diagram illustrating the process of transforming a virtual reality maintenance system for a highly realistic underground cable scene, provided by an embodiment of the present invention, from processing by a single BIM system to joint processing by BIM facility models and GIS geographic information systems according to coordinate transformation and semantic mapping rules. Detailed Implementation

[0011] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0012] like Figure 1 As shown, an embodiment of the present invention proposes a virtual reality maintenance system for a highly realistic underground cable scenario, comprising: The scene construction module is used to acquire the BIM model of the underground cable tunnel and the GIS model of the urban terrain. The BIM model includes the geometric and attribute information of the power compartment, pipe sections and various monitoring equipment inside. The coordinate mapping module is used to calculate the coordinate transformation matrix from the local coordinate system of the BIM model to the geographic coordinate system of the GIS model, and to map the BIM model to the GIS model based on the matrix to generate a virtual-real mapping scene. The data access module is used to receive real-time operating data from the monitoring equipment, including temperature values ​​collected by the temperature probe, gas concentration values ​​collected by the methane probe, and humidity values ​​collected by the humidity probe. The status assessment module is used to generate a warning command for the corresponding power compartment when the temperature value is greater than a preset temperature threshold, the gas concentration value is greater than a preset concentration threshold, or the humidity value is greater than a preset humidity threshold. The maintenance display module is used to respond to the early warning command, locate the geospatial position of the monitoring equipment in the virtual-real mapping scenario, retrieve the BIM model to display the internal three-dimensional structure at the level of the internal facilities of the pipe gallery, and retrieve the GIS model to display the avoidance relationship of surrounding pipelines at the level of the city geography. This realizes the transformation from processing by a single BIM system to joint processing of BIM facility model and GIS geographic information system according to coordinate transformation and semantic mapping rules, so as to guide on-site maintenance operations.

[0013] In this embodiment of the invention, the highly realistic underground cable scene virtual reality maintenance system achieves deep integration of BIM refined models and GIS large-scale geographic information through a multi-module collaborative architecture. This effectively solves the pain point of existing technologies where high-precision local display and large-scale spatial analysis are difficult to balance. The system establishes a unified spatial benchmark based on a coordinate mapping mechanism, preserving the high-precision geometry and attribute representation of power compartments, pipe sections, and monitoring equipment from the BIM model to meet the needs of in-cabin equipment-level visual operation and maintenance. Simultaneously, it utilizes the GIS model to carry city-level terrain and surrounding pipeline data, avoiding rendering lag caused by excessive data volume from a single model. It also retains spatial collision detection and avoidance analysis capabilities. Real-time data access and status early warning mechanisms can quickly detect abnormalities in temperature, humidity, and gas concentration within the tunnel, accurately triggering corresponding compartment warnings. The maintenance display seamlessly switches between two levels of views: the internal view presents detailed layout of the compartment equipment, while the external view displays macroscopic pipeline avoidance relationships, providing intuitive and accurate spatial guidance for on-site maintenance and improving the status perception capability, emergency response efficiency, and maintenance operation safety of the underground cable tunnel.

[0014] In a preferred embodiment of the present invention, a BIM model of the underground cable tunnel and a GIS model of the urban terrain are obtained. The BIM model includes geometric and attribute information of the power compartment, pipe sections, and various monitoring devices inside. Specifically, this includes: constructing a complete BIM model of the tunnel by retrieving the engineering completion 3D modeling file and a complete set of design parameter data of the underground cable tunnel. This model includes the precise geometric dimensions and structural attribute information of the enclosure structure such as the top slab, bottom slab, and side walls of the power compartment; the geometric and attribute information of each cable pipe section, such as its direction, cross-sectional specifications, and pipe material; and the geometric and attribute information of various monitoring devices such as temperature probes, methane probes, and humidity probes installed inside the compartment, such as their installation location, equipment number, range parameters, and installation date. At the same time, digital elevation topographic data, surface building vector data, and underground municipal pipeline survey dataset of the urban area where the tunnel is located are retrieved and integrated to generate an urban terrain GIS model covering the target area.

[0015] In a preferred embodiment of the present invention, calculating the coordinate transformation matrix from the local coordinate system of the BIM model to the geographic coordinate system of the GIS model includes: Based on the origin and coordinate axis directions of the top-level local coordinate system in the BIM model, the initial translation and rotation matrix of the BIM model relative to the world coordinate system are obtained. Specifically, this includes extracting the three-dimensional coordinates of the origin of the top-level local coordinate system in the world coordinate system, denoted as [the origin is then defined as...]. Simultaneously acquire the three-dimensional coordinate values ​​of the world coordinate system reference origin, denoted as Calculate the difference between the two sets of coordinates along the three coordinate axes to obtain the three-dimensional spatial offset components. The calculation formula is as follows:

[0016]

[0017]

[0018] In the formula, The translation component of the BIM local coordinate system origin and the world coordinate system reference origin in the X-axis direction, in meters; The translation component of the BIM local coordinate system origin and the world coordinate system reference origin in the Y-axis direction, in meters; The translation component of the BIM local coordinate system origin and the world coordinate system reference origin in the Z-axis direction, in meters; , , These are the X, Y, and Z coordinates of the origin of the local coordinate system at the top level of the BIM model in the world coordinate system. , , These are the X, Y, and Z coordinates of the world coordinate system's reference origin.

[0019] Based on the three-dimensional spatial offset components, a spatial translation vector is constructed from the origin of the world coordinate system to the origin of the BIM local coordinate system, which is used as the initial translation amount of the BIM model relative to the world coordinate system. .

[0020] Extract the unit direction vectors of the three coordinate axes of the top-level local coordinate system of the BIM model, where the X-axis direction vector is denoted as... The Y-axis direction vector is denoted as The Z-axis direction vector is denoted as All components are normalized unit vector length values. The unit direction vectors of the three coordinate axes of the world coordinate system take their standard values, i.e. , , The spatial rotation angle is calculated by combining the two sets of coordinate axis direction vectors. The calculation formula is as follows: Rotation angle about the X-axis of the world coordinate system : ; Rotation angle around the Y-axis of the world coordinate system : ; Rotation angle around the Z-axis of the world coordinate system : ; In the formula, The Euler rotation angle of the BIM local coordinate system about the X-axis of the world coordinate system, in radians; The Euler rotation angle of the BIM local coordinate system about the Y-axis of the world coordinate system, in radians; The Euler rotation angle of the BIM local coordinate system about the Z-axis of the world coordinate system, in radians; This is a two-parameter arctangent function, and its return value range is... .

[0021] Elementary rotation matrices about each coordinate axis are constructed separately, and the initial rotation matrix of the BIM model relative to the world coordinate system is synthesized in the order of ZYX Euler angles. The expressions for each matrix are as follows: Elementary rotation matrix about the X-axis : ; Elementary rotation matrix about the Y-axis : ; Elementary rotation matrix about the Z-axis : ; Synthesize the initial rotation matrix : ; In the formula, The rotation angle around the X-axis of the world coordinate system A 3×3 elementary rotation matrix; Rotation angle around the Y-axis of the world coordinate system A 3×3 elementary rotation matrix; The rotation angle around the Z-axis of the world coordinate system A 3×3 elementary rotation matrix; The initial rotation matrix of the BIM model relative to the world coordinate system is 3×3; the matrix multiplication applies the rotation transformation sequentially from right to left.

[0022] Read the hierarchical structure data of the BIM model and identify the hierarchical nesting relationship from the top-level local coordinate system to the bottom-level component objects. This nesting relationship contains a total of The layers are hierarchical in a tree structure, with parent-child relationships between them. This is combined with the initial translation. With the initial rotation matrix Construct the homogeneous transformation matrix from the top-level local coordinate system to the world coordinate system. The expression is: ; In the formula, This is the homogeneous transformation matrix from the top-level local coordinate system to the world coordinate system, with a dimension of 4×4; It is a zero vector of 1×3.

[0023] Regarding the first layer( For each building component object, obtain its local translation vector relative to the coordinate system of its direct parent component. With local rotation matrix Construct the local homogeneous transformation matrix from the component of this layer to the parent coordinate system. The expression is: ; In the formula, For the first The local homogeneous transformation matrix of a layered building component object relative to its parent coordinate system; For the first The 3×3 local rotation matrix of the layer building component object relative to the parent coordinate system; For the first The 3×1 local translation vector of the layer building component object relative to the parent coordinate system.

[0024] Combined with local homogeneous transformation matrix World transformation matrix of parent component By iteratively calculating upwards layer by layer, the cumulative homogeneous transformation matrix of each building component object relative to the world coordinate system is obtained. The calculation formula is: ; In the formula, For the first The cumulative homogeneous transformation matrix of a building component object relative to the world coordinate system; This is the world transformation matrix of the direct parent component of this component; matrix multiplication represents the step-by-step spatial transformation from the child coordinate system to the parent coordinate system, and then to the world coordinate system. The above cumulative calculation is recursively performed from top to bottom along the hierarchy tree until all component nodes obtain their corresponding cumulative homogeneous transformation matrices. The complete set of transformation parameters constitutes the unified initial spatial transformation parameters of the BIM model relative to the world coordinate system. .

[0025] Based on the initial translation and rotation matrix, and combined with the reference origin of the GIS model's geographic coordinate system, the coordinate transformation matrix from the BIM model's local coordinate system to the GIS model's geographic coordinate system is obtained. This specifically includes: based on unified initial spatial transformation parameters... The initial translation and initial rotation matrices are used to identify all building component objects in the BIM model that require geographic coordinate mapping and their corresponding cumulative homogeneous transformation matrices. The original BIM geometric data of each building component object is read, and the 3D geometric vertex coordinate sequence of each component in its own local coordinate system is extracted, where the... Each building component object contains By identifying geometric vertices and merging the local vertex coordinate sequences of all components, a set of local coordinates for the building components to be transformed is obtained. Combining the reference origin and coordinate axis directions of the GIS model's geographic coordinate system, a spatial location mapping operation is performed on the set of local coordinates of the building components. During the operation, the geodetic coordinates of the GIS reference origin are first converted to local Cartesian coordinates based on the Earth's reference ellipsoid, and compared with the coordinate values ​​of the BIM world coordinate system origin. The three-dimensional spatial offset components are then calculated, and a spatial offset vector is constructed. Simultaneously construct the alignment and rotation matrix from the world coordinate system axis to the geographic coordinate system axis. When the XYZ axes of the world coordinate system correspond to the East-North-Sky directions of the geographic coordinate system, It is a 3rd order identity matrix. After translation and rotation alignment, the local Cartesian coordinates are converted inversely to geodetic coordinates to obtain the set of absolute geographic coordinates of the building component objects in the GIS geographic coordinate system.

[0026] Establish a one-to-one mapping relationship between the local coordinate set and the absolute geographic coordinate set, where the first... The first building component object The coordinates of each vertex in the local coordinate system Geodetic coordinates in GIS geographic coordinate system This forms a set of mapping pairs. Integrating the translation and rotation parameters corresponding to all mapping pairs, a unified coordinate transformation matrix is ​​constructed from the BIM local Cartesian coordinate system to the GIS geodetic coordinate system. This matrix is ​​expressed in homogeneous transformation matrix form. It first maps the BIM local Cartesian coordinates to the GIS local Cartesian coordinates, and then obtains the final geodetic coordinates through a geodetic coordinate transformation function. (Complete coordinate transformation matrix) The homogeneous expression is as follows: ; In the formula, This is the coordinate transformation matrix from the local coordinate system of the BIM model to the geographic coordinate system of the GIS model, with a dimension of 4×4; The integrated BIM to GIS full rotation matrix has a dimension of 3×3; The integrated BIM to GIS full translation vector has a dimension of 3×1; It is a zero vector of 1×3.

[0027] The full rotation matrix Geographically aligned rotation matrix With the initial rotation matrix The composite result is obtained using the following calculation formula: ; Full translation vector From the initial translation amount After rotation and alignment, and spatial offset vector The composite result is obtained using the following calculation formula: ; coordinate transformation matrix Homogeneous form acting on any local Cartesian coordinate point in the BIM model This allows us to obtain the local Cartesian homogeneous coordinates in the GIS geographic coordinate system. The calculation formula is: ; In the formula, The homogeneous coordinates of a point in the local BIM coordinate system have a dimension of 4×1. This represents the homogeneous coordinates of the corresponding point in the local Cartesian coordinate system of GIS, with a dimension of 4×1. The first three components correspond to the eastward coordinates, northward coordinates, and elevation coordinates, respectively.

[0028] right By further applying geodetic coordinate transformation, the absolute latitude, longitude, and elevation values ​​of the point in the GIS geographic coordinate system can be obtained. Based on this coordinate transformation matrix, batch coordinate mapping can be performed on the geometric vertices of all building components in the BIM model. After spatial overlay and semantic linking with the GIS terrain model, a virtual-real mapping scene can be generated.

[0029] In this embodiment of the invention, a coordinate transformation matrix from the BIM local coordinate system to the GIS geographic coordinate system is constructed using a two-step method. First, the initial spatial parameters of the BIM model to the universal world coordinate system are calculated. Then, the final geographic coordinate system transformation is completed by combining the GIS reference origin. The overall logic is clearly hierarchical, effectively reducing the complexity of coordinate system transformation. The step-by-step calculation mode facilitates independent verification of the transformation accuracy of each step, and can promptly correct errors in translation and rotation parameters, avoiding the cumulative deviation of coordinate transformations from multiple systems and ensuring the accuracy of the final transformation matrix. Based on this unified transformation matrix, batch and consistent mapping of all components of the BIM model to the GIS coordinate system can be achieved, avoiding the tediousness of adjusting the coordinates of each component individually and improving the efficiency of scene fusion.

[0030] In a preferred embodiment of the present invention, the initial translation and rotation matrix of the BIM model relative to the world coordinate system are obtained based on the origin position and coordinate axis direction of the top-level local coordinate system in the BIM model, including: Based on the origin of the top-level local coordinate system in the BIM model and the reference origin of the world coordinate system, the distance and direction between them in three-dimensional space are calculated to obtain the initial translation of the BIM model relative to the world coordinate system. Specifically, this includes: extracting the three-dimensional coordinate values ​​of the origin of the top-level local coordinate system in the world coordinate system. Let the origin of the top-level local coordinate system in the BIM model be... .

[0031] Based on the origin of the world coordinate system, obtain the three-dimensional coordinate values ​​of the origin of the world coordinate system. Let the origin of the world coordinate system be... ;according to and The three-dimensional coordinate values ​​are used to calculate the coordinate difference between the two along the three coordinate axes, thus obtaining the three-dimensional spatial offset component. The calculation formula for the three-dimensional spatial offset component is as follows:

[0032]

[0033]

[0034] in, This represents the translation component of the BIM local coordinate system origin relative to the world coordinate system reference origin along the X-axis, in meters. This represents the translation component of the BIM local coordinate system origin relative to the world coordinate system reference origin along the Y-axis, in meters. This represents the translation component of the BIM local coordinate system origin relative to the world coordinate system reference origin along the Z-axis, in meters. , , These represent the X, Y, and Z coordinates of the origin of the top-level local coordinate system in the BIM model in the world coordinate system, respectively. , , These represent the X, Y, and Z coordinates of the origin of the world coordinate system.

[0035] Based on the three-dimensional spatial offset components , , Construct a spatial translation vector from the origin of the world coordinate system to the origin of the BIM local coordinate system to obtain the initial translation amount of the BIM model relative to the world coordinate system.

[0036] Based on the initial translation and the coordinate axis orientations of the top-level local coordinate system in the BIM model, combined with the coordinate axis orientations of the world coordinate system, the spatial rotation angle between the two is calculated, yielding the initial rotation matrix of the BIM model relative to the world coordinate system. Specifically, this includes extracting the unit direction vectors of the three coordinate axes of the local coordinate system based on the coordinate axis orientations of the top-level local coordinate system in the BIM model. Let the X-axis direction vector of the BIM local coordinate system be... The Y-axis direction vector is The Z-axis direction vector is Each component is a normalized unit vector length value. Based on the coordinate axis directions of the world coordinate system, the unit direction vectors of the three coordinate axes of the world coordinate system are obtained, i.e. , , Based on the direction vectors of each coordinate axis in the BIM local coordinate system and the corresponding direction vectors in the world coordinate system, the spatial rotation angle between each coordinate axis pair is calculated one by one. The formula for calculating the spatial rotation angle is as follows: Rotation angle about the X-axis of the world coordinate system Calculation: ; Rotation angle around the Y-axis of the world coordinate system Calculation: ; Rotation angle around the Z-axis of the world coordinate system Calculation: ; in: This represents the Euler rotation angle of the BIM local coordinate system about the X-axis of the world coordinate system, in radians; This represents the Euler rotation angle of the BIM local coordinate system about the Y-axis of the world coordinate system, in radians; This represents the Euler rotation angle of the BIM local coordinate system about the Z-axis of the world coordinate system, in radians; This represents the two-parameter arctangent function, with a return value range of... ; , , These represent the unit direction vectors of the X, Y, and Z axes of the BIM local coordinate system, respectively. , , These represent the unit direction vectors of the X, Y, and Z axes in the world coordinate system, respectively.

[0037] According to the rotation angle , , Elementary rotation matrices are constructed about each coordinate axis, and the initial rotation matrix of the BIM model relative to the world coordinate system is synthesized in the order of ZYX Euler angles. The formula for calculating the initial rotation matrix is ​​as follows: Elementary rotation matrix about the X-axis : ; Elementary rotation matrix about the Y-axis : ; Elementary rotation matrix about the Z-axis : ; Synthesize the initial rotation matrix : ; in, Represents the rotation angle around the X-axis of the world coordinate system. of Elementary rotation matrices; Represents the rotation angle around the Y-axis of the world coordinate system. of Elementary rotation matrices; Represents the rotation angle around the Z-axis of the world coordinate system. of Elementary rotation matrices; This represents the initial rotation matrix of the BIM model relative to the world coordinate system, with dimensions of . Matrix multiplication applies rotation transformations sequentially from right to left.

[0038] Based on the initial translation and initial rotation matrices, hierarchical nesting calculations are performed on the building component objects in the BIM model until all building component objects are transformed to the same reference coordinate system, obtaining unified initial spatial transformation parameters of the BIM model relative to the world coordinate system. Specifically, this includes: identifying the hierarchical nesting relationship from the top-level local coordinate system to the bottom-level component objects in the BIM model based on the hierarchical structure data of the BIM model. Let the hierarchical nesting relationship include... The layers, from top to bottom, are numbered as layer 1 (root node layer), layer 2, ..., layer 3. The layers (leaf node layers) form a tree-like hierarchical structure through parent-child relationships.

[0039] Based on the initial translation of the top-level local coordinate system With the initial rotation matrix Construct a homogeneous transformation matrix from the top-level local coordinate system to the world coordinate system. The top-level homogeneous transformation matrix... The expression is:

[0040] in, This represents the homogeneous transformation matrix from the top-level local coordinate system to the world coordinate system, with dimension 1. ; for Rotate matrix sub-blocks; for Translate vector sub-blocks; Based on the hierarchical nesting relationship, for the first layer( For each building component object, obtain its local translation vector relative to the coordinate system of its direct parent component. With local rotation matrix And construct the local homogeneous transformation matrix from the component of this layer to the parent coordinate system. The local homogeneous transformation matrix... The expression is: ; in: Indicates the first The local homogeneous transformation matrix of a layered building component object relative to its parent coordinate system; Indicates the first The layered building component object relative to the parent coordinate system Local rotation matrix; Indicates the first The layered building component object relative to the parent coordinate system Local translation vector.

[0041] according to World transformation matrix of parent component The process is repeated layer by layer upwards to calculate the cumulative homogeneous transformation matrix of each building component object relative to the world coordinate system. The cumulative homogeneous transformation matrix... The calculation formula is: ; in: Indicates the first The cumulative homogeneous transformation matrix of a building component object relative to the world coordinate system; This represents the world transformation matrix of the direct parent component of this component; matrix multiplication represents the stepwise spatial transformation from the child coordinate system to the parent coordinate system and then to the world coordinate system.

[0042] The formula is recursively calculated from top to bottom along the hierarchy tree until all building component objects are reached. All component nodes in the layer obtain their corresponding The complete set of transformation parameters after the above recursive process is completed is denoted as the unified initial space transformation parameter. .

[0043] In this embodiment of the invention, for the hierarchical component structure of the BIM model, a nested hierarchical approach is adopted to calculate unified initial spatial transformation parameters. First, the initial translation and rotation matrices are calculated based on the top-level coordinate system. Then, the world coordinates of all child components are recursively derived layer by layer along the component hierarchy tree, perfectly adapting to the parent-child component hierarchy of the BIM model. This calculation method ensures that the coordinate transformation of each level of component is accurately transmitted based on the parent datum, avoiding coordinate misalignment and deviation caused by the complexity of the component hierarchy. This ensures that all building components are ultimately unified under the same world reference coordinate system, improving the consistency and accuracy of the transformation results.

[0044] In a preferred embodiment of the present invention, based on the initial translation and rotation matrix, and combined with the reference origin of the GIS model geographic coordinate system, the coordinate transformation matrix from the BIM model local coordinate system to the GIS model geographic coordinate system is obtained, including: Based on the initial translation and rotation matrices in the unified initial spatial transformation parameters, local coordinate data of each building component object in the BIM model are extracted to obtain the set of local coordinates of the building component to be transformed. Specifically, this includes: based on the unified initial spatial transformation parameters... Initial translation amount in With the initial rotation matrix Identify all building component objects in the BIM model that require geographic coordinate mapping and their corresponding cumulative homogeneous transformation matrices. Based on the original BIM geometric data of each building component, extract the three-dimensional geometric vertex coordinate sequence of each component in its own local coordinate system. Let the first vertex be... Each building component object contains By combining the local vertex coordinate sequences of all building component objects, a set of local coordinates of the building component to be transformed is obtained.

[0045] Based on the set of local coordinates of the building components to be converted, and combined with the reference origin and coordinate axis directions of the geographic coordinate system of the GIS model, a spatial location mapping operation is performed to obtain the set of absolute geographic coordinates of the building component objects in the geographic coordinate system of the GIS model. Specifically, this includes: traversing the set of local coordinates of the building components to be converted one by one and one by one, extracting the local three-dimensional coordinate values ​​of all geometric vertices, and summarizing them to form a set of local coordinate nodes to be mapped. Each node contains the three-axis coordinate values ​​of the corresponding vertex in the local coordinate system, with the unit uniformly in meters. At the same time, the total number of geometric vertices of all building components is counted. Obtain the geodetic latitude, longitude, and elevation data corresponding to the origin of the top-level local coordinate system of the BIM model, as well as the geodetic latitude, longitude, and elevation data of the reference origin of the GIS geographic coordinate system. Calculate the differences between the two origins in the three dimensions of longitude, latitude, and elevation. Then, convert the angular differences of longitude and latitude into linear distances in the local Cartesian coordinate system. During the calculation, combine the Earth's average radius with the cosine value of the latitude of the GIS reference origin to convert the longitude difference into the translation distance in the east direction, the latitude difference into the translation distance in the north direction, and the elevation difference directly as the translation distance in the elevation direction. Combine the translation distances in the east, north, and elevation directions to form a spatial offset vector. Perform vector addition on this offset vector with the coordinates of each node in the local coordinate node set to complete the coordinate translation of all vertices, obtaining the translated intermediate coordinate node set. Next, based on the definition of the three axes of the GIS geographic coordinate system (east, north, and sky), an alignment rotation matrix is ​​constructed from the world coordinate system to the geographic coordinate system. When the three axes of the world coordinate system completely correspond to the east, north, and sky directions of the geographic coordinate system, the alignment rotation matrix is ​​a third-order identity matrix. This alignment rotation matrix is ​​then multiplied with the initial rotation matrix of the BIM model relative to the world coordinate system to obtain a full rotation matrix from the BIM local coordinate system to the geographic coordinate system. The full rotation matrix is ​​then used to perform a spatial rotation transformation on the coordinates of each node in the intermediate coordinate node set, so that the coordinate axes of all vertices are completely aligned with the three axes of the geographic coordinate system, resulting in a set of rotated and aligned coordinate nodes. At this point, the three components of the node coordinates correspond to the east, north, and elevation coordinate values ​​in the geographic coordinate system, respectively. Finally, using the geodetic latitude, longitude, and elevation of the GIS reference origin as a benchmark, the rotated and aligned Cartesian coordinates are converted into absolute geodetic coordinates: the eastward coordinate value is divided by the product of the Earth's radius and the cosine of the reference latitude, converted to angle units, and then superimposed on the reference longitude to obtain the absolute longitude of the corresponding vertex; the northward coordinate value is divided by the Earth's radius, converted to angle units, and then superimposed on the reference latitude to obtain the absolute latitude of the corresponding vertex. It should be noted that the above simplified calculation is based on the assumption that the Earth is a perfect sphere and is only applicable to coordinate transformations in small areas, such as within a radius of 10 kilometers or in low-latitude regions.For applications in large-scale or high-latitude regions, the Gauss-Kruger projection inverse calculation formula based on the WGS-84 ellipsoid model should be used to obtain the absolute longitude of the corresponding vertex; the north coordinate value should be divided by the Earth's radius, converted to angular units, and then superimposed on the reference latitude to obtain the absolute latitude of the corresponding vertex; the elevation coordinate value should be directly superimposed on the reference elevation to obtain the absolute elevation of the corresponding vertex; according to the ownership relationship of the building components, the absolute longitude, latitude, and elevation data of all vertices should be classified, organized, and merged to finally obtain the set of absolute geographic coordinates of all building component objects in the geographic coordinate system of the GIS model.

[0046] Based on the mapping relationship between the absolute geographic coordinate set and the local coordinate set of the building components to be transformed, and integrating translation and rotation parameters, a coordinate transformation matrix from the local coordinate system of the BIM model to the geographic coordinate system of the GIS model is obtained. Specifically, this includes establishing a one-to-one mapping relationship between the absolute geographic coordinate set and the local coordinate set of the building components to be transformed. For the first... The first building component object A vertex, whose coordinates in the local coordinate system Its geodetic coordinates in the GIS geographic coordinate system A set of mapping pairs is formed. Based on all mapping correspondences, the translation and rotation transformation parameters applied at each level are systematically integrated to form a unified coordinate transformation matrix from the BIM local Cartesian coordinate system to the GIS geodetic coordinate system. This coordinate transformation matrix is ​​expressed in homogeneous transformation matrix form, transforming the BIM local Cartesian coordinate system... Mapped to GIS local Cartesian coordinates Then, it is mapped to the final geodetic coordinates through a geodetic coordinate transformation function. Complete coordinate transformation matrix The homogeneous expression is as follows:

[0047] in: This represents the coordinate transformation matrix from the local coordinate system of the BIM model to the geographic coordinate system of the GIS model, with dimensions of... ; This represents the integrated BIM to GIS full rotation matrix, with dimensions of [dimension number missing]. ; This represents the integrated BIM to GIS full translation vector, with dimensions of [dimension number missing]. . From the initial rotation matrix in step 14 Geographically aligned rotation matrix Composed of multiple components:

[0048] From the initial translation amount With spatial offset vector It is formed by rotating and aligning the components together.

[0049] in: This represents the alignment and rotation matrix from the world coordinate system axis to the geographic coordinate system axis. The defined spatial offset vector.

[0050] coordinate transformation matrix Acting on any local Cartesian coordinate point in the BIM model (Homogeneous coordinate form) can be used to obtain the local Cartesian coordinates in the GIS geographic coordinate system. :

[0051] in: This represents the homogeneous coordinates of a point in the BIM local coordinate system, with dimensions of . ; This represents the homogeneous coordinates of the corresponding point in the local Cartesian coordinate system of the GIS, with dimensions of . Its first three components are eastward coordinates, northward coordinates, and elevation coordinates, respectively.

[0052] right By further applying geodetic coordinate transformation, the absolute latitude, longitude, and elevation values ​​of this point in the GIS geographic coordinate system can be obtained. This is based on the coordinate transformation matrix. Batch coordinate mapping calculations are performed on the geometric vertex data of all building components in the BIM model, and spatial location overlay and semantic attribute linking are performed in combination with the GIS terrain model to generate a virtual-real mapping scene.

[0053] In this embodiment of the invention, a coordinate transformation matrix is ​​generated by extracting local coordinates of components, performing spatial mapping, and integrating transformation parameters. Translation and rotation parameters are then derived and integrated based on the coordinate mapping correspondence of the actual components. Compared to a purely theoretically derived transformation matrix, this matrix is ​​more suitable for the coordinate characteristics of the actual BIM model components, effectively offsetting minor coordinate deviations during model building and improving the actual adaptation accuracy of the transformation matrix. Batch extraction of local coordinates of all building components and unified mapping operations ensure that all components follow completely consistent transformation rules, avoiding parameter inconsistencies caused by individual component transformations and guaranteeing the integrity of the overall spatial form of the model. The resulting unified coordinate transformation matrix is ​​highly reusable and can support full coordinate mapping of the current model.

[0054] In a preferred embodiment of the present invention, based on the local coordinate set of the building component to be converted, and combined with the reference origin and coordinate axis directions of the GIS model geographic coordinate system, a spatial location mapping operation is performed to obtain the absolute geographic coordinate set of the building component object in the GIS model geographic coordinate system, including: Based on the set of local coordinates of the building components to be converted, the initial 3D coordinate point sequence of the building component objects in the local coordinate system is extracted to obtain the set of local coordinate nodes to be mapped. Specifically, this includes: based on the set of local coordinates of the building components to be converted, traversing and extracting the local 3D coordinate values ​​of all geometric vertices one by one, and one by one. Let the set of local coordinate nodes to be mapped after traversal and extraction be:

[0055] in: Represents the set of local coordinate nodes to be mapped; Indicates the first The three-dimensional coordinates of each local coordinate node, in meters; This represents the total number of geometric vertices of all building component objects, i.e. .

[0056] Based on the local coordinate node set to be mapped and the reference origin of the GIS model's geographic coordinate system, calculate the spatial offset vector from the origin of the local coordinate system to the origin of the geographic coordinate system to obtain the translated intermediate coordinate node set. Specifically, this includes: based on the local coordinate node set to be mapped, combined with the already obtained BIM top-level local coordinate system origin... This establishes a unified reference origin for all building components.

[0057] Based on the reference origin of the geographic coordinate system of the GIS model This involves obtaining reference values ​​for the GIS geographic coordinate system origin in three dimensions: longitude, latitude, and elevation. Due to coordinate system differences between the BIM model's world coordinate system and the GIS geographic coordinate system, it is necessary to first convert the Cartesian coordinates in the BIM world coordinate system to geodetic coordinates with the GIS origin as the reference. Let the geodetic coordinates corresponding to the BIM world coordinate system origin be... ,according to and Given the three-dimensional geodetic coordinates, calculate the spatial offset vector between them. The formula for calculating the spatial offset vector is as follows:

[0058]

[0059]

[0060] in: This indicates the offset in longitude between the BIM world coordinate system origin and the GIS reference origin, in degrees. This indicates the latitudinal offset between the BIM world coordinate system origin and the GIS reference origin, expressed in degrees. This indicates the offset between the BIM world coordinate system origin and the GIS reference origin in the direction of elevation, in meters; , , These represent the geodetic longitude, latitude, and elevation values ​​corresponding to the origin of the BIM world coordinate system, respectively. , , These represent the longitude, latitude, and elevation values ​​of the GIS geographic coordinate system's reference origin, respectively.

[0061] Based on longitude offset and latitude offset The angular offset is converted into a horizontal translation component in the local Cartesian coordinate system. The conversion formula for the horizontal translation component is as follows: ;

[0062]

[0063] in: This represents the translation component of the BIM world coordinate system origin and the GIS reference origin in the eastward direction, in meters; This represents the translation component of the BIM world coordinate system origin and the GIS reference origin in the north direction, in meters; This represents the translation component in the elevation direction between the BIM world coordinate system origin and the GIS reference origin, in meters; This represents the average radius of the Earth, with a value of 6,371,000.0, and the unit is meters. Pi, with a value of approximately 3.141592653589793.

[0064] According to the translation components , , Construct a spatial offset vector from the origin of the BIM world coordinate system to the reference origin of the GIS geographic coordinate system. and to Each coordinate node in Perform vector addition to obtain the translated set of intermediate coordinate nodes. .

[0065]

[0066]

[0067]

[0068] in: Represents a spatial offset vector with dimension . ; Indicates the first The three-dimensional coordinate values ​​of each intermediate coordinate node; This represents the set of intermediate coordinate nodes after translation.

[0069] Based on the coordinate axis directions of the translated intermediate coordinate node set and the geographic coordinate system of the GIS model, a spatial rotation transformation is performed on the intermediate coordinate node set to align the local coordinate axis directions with the geographic coordinate axis directions, resulting in an aligned rotated coordinate node set. Specifically, this includes determining the unit direction vectors for the east, north, and celestial directions in the geographic coordinate system based on the coordinate axis directions of the GIS model's geographic coordinate system. Let the east direction unit vector be... The unit vector in the north direction is The celestial unit vector is .

[0070] Based on the initial rotation matrix of the BIM model relative to the world coordinate system By combining the fixed directional correspondence between the world coordinate system and the geographic coordinate system, with the X-axis of the world coordinate system corresponding to the east, the Y-axis to the north, and the Z-axis to the sky, a full rotation matrix is ​​constructed from the BIM local coordinate system to the geographic coordinate system. The full rotation matrix The expression is:

[0071] in: This represents the full rotation matrix from the BIM local coordinate system to the geographic coordinate system, with dimensions of . ; This represents the alignment and rotation matrix from the world coordinate system axes to the geographic coordinate system axes, when the world coordinate system XYZ axes are aligned with the East-North-Sky directions respectively. identity matrix ; This is the initial rotation matrix of the output BIM model relative to the world coordinate system.

[0072] Based on the full rotation matrix For the translated intermediate coordinate node set Each coordinate node in Perform a spatial rotation transformation. The calculation formula for the spatial rotation transformation is as follows:

[0073]

[0074] in: Indicates the first The three-dimensional coordinates of each rotated and aligned node, in meters; This represents the set of rotated coordinate nodes after alignment.

[0075] Based on the aligned set of rotated coordinate nodes and their geometric topological relationship with the building component objects, the set of rotated coordinate nodes is converted into absolute latitude, longitude, and elevation data in the geographic coordinate system of the GIS model. This yields the set of absolute geographic coordinates of the building component objects in the geographic coordinate system of the GIS model. Specifically, this includes extracting the eastward component of each rotated coordinate node from the aligned set of rotated coordinate nodes. Northward component and elevation components .

[0076] Based on the geodetic coordinates of the origin of the GIS model's geographic coordinate system, the rotated Cartesian coordinates are converted to geodetic coordinates. The geodetic coordinate conversion formula is as follows: Longitude conversion: ; Latitude conversion: ; Elevation conversion: ; in: Indicates the first The longitude value of each coordinate node in the GIS geographic coordinate system, in degrees; Indicates the first The latitude value of each coordinate node in the GIS geographic coordinate system, in degrees; Indicates the first The elevation values ​​of each coordinate node in the GIS geographic coordinate system, in meters; , , They represent the first The eastward, northward, and elevation components of each rotated and aligned coordinate node, in meters.

[0077] The absolute geographic coordinates of all vertices of all building component objects are merged and organized according to their component affiliation to obtain the set of absolute geographic coordinates of the building component objects in the geographic coordinate system of the GIS model.

[0078] In this embodiment of the invention, the spatial location mapping operation is broken down into four progressive steps: node extraction, coordinate translation, rotation transformation, and geodetic coordinate transformation. Each step has a clear transformation objective and is logically independent, facilitating phased verification of transformation accuracy, effectively controlling the cumulative error of multi-step transformations, and ensuring the accuracy of the final absolute geographic coordinates. First, spatial alignment of translation and rotation is performed in the Cartesian coordinate system to ensure that the relative position and geometric orientation of components remain unchanged. Then, the coordinates are uniformly converted to geodetic coordinates of latitude, longitude, and elevation, avoiding the accuracy loss caused by repeated coordinate type conversions. This process is fully compatible with the geographic coordinate system of GIS systems, and the output absolute geographic coordinates can be directly interfaced with various GIS spatial analysis tools without secondary format conversion, thus improving the efficiency of coordinate mapping.

[0079] In a preferred embodiment of the present invention, based on the local coordinate node set to be mapped and the reference origin of the geographic coordinate system of the GIS model, a spatial offset vector from the origin of the local coordinate system to the origin of the geographic coordinate system is calculated to obtain the translated intermediate coordinate node set, including: Based on the set of local coordinate nodes to be mapped, the initial coordinate values ​​of the origin of the local coordinate system in three-dimensional space are extracted to obtain the origin position reference data. Specifically, this includes: based on the set of local coordinate nodes to be mapped... The coordinate distribution range of all component vertices is determined to identify the spatial boundary of the BIM model in the local Cartesian coordinate system, thus confirming the uniqueness of the local coordinate system origin. Since the BIM model uses a unified top-level local coordinate system as the root reference system for all components, the position of the local coordinate system origin is determined during the modeling phase. It is not calculated from the vertex set but directly read from the BIM model metadata. Let the initial coordinates of the local coordinate system origin in 3D space be: ; in: This indicates the initial coordinate position of the origin of the top-level local coordinate system of the BIM model in three-dimensional space; This represents the initial coordinates of the origin of the local coordinate system along the X-axis, in meters. This represents the initial coordinates of the origin of the local coordinate system along the Y-axis, in meters. This represents the initial coordinates of the origin of the local coordinate system along the Z-axis, in meters. It serves as the reference point for all spaces and establishes the origin position reference data structure.

[0080] Based on the origin location reference data and the reference origin coordinates of the GIS model geographic coordinate system, the coordinate difference between the two in the three-dimensional coordinate axis directions is calculated to obtain the set of three-dimensional spatial offset components, specifically including: based on the origin location reference data... Extract the origin of the local coordinate system 3D coordinate components , , Based on the coordinates of the reference origin of the GIS model geographic coordinate system, obtain the reference origin of the GIS geographic coordinate system. The geodetic coordinates, due to Defined in the BIM Cartesian coordinate system Defined in a geodetic coordinate system, the two differ in dimensions and coordinate types. Therefore, it is necessary to convert the geodetic coordinates of the GIS reference origin to local Cartesian coordinates, with the Earth's reference ellipsoid as the reference and the GIS reference origin as the local reference point. The definition rules for the local Cartesian coordinate system are as follows: the origin is the projection point of the GIS reference origin onto the ellipsoid, the X-axis points east, the Y-axis points north, and the Z-axis points upwards. The origin of the BIM world coordinate system With GIS reference origin Comparing them within the same reference frame, since they have already been obtained The Cartesian coordinates in the world coordinate system, where the XYZ axes correspond to East, North, and Sky respectively. Cartesian coordinates are local Cartesian coordinates with reference to a known point on the Earth's reference ellipsoid.

[0081] calculate With GIS reference origin The coordinate difference along the three-dimensional coordinate axes. Due to the GIS reference origin. It is itself the reference origin of the local Cartesian coordinate system, and its corresponding coordinates in the local Cartesian coordinate system are... ,and It is necessary to obtain its relative coordinates through geodetic coordinate transformation. The local Cartesian coordinates.

[0082] Will The geodetic coordinates of the location and Compare the geodetic coordinates and calculate the difference between them: ; ;

[0083] in: This represents the difference in longitude between the BIM world coordinate system origin and the GIS reference origin, in degrees. This represents the difference in latitude between the BIM world coordinate system origin and the GIS reference origin, in degrees. This represents the difference in elevation between the BIM world coordinate system origin and the GIS reference origin, expressed in meters.

[0084] Difference of geodetic coordinates , The coordinates are converted to local Cartesian coordinate offset components referenced to the GIS baseline origin. The conversion formula from the geodetic coordinate difference to the local Cartesian coordinate offset components is as follows: ; ; ; in: This represents the offset component of the BIM world coordinate system origin relative to the GIS reference origin in the eastward direction, in meters; This represents the offset component of the BIM world coordinate system origin relative to the GIS reference origin in the north direction, in meters; This represents the offset component in the elevation direction of the BIM world coordinate system origin relative to the GIS reference origin, in meters; This represents the average radius of the Earth's ellipsoid, with a value of 6,371,000.0, and the unit is meters. Pi, with a value of approximately 3.141592653589793. , , The three offset components are combined to form a three-dimensional spatial offset component set.

[0085] Based on the set of three-dimensional spatial offset components, a spatial offset vector is constructed from the origin of the local coordinate system to the reference origin of the geographic coordinate system, resulting in a coordinate translation transformation vector. Specifically, this includes: based on the set of three-dimensional spatial offset components... The three offset components , , Determine the orientation properties of each component in the three-dimensional coordinate system: Along the positive X-axis in the east direction, Along the positive Y-axis direction of north, Along the positive Z-axis direction.

[0086] according to , , The direction and magnitude of the three scalar offset components are combined into a three-dimensional vector with direction and magnitude. The formula for constructing the three-dimensional vector is as follows: ; in: This represents the spatial offset vector from the origin of the local coordinate system (more precisely, the origin of the BIM world coordinate system) to the origin of the geographic coordinate system, with dimensions of 3×1 and units in meters; superscript This represents the vector transpose operation, which converts a row vector into a column vector representation. , , These are the common three-dimensional offset components.

[0087] according to Construct coordinate translation transformation vectors that can be directly used for coordinate translation transformation calculations. Coordinate translation transformation vector The direction is from the GIS reference origin to the BIM world coordinate system origin, to meet the transformation requirements of translating BIM coordinates to a coordinate system referenced by the GIS reference origin: ; in: This represents a coordinate translation transformation vector, with dimensions 3×1 and units of meters. Its function is to translate points in the BIM world coordinate system into a local Cartesian coordinate system referenced to the GIS origin; the negative sign indicates taking... The reverse vector.

[0088] Based on the coordinate translation transformation vector and each coordinate point in the local coordinate node set to be mapped, perform vector addition to obtain the translated intermediate coordinate node set. Specifically, this includes: based on the local coordinate node set to be mapped... Extract the three-dimensional coordinate values ​​of each coordinate node one by one. Let the first node be... The local coordinate nodes are: ; in: Indicates the first The three-dimensional coordinate vector of each local coordinate node; , , These represent the X, Y, and Z axis coordinate components of the node, respectively, in meters.

[0089] Based on coordinate translation transformation vector ,right Each coordinate node in Perform vector addition. The formula for vector addition is as follows: ; Right now: ; ; ; in: Indicates the first The three-dimensional coordinate vector of each coordinate node after translation transformation is located in the local Cartesian coordinate system with the GIS reference origin, and the unit is meters. Indicates the translation of the first... The coordinate components of each node in the east direction; Indicates the translation of the first... The coordinate components of each node in the north direction; Indicates the translation of the first... The coordinate components of each node in the elevation direction are combined to form the intermediate coordinate node set after translation.

[0090] In this embodiment of the invention, coordinate translation is completed through a process of extracting the origin position reference, calculating the three-axis offset components, constructing the spatial offset vector, and performing batch vector addition. Using the local coordinate system origin as a unified reference for calculating the offset ensures that the translation reference references for all coordinate nodes are completely consistent, fundamentally avoiding overall model misalignment caused by inconsistent translation references for different components. Calculating the spatial offset components independently along the three coordinate axes allows for verification and adjustment of translation accuracy in each direction, facilitating precise control of translation errors and improving the precision of coordinate translation. Using vector addition to batch complete the translation calculations for all coordinate nodes provides a unified and efficient computational logic, enabling rapid processing of coordinate translations for massive numbers of geometric vertices. This adapts to the high computational demands of large and complex utility tunnel BIM models while ensuring the consistency of translation results for all nodes.

[0091] In a preferred embodiment of the present invention, mapping the BIM model to the GIS model based on the matrix to generate a virtual-real mapping scene includes: Based on the translated intermediate coordinate node set and coordinate transformation matrix, coordinate mapping operations are performed on the geometric vertex data of building components in the BIM model to obtain a set of absolute geographic coordinates mapped to the geographic coordinate system of the GIS model. Specifically, this includes: based on the translated intermediate coordinate node set... This involves obtaining the 3D coordinates of the geometric vertices of each building component in the local Cartesian coordinate system referenced by the GIS origin. Based on the coordinate transformation matrix... ,right The coordinates of each vertex in the model undergo a mapping operation that includes rotation, alignment, and final coordinate transformation, converting the local Cartesian coordinates to absolute longitude, latitude, and elevation values ​​in the GIS geographic coordinate system. The resulting absolute geographic coordinates of all vertices are then combined to obtain a set of absolute geographic coordinates mapped to the GIS model's geographic coordinate system. .

[0092] Based on the set of absolute geographic coordinates, the spatial location attributes of power compartments, pipe sections, and various monitoring devices within the BIM model are extracted to obtain a set of equipment entities with geospatial attributes. Specifically, this includes: based on the set of absolute geographic coordinates... The system categorizes and retrieves equipment entities belonging to key facilities of underground cable tunnels by type of building component. These key facilities include the following three categories: The first category is the power compartment: This type of equipment is an enclosed structural space that houses cable lines and ancillary facilities, and its geometry is expressed in the BIM model through the combination of polyhedral components. The second category is pipe sections: This type of equipment entity is a cable channel pipe section connecting various power compartments. Its geometry is expressed in the BIM model through a tubular or rectangular cross-section extruded body. The third category is various internal monitoring devices: These devices include temperature probes, methane probes, and humidity probes, which are represented in the BIM model through point markers or small device models.

[0093] Based on the classification results of the above three types of equipment entities, from the set of absolute geographic coordinates The absolute longitude, latitude, and elevation values ​​of all geometric vertices associated with each device entity are extracted. For the first... A device entity, whose spatial location attribute is represented as follows: ; in: Indicates the first Individual equipment entities; This represents the unique identifier of the equipment entity in the BIM model; This indicates the type code of the device entity. These correspond to the power compartment, pipeline section, and monitoring equipment, respectively. This represents a subset of the absolute geographic coordinates of the geometric vertices of the device entity, i.e., from Chinese Press The resulting set of vertex coordinates; This represents the semantic attribute information of the equipment entity in the BIM model, including equipment name, specifications, installation date, and the section number of the utility tunnel to which it belongs. The spatial location attributes of all equipment entities are then combined to obtain a set of equipment entities with geospatial attributes. .

[0094] Based on a GIS model of device entities with geospatial attributes and urban terrain, spatial location overlay and semantic attribute linking operations are performed to obtain a virtual-real mapping scene that integrates local high-precision structure and macro-geographic environment. Specifically, this includes: acquiring large-scale city-level geographic information data carried within the GIS model of urban terrain. The large-scale city-level geographic information data includes the following three categories: The first category is topographic elevation data: namely, digital elevation models (DEM), which are used to describe the surface relief of urban areas; The second category is surface building data: namely, the plan outline, height, and usage attributes of various buildings above the urban surface; The third category is underground pipeline data: namely, the three-dimensional spatial orientation, pipe diameter, burial depth, and ownership information of various municipal pipelines (water supply, drainage, gas, communication, etc.) in the city.

[0095] Based on the set of device entities with geospatial attributes The absolute geographic coordinates and semantic attribute information of each device entity are extracted, and the spatial location of each device entity is superimposed onto the corresponding geographic spatial location of the GIS model. The specific process of this spatial location superimposition operation includes: based on the... individual equipment entities A subset of absolute geographic coordinates of vertices The system determines the precise three-dimensional area of ​​the equipment entity in the GIS geospatial space; determines the burial depth of the equipment entity relative to the ground surface based on the terrain elevation data of the GIS model; and calculates the horizontal distance and vertical clearance between the equipment entity and the surrounding existing underground pipelines based on the underground pipeline data of the GIS model, generating avoidance relationship data.

[0096] Based on the spatial location overlay result, a semantic attribute attachment operation is performed. The specific process of the semantic attribute attachment operation includes: for the device entity... Its semantic attribute information (Equipment name, specifications, installation date, and the section number of the utility tunnel to which it belongs) are attached to the spatial object corresponding to the equipment entity in the GIS model; for the equipment entity Data on avoidance relationships with surrounding underground pipelines is used to generate associated semantic tags, which indicate the pipeline's ownership type, avoidance requirements, and minimum safe distance.

[0097] By combining the spatial location overlay result with the semantic attribute linkage result, a virtual-real mapping scene is obtained that integrates local high-precision structure and macroscopic geographical environment. This virtual-real mapping scene has the following two view modes: At the level of internal facilities in the utility tunnel: retrieve the BIM model to display a high-precision 3D view of the interior, including the internal wall structure of the power compartment, pipe connection nodes and the layout of the monitoring equipment installation location. The data source of this view is the precise geometric data of the building components in the BIM model, which meets the requirements of extremely high geometric accuracy and 3D visualization of local monitoring equipment. At the urban geography level: The GIS model is retrieved to display an external macro-environment view that includes the orientation and avoidance relationships of surrounding pipelines, the distribution of surface buildings, and the topographic relief features. The data source for this view is the urban topographic GIS model, which meets the requirements for large-scale spatial carrying capacity and analysis at the city level.

[0098] The two view modes are connected by a unified coordinate transformation matrix. Maintaining precise spatial correspondence enables the transformation from processing by a single BIM system to joint processing of BIM facility models and GIS geographic information systems based on coordinate transformation and semantic mapping rules. This avoids rendering lag caused by excessive model data volume, while retaining spatial analysis and collision detection functions. This allows for the satisfaction of both high-precision local and large-scale spatial analysis at different levels. Finally, a virtual-real mapping scene is output. The semantic mapping rules refer to the mapping table that establishes an association between the attribute information of components in the BIM model, such as equipment type, material, and manufacturer, and the attribute fields of corresponding geographic elements in the GIS model, such as facility name and region.

[0099] In this embodiment of the invention, by extracting equipment spatial attributes and performing spatial overlay and semantic linking to generate a virtual-real mapping scene, not only is precise alignment of the BIM model and the GIS model in spatial location achieved, but also deep integration of the two types of models at the attribute semantic level is completed. The set of equipment entities with geospatial attributes binds the equipment parameters and structural attributes in the BIM model to the geospatial locations in the GIS, avoiding the problem of disconnect between the spatial model and attribute data, and facilitating the rapid retrieval of full equipment information based on geographic coordinates. The virtual-real mapping scene formed after spatial overlay and semantic linking retains the high-precision structural expression of power compartments, pipe sections, and monitoring equipment in the BIM model, while also carrying the urban macro-topography and environmental information of the GIS model, perfectly balancing local accuracy and large-scale spatial coverage.

[0100] In a preferred embodiment of the present invention, based on the translated intermediate coordinate node set and coordinate transformation matrix, coordinate mapping operations are performed on the geometric vertex data of building components in the BIM model to obtain a set of absolute geographic coordinates mapped to the geographic coordinate system of the GIS model, including: Based on the translated intermediate coordinate node set and the coordinate transformation matrix, the local coordinate sequence of the geometric vertices of building components in the BIM model is extracted to obtain the vertex coordinate sequence to be mapped. Specifically, this includes: based on the output translated intermediate coordinate node set... Confirm the coordinates of each node in the node set. All transformations have been performed progressively, completing the translation transformation from the BIM local coordinate system to the local Cartesian coordinate system referenced by the GIS origin. Based on the output coordinate transformation matrix... From that Extracting rotation parameter submatrices from homogeneous transformation matrices ( Translation parameter subvectors ( This provides operators for rotation and translation transformations in subsequent steps. The three-dimensional coordinate components of the geometric vertices of each building component are extracted vertex by vertex. Let the first vertex be... The three-dimensional coordinate vectors of the geometric vertices are: ; in: Indicates the first The three-dimensional coordinate vectors of each vertex in the local Cartesian coordinate system referenced by the GIS reference origin, in meters; This represents the coordinate components of the vertex after translation in the eastward direction; This represents the coordinate components of the vertex after translation in the north direction; This represents the coordinate components of the vertex after translation in the elevation direction.

[0101] The extracted vertex coordinate vectors are organized into an ordered sequence according to the component affiliation, resulting in the vertex coordinate sequence to be mapped. .

[0102] Based on the vertex coordinate sequence to be mapped and the rotation parameters in the coordinate transformation matrix, a spatial rotation operation is performed on the vertex coordinate sequence to align the geometric orientation of the building components with the GIS geographic coordinate system, resulting in the rotated and aligned vertex coordinate sequence. Specifically, this includes: based on the rotation parameters in the coordinate transformation matrix... , obtain All elements of an orthogonal rotation matrix. The mathematical structure of the defined BIM to GIS full rotation matrix is ​​as follows:

[0103] in: This represents the alignment and rotation matrix from the world coordinate system axes to the geographic coordinate system axes. When the three axes of the world coordinate system are aligned with the east, north, and celestial directions of the geographic coordinate system, this matrix degenerates into... identity matrix ; This represents the initial rotation matrix of the output BIM model relative to the world coordinate system.

[0104] Will The element-wise representation is as follows:

[0105] in: ( ) represents the first element in the full rotation matrix. Line number The matrix elements in the column are dimensionless; the matrix elements satisfy the orthogonal matrix constraint condition, i.e. .

[0106] Based on the vertex coordinate sequence to be mapped ,right Each vertex coordinate vector Perform spatial rotation calculation. The mechanism of the spatial rotation calculation is as follows: the coordinate vector of the vertex in the local Cartesian coordinate system referenced by the GIS reference origin is transformed by a rotation matrix to eliminate the axial deviation between the BIM modeling coordinate system and the GIS geographic coordinate system, so that the geometric orientation of the building components is aligned with the East-North-Sky direction of the GIS geographic coordinate system.

[0107] The formula for matrix-vector product in spatial rotation operations is as follows:

[0108] Expand the matrix multiplication by coordinate components:

[0109]

[0110]

[0111] in: Indicates the first The three-dimensional coordinate vector of each vertex after spatial rotation, in meters; This represents the coordinate components of the vertex in the east direction after rotation and alignment; This represents the coordinate components of the vertex in the north direction after rotation and alignment; This represents the coordinate components of the vertex in the elevation direction after rotation and alignment. By combining the coordinates of all rotated and aligned vertices, we obtain the sequence of rotated and aligned vertex coordinates. .

[0112] Based on the rotated and aligned vertex coordinate sequence and the translation parameters in the coordinate transformation matrix, a spatial translation operation is performed on the vertex coordinate sequence to transfer the geometric position of the building components to the GIS geographic coordinate system, resulting in the translated vertex coordinate sequence. Specifically, this includes: based on the coordinate transformation matrix... Translation parameters in , obtain The three components of the translation vector are represented as follows:

[0113] in: This represents the total translation component in the east direction of the BIM to GIS integrated translation transformation, in meters. Its value is the sum of the initial translation component after rotation and alignment and the offset component of the GIS reference origin. This represents the total translation component in the north direction of the BIM to GIS integrated translation transformation, in meters; This represents the total translation component in the elevation direction of the BIM to GIS integrated translation transformation, in meters.

[0114] The complete calculation formulas for each component are as follows:

[0115]

[0116]

[0117] in: ( )express Matrix number Line number Column elements; , , These are the defined three-dimensional spatial offset components; , , These are the defined geodetic coordinate transformation offset components.

[0118] Based on the rotated and aligned vertex coordinate sequence ,right Each rotation-aligned vertex coordinate vector Perform a spatial translation operation. The formula for the spatial translation operation is as follows:

[0119] Expand the vector addition according to its coordinate components:

[0120]

[0121]

[0122] in: Indicates the first The three-dimensional coordinate vector of each vertex after spatial translation operation, with the reference origin of the vector being the reference origin of the GIS geographic coordinate system, and the unit being meters; This represents the final coordinate components of the vertex in the east direction after translation mapping; This represents the final coordinate components of the vertex in the north direction after translation mapping; This represents the final coordinate components of the vertex in the elevation direction after translation mapping.

[0123] By combining the vertex coordinates after all the translation mappings, we obtain the vertex coordinate sequence after translation mapping. .

[0124] Based on the vertex coordinate sequence after translation and mapping, the local coordinate values ​​of each vertex are converted into longitude, latitude, and elevation values ​​in the geographic coordinate system of the GIS model, resulting in a set of absolute geographic coordinates mapped to the geographic coordinate system of the GIS model. Specifically, this includes: based on the vertex coordinate sequence after translation and mapping... Extract the three-dimensional coordinate components of each vertex after translation mapping. , , These three components represent the eastward distance, northward distance, and elevation difference of the vertex in the local Cartesian coordinate system with the GIS reference origin, respectively, all in meters.

[0125] Based on the geodetic coordinates of the reference origin of the GIS model geographic coordinate system, the local Cartesian coordinate offset is converted into geodetic coordinate increments, which are then superimposed with the geodetic coordinate values ​​of the reference origin to obtain the absolute longitude, latitude, and elevation values ​​of each vertex in the GIS geographic coordinate system.

[0126] The formula for converting absolute longitude is as follows:

[0127] in: Indicates the first The absolute longitude value of each vertex in the GIS geographic coordinate system, in degrees; This represents the longitude value of the GIS reference origin. Indicates the first The eastward offset of each vertex in the GIS reference system, in meters; This represents the average radius of the Earth's ellipsoid, with a value of 6,371,000.0, and the unit is meters. The latitude value of the GIS reference origin, in degrees; It represents the cosine value at the latitude of the GIS reference origin, used to compensate for the curvature difference of the Earth's ellipsoid at different latitudes when converting eastward distance into longitude increments; A conversion factor indicating the unit conversion from radians to degrees; Pi, with a value of approximately 3.141592653589793.

[0128] The formula for converting absolute latitude is as follows:

[0129] in: Indicates the first The absolute latitude value of each vertex in the GIS geographic coordinate system, in degrees; Represents the latitude value of the GIS reference origin; Indicates the first The northward offset of each vertex in the GIS reference system, in meters; This represents the geocentric angle increment in radians corresponding to the northward offset.

[0130] The formula for converting absolute altitude is as follows:

[0131] in: Indicates the first The absolute elevation values ​​of each vertex in the GIS geographic coordinate system, in meters; This represents the elevation value of the GIS reference origin. Indicates the first The elevation offset of each vertex in the GIS reference system, in meters.

[0132] The absolute geographic coordinates of all vertices are grouped and summarized according to the identifier of the building component object to obtain the set of absolute geographic coordinates mapped to the geographic coordinate system of the GIS model. .

[0133] In this embodiment of the invention, coordinate mapping operations are performed on the geometric vertices of building components in the order of rotation alignment, translation mapping, and geographic coordinate transformation. Adjusting the geometric orientation before adjusting the spatial position ensures that the geometric shape of the building components is not distorted during coordinate transformation, preserving the high-precision geometric features of the BIM model. Performing transformation operations point-by-point on each geometric vertex accurately restores the geometric contour and detailed structure of the components, avoiding the loss of component details caused by batch simplification transformations and ensuring the visualization accuracy of the facilities inside the utility tunnel. The final output latitude, longitude, and elevation coordinates are fully compatible with the data requirements of standard GIS platforms and can be directly used for various business operations such as scene rendering, spatial collision detection, and pipeline avoidance analysis without secondary coordinate transformation, improving the compatibility and reusability of BIM model data.

[0134] like Figure 2As shown, in another preferred embodiment of the present invention, the transformation from processing by a single BIM system to joint processing of BIM facility models and GIS geographic information systems according to coordinate transformation and semantic mapping rules includes: Based on the generated warning command, the device identifiers of the corresponding power compartment and anomaly monitoring equipment are extracted. The absolute geographic coordinates corresponding to these device identifiers are retrieved in the virtual-real mapping scenario to obtain the geospatial location of the anomaly monitoring equipment. Specifically, this includes parsing the anomaly information data contained in the warning command generated by the system status assessment module. The triggering conditions for the warning command are: the temperature value collected by the temperature probe is greater than a preset temperature threshold, or the gas concentration value collected by the methane probe is greater than a preset concentration threshold, or the humidity value collected by the humidity probe is greater than a preset humidity threshold. The warning command carries at least the following three types of key information. The preset temperature threshold, preset concentration threshold, and preset humidity threshold are fixed values ​​preset according to the specified safe operating limits and stored in the system database, or manually configured by maintenance personnel through the human-machine interface: Anomaly type identifier, used to distinguish whether the currently triggered warning type is temperature anomaly, gas concentration anomaly, or humidity anomaly; device identifier of the anomaly monitoring equipment. Used to uniquely identify the specific monitoring device that triggered the warning; the power compartment identifier to which the abnormal monitoring device belongs. This is used to determine the power compartment of the utility tunnel where the monitoring equipment is installed.

[0135] Based on the parsed device identifier With power compartment identifier Spatial retrieval is performed within the constructed virtual-real mapping scenario. The spatial retrieval process is as follows: In the output set of device entities with geospatial attributes In the middle, traversal search and Matching monitoring equipment entity The matching rule is as follows:

[0136] in: This indicates the matched anomaly monitoring device entity; For the physical equipment A unique identifier; Encoding the device entity type, Indicates the type of monitoring equipment.

[0137] Based on the matched monitoring device entities From the subset of absolute geographic coordinates of the geometric vertices of the entity The center positioning coordinates of the device in the GIS geographic coordinate system are extracted. The formula for calculating the center positioning coordinates is as follows: ; ; ; in: , , These represent the longitude, latitude, and elevation values ​​of the center location point of the anomaly monitoring equipment, respectively, in degrees, degrees, and meters; This represents the total number of geometric vertices contained in the entity of the monitoring device; , , These respectively represent the first and second physical units of the device. The longitude, latitude, and elevation values ​​of each geometric vertex.

[0138] The calculated equipment center coordinates are combined with the equipment identifier and compartment identifier to form the geospatial location point of the anomaly monitoring equipment. .

[0139] Based on the geospatial location of the anomaly monitoring equipment, the corresponding local 3D structural data in the BIM model is retrieved at the level of the internal facilities of the pipe gallery compartment to obtain a high-precision 3D view of the interior, including the layout of pipe sections, pipe racks, and monitoring equipment. Specifically, this includes: based on the geospatial location of the anomaly monitoring equipment... In The field determines the target power compartment to which the anomaly monitoring equipment belongs, in order to Using the key as the retrieval key, the component node corresponding to the power compartment and all its sub-components are located in the building component hierarchy of the BIM model. Based on the component nodes of the target power compartment, all internal geometric data of the compartment are extracted from the BIM model. The internal geometric data includes the following three levels: The first level is the data on the enclosure structure of the compartment, including precise three-dimensional geometric models of the enclosure components such as the top plate, bottom plate, side walls, and end walls of the power compartment. The geometric expression accuracy meets the requirements of local high-precision three-dimensional visualization. The second level is the data on the layout of internal facilities, including the routing and cross-sectional dimensions of cable ducts, the installation position and load-bearing capacity parameters of pipe racks, and the spatial position and connection relationship of cable joints. The third level is the data on the layout of monitoring equipment, including the specific installation points, installation height, and orientation information of temperature probes, methane probes, and humidity probes in the compartment.

[0140] Based on the center positioning coordinates of the anomaly monitoring equipment, determine the highlighted position of the equipment in the cabin interior view. The highlighted position is determined as follows: Based on the set of absolute geographic coordinates The coordinates of all geometric vertices of the abnormal monitoring equipment are calculated, and the corresponding coordinate values ​​of the equipment in the BIM local coordinate system are calculated. These coordinates are then marked in the 3D view with visual markers distinct from normal equipment, such as highlighted or flashing marks, allowing maintenance personnel to intuitively locate the abnormal equipment. All the aforementioned internal structural data is then integrated with the highlighted information of the abnormal equipment to generate a high-precision 3D internal view containing the layout of pipe sections, pipe racks, and monitoring equipment. .

[0141] Based on the geospatial location of the anomaly monitoring equipment, the corresponding surrounding terrain and underground pipeline data are retrieved from the GIS model at the urban geographic level to obtain an external macro-environment view that includes the avoidance relationships of surrounding pipelines and surface buildings. Specifically, this includes: based on the geospatial location of the anomaly monitoring equipment... The central positioning coordinates are used to determine the spatial retrieval range in the GIS model. The spatial retrieval range is defined by... Centered on, with a preset radius A circular geographical region with defined boundaries. The value of is determined by the maintenance impact radius of the underground cable tunnel. For example, a suitable search radius value can be determined based on the tunnel's burial depth and the safety distance requirements of surrounding pipelines.

[0142] Based on the spatial retrieval scope, the surrounding terrain data within that scope is retrieved from the urban terrain GIS model. The surrounding terrain data includes: digital elevation model data, which describes the surface undulations and elevation distribution within the retrieval scope; and surface building data, including the planar outline polygons, building height, building structure type, and functional attributes of each surface building within the retrieval scope.

[0143] Based on the spatial retrieval range and the burial depth of the anomaly monitoring equipment, underground pipeline data within this range is retrieved from the urban terrain GIS model. The underground pipeline data includes: the three-dimensional spatial orientation curves of all underground municipal pipelines within the retrieval range, with each pipeline represented by a broken line or curve composed of a series of longitude-latitude-elevation coordinate points; the pipe diameter, pipe type, burial depth, and affiliated unit information of each underground pipeline; and the horizontal and vertical clearances between each underground pipeline and the utility tunnel compartment where the anomaly monitoring equipment is located. Based on all retrieved underground pipeline data, the spatial avoidance parameters between each pipeline and the power compartment where the anomaly monitoring equipment is located are calculated for each pipeline.

[0144] Calculation of vertical clearance distance:

[0145] in: Indicates the first The vertical clearance between underground pipelines and the compartment where the anomaly monitoring equipment is located, in meters; Indicates the first The elevation of the nearest point of the underground pipeline, in meters; The elevation value for centering the anomaly monitoring equipment.

[0146] Based on the avoidance parameters of each pipeline, a set of avoidance relationship labels is generated. This set is then integrated with surrounding terrain data, surface building data, underground pipeline data, and the avoidance relationship label set to create an external macro-environment view that includes the avoidance relationships of surrounding pipelines and surface buildings. .

[0147] Based on the internal high-precision 3D view and the external macroscopic environment view, the BIM facility model and the GIS geographic information system are spatially overlaid and data fused through coordinate transformation and semantic mapping rules to obtain a multi-scale joint display scenario that supports on-site maintenance operations. Specifically, this includes: based on the internal high-precision 3D view... This method acquires local 3D structural data of the power compartment where the anomaly monitoring equipment is located, as well as the layout information of its internal pipe sections, pipe racks, and monitoring equipment. The coordinate system of this view is the BIM local Cartesian coordinate system, and its geometric accuracy meets the requirements for local high-precision visualization at the millimeter to centimeter level.

[0148] According to the external macro environment view This method acquires data on the surrounding terrain, surface buildings, and underground pipeline distribution in the area where the anomaly monitoring equipment is located. The coordinate system of this view is a GIS geodetic coordinate system, and its spatial scope meets the needs of large-scale spatial analysis and collision checking at the city level; based on the coordinate transformation matrix... High-precision 3D view of the interior The geometric coordinates of all components are converted from the BIM local Cartesian coordinate system to the GIS geodetic coordinate system, so that the internal and external views are under a unified geospatial reference system. The process of establishing the unified spatial reference includes: right Apply coordinate transformation matrix to all vertices of each geometric component object. And through geodetic coordinate transformation, the absolute geographic coordinates of the component in the GIS geographic coordinate system are obtained; for The highlighted locations of the anomaly monitoring equipment undergo simultaneous coordinate transformation to ensure that the highlighted points correspond to the actual geographic location of the equipment in the geodetic coordinate system. Precisely coincident.

[0149] According to semantic mapping rules, the semantic attributes of BIM facility models and GIS geographic information systems are associated and integrated under a unified geodetic coordinate system. These semantic mapping rules define the correspondence between BIM component types and GIS spatial object types, specifically including: power compartment components in BIM are mapped to underground structure surface objects in GIS, with attributes such as compartment name, affiliated pipe gallery section, construction date, and design service life; pipe segment components in BIM are mapped to 3D pipeline segment objects in GIS, with attributes such as pipe segment number, pipe type, cross-sectional dimensions, and rated voltage level; monitoring equipment components in BIM are mapped to equipment point objects in GIS, with attributes such as equipment type, equipment number, installation date, most recent calibration date, and preset threshold parameters.

[0150] Based on the spatial relationship between the internal and external views in a unified geodetic coordinate system, a spatial overlay operation is performed. This operation includes: overlaying the spatial extent of the power compartment and its internal facilities with the spatial orientation of surrounding underground pipelines, calculating and marking the minimum clearance distance between each pipeline and the compartment's enclosure structure; overlaying the spatial extent of the power compartment with the spatial extent of surface buildings, calculating and marking the base pressure distribution of each building above the compartment and its impact on the utility tunnel structure; and overlaying the spatial location of the monitoring equipment with topographic elevation data, marking the burial depth of each monitoring device relative to the ground surface.

[0151] The spatial overlay results are merged with the semantic fusion results to generate a multi-scale joint display scene that supports on-site maintenance operations. This multi-scale joint display scene also features two switchable display modes: The first display mode is the internal high-precision mode: This mode uses the BIM facility model as the core data source to display the three-dimensional structural details inside the utility tunnel compartment, including the pipe segment routing, pipe rack layout, monitoring equipment installation locations, and highlighted markings of abnormal equipment. This mode has a smaller viewing distance and higher geometric accuracy, making it suitable for maintenance personnel to conduct a detailed inspection of the internal structure before entering the utility tunnel for work. The second display mode is the external macro mode: This mode uses a GIS geographic information system as the core data source to display the surrounding surface buildings, terrain undulations, underground pipeline distribution, and the avoidance relationships between various pipelines and the utility tunnel. This mode has a large viewing distance and strong spatial analysis capabilities, making it suitable for maintenance personnel to assess the impact of maintenance operations on the surrounding environment and avoidance requirements from an urban-scale perspective.

[0152] The two display modes are connected via a unified coordinate transformation matrix. Seamless switching with semantic mapping rules ensures that the spatial position of any component in the internal view and the corresponding spatial object in the external view maintain precise correspondence in the GIS geodetic coordinate system. This enables the transformation from processing by a single BIM system to joint processing of BIM facility models and GIS geographic information systems based on coordinate transformation and semantic mapping rules. The multi-scale joint display scenario serves as the core output of the maintenance display module, directly guiding on-site maintenance operations. Maintenance personnel can confirm the specific location of abnormal monitoring equipment and its relationship with surrounding structures in the internal high-precision mode, and assess the maintenance excavation scope and avoidance requirements of surrounding pipelines in the external macro mode. This comprehensively improves the status perception capability, early warning response efficiency, and the intuitiveness and accuracy of on-site maintenance operations of underground cable tunnels.

[0153] In this embodiment of the invention, the joint processing of BIM and GIS systems is achieved through a process of abnormal equipment location, dual-dimensional view retrieval, and multi-scale scene fusion, breaking down the data and scene barriers between the two systems operating independently. Based on early warning commands, the geospatial location of abnormal equipment can be quickly locked, significantly shortening fault location time and improving the emergency response efficiency of utility tunnel maintenance. The internal high-precision 3D view fully presents the layout of pipe sections, pipe racks, and equipment within the compartment, meeting the needs of maintenance operations for viewing details of local facilities; the external macro-environment view clearly displays surrounding pipelines and surface buildings, providing a macro-level reference for defining the scope of maintenance work and formulating avoidance plans. The two types of views are deeply integrated through unified coordinates and semantic rules to form a multi-scale integrated maintenance scene, allowing maintenance personnel to seamlessly switch between viewing micro-details and the macro-environment, improving the intuitiveness and accuracy of on-site maintenance operations.

[0154] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered as protections of the present invention.

Claims

1. A virtual reality inspection system for a highly realistic underground cable scenario, characterized in that, include: The scene construction module is used to acquire the BIM model of the underground cable tunnel and the GIS model of the urban terrain. The BIM model includes the geometric and attribute information of the power compartment, pipe sections and various monitoring equipment inside. The coordinate mapping module is used to calculate the coordinate transformation matrix from the local coordinate system of the BIM model to the geographic coordinate system of the GIS model, and to map the BIM model to the GIS model based on the matrix to generate a virtual-real mapping scene. The data access module is used to receive real-time operating data from the monitoring equipment, including temperature values ​​collected by the temperature probe, gas concentration values ​​collected by the methane probe, and humidity values ​​collected by the humidity probe. The status assessment module is used to generate a warning command for the corresponding power compartment when the temperature value is greater than a preset temperature threshold, the gas concentration value is greater than a preset concentration threshold, or the humidity value is greater than a preset humidity threshold. The maintenance display module is used to respond to the early warning command, locate the geospatial position of the monitoring equipment in the virtual-real mapping scenario, retrieve the BIM model to display the internal three-dimensional structure at the level of the internal facilities of the pipe gallery, and retrieve the GIS model to display the avoidance relationship of surrounding pipelines at the level of the city geography. This realizes the transformation from processing by a single BIM system to joint processing of BIM facility model and GIS geographic information system according to coordinate transformation and semantic mapping rules, so as to guide on-site maintenance operations.

2. The virtual reality maintenance system for a highly realistic underground cable scenario according to claim 1, characterized in that, Calculating the coordinate transformation matrix from the local coordinate system of the BIM model to the geographic coordinate system of the GIS model includes: Based on the origin position and coordinate axis direction of the top-level local coordinate system in the BIM model, the initial translation and rotation matrix of the BIM model relative to the world coordinate system are obtained. Based on the initial translation and rotation matrix, and combined with the reference origin of the geographic coordinate system of the GIS model, the coordinate transformation matrix from the local coordinate system of the BIM model to the geographic coordinate system of the GIS model is obtained.

3. The virtual reality maintenance system for a highly realistic underground cable scenario according to claim 2, characterized in that, Based on the origin position and coordinate axis direction of the top-level local coordinate system in the BIM model, the initial translation and rotation matrix of the BIM model relative to the world coordinate system are obtained, including: Based on the origin of the top-level local coordinate system in the BIM model and the reference origin of the world coordinate system, calculate the distance and direction between the two in three-dimensional space to obtain the initial translation of the BIM model relative to the world coordinate system. Based on the initial translation and the coordinate axis direction of the top-level local coordinate system in the BIM model, combined with the coordinate axis direction of the world coordinate system, the spatial rotation angle between the two is calculated to obtain the initial rotation matrix of the BIM model relative to the world coordinate system. Based on the initial translation and initial rotation matrix, the building component objects in the BIM model are subjected to hierarchical nesting calculations until all building component objects are transformed to the same reference coordinate system, thus obtaining the unified initial spatial transformation parameters of the BIM model relative to the world coordinate system.

4. The virtual reality inspection system for a highly realistic underground cable scenario according to claim 3, characterized in that, Based on the initial translation and rotation matrix, and combined with the reference origin of the GIS model's geographic coordinate system, the coordinate transformation matrix from the BIM model's local coordinate system to the GIS model's geographic coordinate system is obtained, including: Based on the initial translation and initial rotation matrix in the unified initial spatial transformation parameters, the local coordinate data of each building component object in the BIM model are extracted to obtain the set of local coordinates of the building component to be transformed. Based on the set of local coordinates of the building components to be converted, and combined with the reference origin and coordinate axis direction of the geographic coordinate system of the GIS model, a spatial location mapping operation is performed to obtain the set of absolute geographic coordinates of the building component objects in the geographic coordinate system of the GIS model. Based on the mapping relationship between the absolute geographic coordinate set and the local coordinate set of the building components to be transformed, the translation and rotation parameters are integrated to obtain the coordinate transformation matrix from the local coordinate system of the BIM model to the geographic coordinate system of the GIS model.

5. The virtual reality inspection system for a highly realistic underground cable scenario according to claim 4, characterized in that, Based on the set of local coordinates of the building components to be converted, and combined with the reference origin and coordinate axis directions of the GIS model's geographic coordinate system, a spatial location mapping operation is performed to obtain the set of absolute geographic coordinates of the building component objects in the GIS model's geographic coordinate system, including: Based on the set of local coordinates of the building components to be transformed, the initial three-dimensional coordinate point sequence of the building component object in the local coordinate system is extracted to obtain the set of local coordinate nodes to be mapped; Based on the local coordinate node set to be mapped and the reference origin of the geographic coordinate system of the GIS model, calculate the spatial offset vector from the origin of the local coordinate system to the origin of the geographic coordinate system to obtain the translated intermediate coordinate node set. Based on the coordinate axis directions of the translated intermediate coordinate node set and the geographic coordinate system of the GIS model, a spatial rotation transformation is performed on the intermediate coordinate node set to align the local coordinate axis directions with the geographic coordinate axis directions, resulting in an aligned rotated coordinate node set. Based on the geometric and topological relationship between the aligned set of rotated coordinate nodes and the building component objects, the set of rotated coordinate nodes is converted into absolute latitude, longitude and elevation data in the geographic coordinate system of the GIS model, thus obtaining the set of absolute geographic coordinates of the building component objects in the geographic coordinate system of the GIS model.

6. The virtual reality maintenance system for a highly realistic underground cable scenario according to claim 5, characterized in that, Based on the local coordinate node set to be mapped and the reference origin of the geographic coordinate system of the GIS model, calculate the spatial offset vector from the origin of the local coordinate system to the origin of the geographic coordinate system, and obtain the translated intermediate coordinate node set, including: Based on the set of local coordinate nodes to be mapped, the initial coordinate values ​​of the origin of the local coordinate system in three-dimensional space are extracted to obtain the reference data of the origin position. Based on the origin location benchmark data and the benchmark origin coordinate values ​​of the geographic coordinate system of the GIS model, the coordinate difference between the two in the direction of the three-dimensional coordinate axes is calculated to obtain the set of three-dimensional spatial offset components. Based on the set of three-dimensional spatial offset components, a spatial offset vector is constructed from the origin of the local coordinate system to the reference origin of the geographic coordinate system, thus obtaining the coordinate translation transformation vector. By performing vector addition on each coordinate point in the local coordinate node set to be mapped using the coordinate translation transformation vector, the translated intermediate coordinate node set is obtained.

7. The virtual reality maintenance system for a highly realistic underground cable scenario according to claim 6, characterized in that, Based on the matrix, the BIM model is mapped to the GIS model to generate a virtual-real mapping scene, including: Based on the translated intermediate coordinate node set and coordinate transformation matrix, coordinate mapping operation is performed on the geometric vertex data of building components in the BIM model to obtain the set of absolute geographic coordinates mapped to the geographic coordinate system of the GIS model. Based on the set of absolute geographic coordinates, the spatial location attributes of power compartments, pipe sections and various monitoring equipment inside the BIM model are extracted to obtain a set of equipment entities with geographic spatial attributes. Based on the set of device entities with geospatial attributes and the GIS model of urban terrain, spatial location overlay and semantic attribute linking operations are performed to obtain a virtual-real mapping scene that integrates local high-precision structure and macro-geographic environment.

8. The virtual reality inspection system for a highly realistic underground cable scenario according to claim 7, characterized in that, Based on the translated intermediate coordinate node set and coordinate transformation matrix, coordinate mapping operations are performed on the geometric vertex data of building components in the BIM model to obtain a set of absolute geographic coordinates mapped to the geographic coordinate system of the GIS model, including: Based on the translated intermediate coordinate node set and coordinate transformation matrix, the local coordinate sequence of the geometric vertices of building components in the BIM model is extracted to obtain the vertex coordinate sequence to be mapped. Based on the vertex coordinate sequence to be mapped and the rotation parameters in the coordinate transformation matrix, a spatial rotation operation is performed on the vertex coordinate sequence to align the geometric orientation of the building components with the GIS geographic coordinate system, resulting in a rotated and aligned vertex coordinate sequence. Based on the rotated and aligned vertex coordinate sequence and the translation parameters in the coordinate transformation matrix, a spatial translation operation is performed on the vertex coordinate sequence to transfer the geometric position of the building components to the GIS geographic coordinate system, resulting in the translated vertex coordinate sequence. Based on the vertex coordinate sequence after translation and mapping, the local coordinate values ​​of each vertex are converted into longitude, latitude and elevation values ​​in the geographic coordinate system of the GIS model, thus obtaining the set of absolute geographic coordinates mapped to the geographic coordinate system of the GIS model.

9. The virtual reality maintenance system for a highly realistic underground cable scenario according to claim 8, characterized in that, The shift from processing data independently by a single BIM system to jointly processing BIM facility models and GIS geographic information systems according to coordinate transformation and semantic mapping rules includes: Based on the generated warning command, extract the equipment identifier of the corresponding power compartment and anomaly monitoring equipment, retrieve the absolute geographic coordinates corresponding to the equipment identifier in the virtual-real mapping scene, and obtain the geospatial location point of the anomaly monitoring equipment. Based on the geospatial location of the anomaly monitoring equipment, the corresponding local three-dimensional structural data in the BIM model is retrieved at the level of the internal facilities of the pipe gallery compartment to obtain a high-precision three-dimensional view of the interior, including the layout of pipe sections, pipe racks and monitoring equipment. Based on the geospatial location of the anomaly monitoring equipment, the corresponding surrounding terrain and underground pipeline data in the GIS model are retrieved at the urban geographic level to obtain an external macro-environment view that includes the avoidance relationship of surrounding pipelines and surface buildings. Based on the internal high-precision 3D view and the external macro environment view, the BIM facility model and the GIS geographic information system are spatially overlaid and data fused through coordinate transformation and semantic mapping rules to obtain a multi-scale joint display scene that supports on-site maintenance operations.

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