CN106017436A - Building information modeling (BIM) augmented reality lofting system based on electronic total station and photogrammetric technology - Google Patents
Building information modeling (BIM) augmented reality lofting system based on electronic total station and photogrammetric technology Download PDFInfo
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- CN106017436A CN106017436A CN201610599183.2A CN201610599183A CN106017436A CN 106017436 A CN106017436 A CN 106017436A CN 201610599183 A CN201610599183 A CN 201610599183A CN 106017436 A CN106017436 A CN 106017436A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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Abstract
The invention relates to a measuring technology, and discloses a building information modeling (BIM) augmented reality lofting system based on an electronic total station and a photogrammetric technology. The BIM augmented reality lofting system comprises an augmented reality device, the electronic total station, a positioning device and a to-be-measured marker, wherein the to-be-measured marker or the augmented reality device is fixed with the positioning device; at least four optical identification points are arranged on on the electronic total station; the positioning device comprises a camera; the camera is used for acquiring images of the optical identification points, arranged on the electronic total station, in the camera, calculating the relative attitudes of the optical identification points and the positioning device, and calculating the attitude of the positioning device in an engineering measurement coordinate system according to the relative attitudes of the optical identification points and the positioning device; the electronic total station is used for acquiring coordinates of the positioning device; the augmented reality device is used for calculating the coordinates, elevation and attitude of the to-be-measured marker or the augmented reality device in the engineering measurement coordinate system according to the relative distance and attitude of the to-be-measured marker or the augmented reality device and the positioning device, thus realizing fusion of coordinates.
Description
Technical field
The present invention relates to measurement technology, particularly to one based on total powerstation and photogrammetric technology
BIM augmented reality setting-out system.
Background technology
BIM is the abbreviation of Building Information Modeling, is generally translated
For BIM.BIM is a kind of building Life cycle information system management technology, has
Visualization, harmony, simulation, optimization and five big features of can publishing picture.BIM is a kind of complete
New architectural design, construction, management method, based on three-dimensional digital information technology, will rule
Draw, design, build, the data information in each stage such as operation is integrally incorporated among 3D model,
Allow the staff in any stage in the whole life cycle of building, can when using this model
Effective, correct decision-making is made according to the most complete data.
The threedimensional model of BIM can only call on computer and smart mobile phone at present, and site operation is put
Sample the most still by the dimensioning guiding construction line setting on drawing, causes designer to build
Take a significant amount of time after BIM model and with energy the three-dimensional localization information labeling in BIM model be
Size on two dimension drawing so that the using value of BIM is significantly shunk, and hinders BIM and is building
Build the application of industry.Although Tian Bao company and open up general Kanggong department and have developed special application program and make
The Robot of its brand can survey the three-dimensional coordinate point set out in BIM model, but the most only
Can survey and set out a point, the point released is not directly perceived, needs to indicate each point by labelling；
And each point is discontinuous, when setting complex curve and curved surface for needing to survey, it is necessary to survey and set
Go out substantial amounts of point and could release smooth curve and curved surface.
Total powerstation, i.e. full site type electronic distance meter (Electronic Total Station),
It is to integrate horizontal angle, vertical angle, distance (oblique distance, flat away from), vertical survey function
Instrument of surveying and mapping system.Total powerstation single measurement can only measure the three-dimensional coordinate of a single point, and not
The attitude measuring thing can be measured.
Total powerstation is used to measure the attitude measuring thing, it is necessary to measure and measuring three points on thing
Coordinate, is then convert into measuring the attitude of thing.The attitude accuracy calculated depends on three-dimensional coordinate
Certainty of measurement and these three point between relative distance, if the range accuracy of total powerstation is
2mm, it is ensured that the error of attitude angle is less than 10 seconds, (three some institutes under disadvantageous attitude
The plane determined is perpendicular to total powerstation telescope collimation axis), measure three measurement points on thing any
Distance between two points have to be larger than 41.253 meters.
Augmented reality (Augmented Reality, be called for short AR), is that one calculates in real time and takes the photograph
The position of shadow machine image and angle the technology plus respective image, the target of this technology be
On screen, virtual world it is enclosed within real world and carries out interaction.Augmented reality system is for realizing void
Intend and the perfect adaptation of real scene, the virtual interpolation information that computer produces need to by three-dimensional with
Track registration algorithm keeps accurate aligned relationship with real scene.High-precision augmented reality system
The basic method using computer vision carries out scene Tracing Registration location, is divided into based on mark
Tracing Registration and the nothing mark big class of Tracing Registration two.
Tracing Registration system based on mark is divided into again inside and outside (inside-looking-out, letter
Be written as IO) and outer in (outside-looking-in is abbreviated as OI) two kinds different be
System structure.Wherein I/O system refers to that following the tracks of optical camera is arranged on tracked object, and
Marker is fixed；OI system refers to that following the tracks of optical camera maintains static, and marks
Know thing to be arranged on tracked object.
Utilize natural scene image without mark Tracing Registration system or rebuild model of place (such as SLAM
Technology), according to the target characteristic 2D projection picture obtained in the every frame of video camera, calculate and solve mesh
Mark or the position of video camera and attitude.
In order to make based on IO have mark augmented reality system to obtain enough working ranges and essence
Degree, needs to arrange multiple marker in the scene, these markers appearance in scene coordinate system
State and attitude are both needed to accurately measure, in order to calculate augmented reality video camera at scene coordinate
Coordinate in system and attitude.Each marker need to measure requirement and the total powerstation survey of multiple data
The feature of amount technology makes layout efficiency and the lack accuracy of many markers, have impact on based on IO
Have mark augmented reality popularization.
Based on OI have mark augmented reality system only achieve augmented reality equipment relative to
Follow the tracks of relative displacement and the tracking of attitude angle change of scene；Enhancing without mark Tracing Registration
Reality system can solve augmented reality video camera relative to the relative displacement of natural scene and attitude
Angle changes, but can not be by the characteristic point in natural scene image or in reconstruction model of place
In the camera position attitude that the coordinate registration of engineering survey coordinate system goes out.The most every
A temporary coordinate system is just set up in the registration of secondary location, all fails to calculate augmented reality equipment in work
Journey measures the absolute coordinate in coordinate system and attitude so that the three-dimensional coordinate of model and work in BIM
Journey is measured between coordinate system can not set up corresponding relation, directly affect augmented reality building,
Practice in the industries such as municipal administration and application.
BIM model to be realized, according to engineering survey coordinate system accurate superposition, has a premise: need
Marker to be accurately measured and the augmented reality equipment initial seat under engineering survey coordinate system
Mark and attitude, but not such method in prior art so that site operation setting-out is then
Still by the dimensioning guiding construction line setting on two dimension drawing, this makes designer build
Take a significant amount of time after BIM model and with energy the three-dimensional localization information labeling in BIM model be
Size on two dimension drawing, uses extremely inconvenience.
Summary of the invention
It is an object of the invention to: mark can be accurately measured for prior art does not has one
Know thing and the augmented reality equipment initial coordinate under engineering survey coordinate system and attitude system
Technical problem, the invention discloses a kind of BIM based on total powerstation and photogrammetric technology and strengthens
Reality setting-out system.
The technical solution used in the present invention is such that
The invention discloses a kind of BIM augmented reality based on total powerstation and photogrammetric technology
Setting-out system, it specifically includes augmented reality equipment, total powerstation, positioner and mark to be measured
Thing；Described marker to be measured or augmented reality equipment are fixed with positioner；Described entirely
Stand and at least four optical indicia point is set on instrument；Described positioner includes video camera, described in take the photograph
Camera is for obtaining the optical indicia point arranged on total powerstation imaging in video camera, and calculates
Go out the relative attitude of optical indicia point and positioner, according to optical indicia point and positioner
Relative attitude calculates positioner attitude in engineering survey coordinate system；Described total powerstation is used
In the coordinate obtaining positioner；Augmented reality equipment sets according to marker to be measured or augmented reality
For relative distance and attitude with positioner, calculate marker or the seat of augmented reality equipment
Mark, absolute altitude and attitude, thus realize melting of augmented reality equipment and engineering survey coordinate system coordinate
Close.And then draw the corresponding relation of the BIM model in augmented reality and engineering survey coordinate system.
Further, above-mentioned optical indicia point is four, and four optical indicia points form one
Rectangle.
Further, above-mentioned positioner also includes prism.
Further, above-mentioned positioner, total powerstation and augmented reality equipment pass through wireless network
Network carries out data transmission.
Further, above-mentioned augmented reality equipment is the optical perspective type augmented reality helmet, regards
Frequently the Clairvoyant type augmented reality helmet, panel computer or smart mobile phone.
In sum, owing to have employed technique scheme, the invention has the beneficial effects as follows: real
Show BIM model according to the accurate display in augmented reality system of the engineering survey coordinate system, from
And the object in the position comparison reality scene of dummy model can be utilized, play and measure inspection
Effect, can carry out quick surveying and locating to complex building moulding.Positioner with video camera
For the computational accuracy high (even if in the case of positioner distance total powerstation is far) of attitude,
Augmented reality equipment is made also to can guarantee that certain precision in big range.Pass through total powerstation
With three-dimensional coordinate and the attitude that positioner once-through operation can measure marker, such that it is able to
Efficiently accurately orient a large amount of marker so that based on the augmented reality of (IO) inside and outside mark
Equipment obtains enough working ranges and precision.Versatility is high, is adaptable to various augmented reality
Equipment.In addition to can applying the augmented reality helmet, it is possible to application panel computer and smart mobile phone
Realize augmented reality.Easily realize from design, construction, management to final acceptance of construction and O&M pipe
The comprehensive application such as reason, indoor navigation.The model space data in BIM can be made comprehensive, high
Effect is mapped to scene, it is ensured that the high efficiency of construction and accuracy, for the with no paper creation of design
Condition.Make measurement work eliminate substantial amounts of Manual operation link, measure process automation journey
Degree and intuitively spend height, it is to avoid the probability of mistake occur in conventional measurement techniques manual record data.
Accompanying drawing explanation
Fig. 1 is a kind of BIM augmented reality setting-out system based on total powerstation and photogrammetric technology
Structural representation.
Fig. 2 is attitude measurement schematic diagram based on end point.
Fig. 3 is the augmented reality setting-out system with tracking camera.
Fig. 4 is structural representation based on " without the augmented reality setting-out system of mark ".
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with
Embodiment, is further elaborated to the present invention.Should be appreciated that tool described herein
Body embodiment only in order to explain the present invention, is not intended to limit the present invention.
Embodiment 1
As it is shown in figure 1, a kind of BIM augmented reality based on total powerstation and photogrammetric technology is put
Sample system, including total powerstation 1, positioner 2, augmented reality equipment 3 and marker 4.
Arranging four optical indicia points 5 on total powerstation, these 4 constitute a rectangle.Positioner bag
Include prism 6 and video camera 7.The function of prism 6 emits for reflection total powerstation distance-measuring equipment
Range finding infrared light or laser, the total powerstation certainly having need not prism 6.
When marker is carried out initial coordinate and attitude orientation, positioner and marker are tight
The relative coordinate with both guarantees that is connected and attitude are constant.As long as and then making to obtain positioner
Attitude and coordinate just can calculate attitude and the coordinate of marker according to relative position relation.
Positioner passes through the imaging of video camera 7 according on total powerstation four optical indicia points 5
Calculate the attitude in positioner engineering survey coordinate system.
Fig. 2 show attitude measurement schematic diagram based on end point.
Video camera 7 uses national forest park in Xiaokeng, and camera coordinate system is set up at optical axis center,
Its Z axis is parallel with optical axis center direction, and video camera to scenery direction is positive direction, its X-axis side
Direction is increased along level to taking image coordinate.P4 point at rectangle sets up world coordinates for initial point
System, its X-axis is parallel with the two of rectangle limits respectively with Y-axis, and Z axis is perpendicular to rectangular target institute
Plane.
In figure, P4 is the initial point of world coordinate system, P4 to P3 direction be world coordinate system
X-axis, the direction of P4 to P1 is the Y-axis of world coordinate system.P1-P4 is on imaging plane
Imaging point be respectively Pi1-Pi4, the end point of parallel lines P1P2 and P4P3 is designated as Pv1,
The end point of parallel lines P4P1 and P3P2 is designated as the Pv2. image coordinate by a P1-P4, can
To calculate the image coordinate of end point Pv1 and Pv2.By the image coordinate of Pv1 and Pv2,
Its imaging point P1v1 and P1v2 being normalized into image plane at the focal length of video camera can be calculated
Coordinate.
End point Pv1 is normalized into the coordinate of the imaging point of image plane at focal length, is that Pv1 exists
The position vector of camera coordinate system, is again the durection component of the X-axis of world coordinate system.Equally,
Y-axis is also such.World coordinates can be obtained after normalization tie up in camera coordinate system
X-axis and the component of Y-axis, and then calculate the component of Z axis.
Above-mentioned three sections is attitude measurement principle based on end point, and this principle is existing basic thing
Reason principle, may refer to " robot vision is measured and controls ", is not belonging to the technology of the present invention
Improving, the present invention is only the application of this principle.Therefore, this is not further spread out retouch
State.
The measurement data of total powerstation 1 and positioner 2 can pass through wireless network (such as 2.4G
Wireless network) be transferred on augmented reality equipment 3.Augmented reality equipment 3 is according to total powerstation
The pendulum website of 1 and backsight point coordinate in engineering survey coordinate system and absolute altitude (the two data
For previously known), the horizontal angle of total powerstation 1, vertical angle, the reading of electromagnetic positioning instrument and
The attitude of positioner 2 derives coordinate and the attitude of marker 4.And general total powerstation is only
Coordinate can be obtained, but only coordinate is inadequate, have the attitude data of positioner just can enter
Row-coordinate is changed, thus obtains the coordinate in engineering survey coordinate system and the attitude of marker.
Augmented reality equipment 3 according to the coordinate of marker 4 and attitude can calculate oneself
Real-time three-dimensional coordinate in engineering survey coordinate system and attitude, thus realize BIM model and strengthening
Accurate corresponding relation in reality system.With photographic head on augmented reality equipment, augmented reality
Technology can calculate enhancing now according to marker in the imaging of the photographic head of augmented reality equipment
The coordinate of real photographic head and attitude.
Total powerstation 1 and positioner 2 can realize once-through operation can measure marker 4
Three-dimensional coordinate and attitude, such that it is able to efficiently accurately orient substantial amounts of marker 4 so that
Enough working ranges and precision is obtained based on the augmented reality equipment 3 of (IO) inside and outside mark.
Embodiment 2
As it is shown on figure 3, a kind of BIM augmented reality based on total powerstation and photogrammetric technology is put
Sample system, including total powerstation 1, positioner 2, augmented reality equipment 3, tracking camera
8 (describe above outer in OI follow the tracks of system, this is the concrete form of this system, follows the tracks of light
Video camera maintains static, and marker is arranged on tracked object).Four are arranged on total powerstation
Individual optical indicia point 5, these 4 constitute a rectangle.Positioner includes prism 6 and shooting
Machine 7.
Positioner 2 and increasing when augmented reality equipment being carried out initial coordinate and attitude orientation
Strong real world devices 3 is closely coupled with the relative coordinate both ensureing and attitude by fixing device
Constant.
Positioner 2 according to four optical indicia points 5 on total powerstation 1 in its video camera 7
Imaging calculate positioner three-dimensional coordinate in engineering survey coordinate system and attitude, entirely stand
The measurement data of instrument 1 and positioner 2 is passed by wireless network (such as 2.4G wireless network)
It is passed on augmented reality equipment 3.The software installed in augmented reality equipment 3 is according to total powerstation 1
Pendulum website and backsight point coordinate in engineering survey coordinate system and absolute altitude, by total powerstation 1
The attitude of horizontal angle, vertical angle, the reading of electromagnetic positioning instrument and positioner 2 derives increasing
The initial coordinate of strong real world devices 3 and attitude.Then tracking camera is utilized to shoot real world devices
The identification point of 3, thus calculate the coordinate of augmented reality equipment 3 and the increment change number of attitude
According to, derive the augmented reality equipment 3 real-time absolute coordinate in engineering survey coordinate system and appearance
State.Thus calculate the BIM model real-time corresponding relation in augmented reality system.Form one
The measurement system of individual flexibility.
Tracking camera is alternatively the tracking equipment such as laser tracker or Lighthouse, location
The function of the video camera in device is possible with virtual implementing helmet, panel computer and intelligence hands
The video camera of machine realizes.(there is the tracking equipment of similar Lighthouse in the market,
Through being applied to the location of the virtual helmet of HTC VIVE.Camera Positioning is the virtual of Facebook
The location technology of helmet Oculus.)
Embodiment 3
As it is shown on figure 3, a kind of BIM augmented reality based on total powerstation and photogrammetric technology is put
The another one of sample system implements structure, and it includes total powerstation 1, positioner 2, strengthens now
Real equipment 3.Arranging four optical indicia points 5 on total powerstation, these 4 constitute a rectangle.
Positioner includes prism 6 and video camera 7.
The augmented reality equipment 3 initial coordinate in engineering survey coordinate and the realization side of attitude
Method is with example 2.Augmented reality equipment 3 utilizes natural scene without mark Tracing Registration system
Picture or reconstruction model of place (such as SLAM technology), special according to the target obtained in the every frame of video camera
Levy 2D projection picture, calculate the coordinate of augmented reality equipment 3 and the increment change number of attitude
According to, thus derive the augmented reality equipment 3 real-time absolute coordinate in engineering survey coordinate system
And attitude, draw the BIM model real-time corresponding relation in augmented reality system.Form one
Flexible measurement system.
Example 1 is the augmented reality system of tape identification, and example 2 is the outer interior OI of not tape identification
Follow the tracks of augmented reality system.Prism in above-mentioned 2 embodiments all can use total powerstation reflector plate generation
Replace.
If total powerstation is non-prism type, it is possible to without the reflector plate on positioner, but measure
Distance and precision reduce accordingly.
On total powerstation, four optical indicia points both can be that self luminous point-like infrared light supply also may be used
To be the sphere of reflection infrared light, sphere is illuminated by the infrared light supply on positioner.
Also can on total powerstation five, set-point optical indicia point (as long as wherein any four mark
Point can not conllinear), need to accurately measure these five optical indicia points in theodolite coordinate system
Coordinate, the attitude of positioner can be calculated.
The process that implements of the present invention:
Step one, setting up total powerstation and rearscope in two coordinate points respectively, total powerstation shines
Quasi-rearscope, is simultaneously entered the coordinate figure of two coordinate points, absolute altitude and prism height, total powerstation
Highly；
Step 2, total powerstation aligning positioning device prism centers are also found range, and calculate with total powerstation
The coordinate of prism and absolute altitude；
Total powerstation is imaged, according to the optics on total powerstation by step 3, the video camera of positioner
The imaging of identification point calculates the attitude relative to total powerstation of positioner, because of the appearance of total powerstation
State is it is known that positioner attitude in engineering coordinate system can be derived；
Step 4, according to the relative distance of marker or augmented reality equipment and positioner and appearance
State, calculates marker or the coordinate of augmented reality equipment, absolute altitude and attitude.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention,
All any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention,
Should be included within the scope of the present invention.
Claims (5)
1. a BIM augmented reality setting-out system based on total powerstation and photogrammetric technology, it is characterised in that specifically include augmented reality equipment, total powerstation, positioner and marker to be measured；Described marker to be measured or augmented reality equipment are fixed with positioner；At least four optical indicia point is set on described total powerstation；Described positioner includes video camera, described video camera is for obtaining the optical indicia point arranged on total powerstation imaging in video camera, and calculate the relative attitude of optical indicia point and positioner, calculate positioner attitude in engineering survey coordinate system according to the relative attitude of optical indicia point Yu positioner；Described total powerstation is for obtaining the coordinate of positioner；Augmented reality equipment is according to marker to be measured or augmented reality equipment and the relative distance of positioner and attitude, calculate marker or augmented reality equipment coordinate, absolute altitude and the attitude in engineering survey coordinate system, thus realize the fusion of augmented reality equipment and engineering survey coordinate system coordinate.
2. BIM augmented reality setting-out system based on total powerstation and photogrammetric technology as claimed in claim 1, it is characterised in that described optical indicia point is four, four optical indicia points form a rectangle.
3. BIM augmented reality setting-out system based on total powerstation and photogrammetric technology as claimed in claim 1, it is characterised in that described positioner also includes prism.
4. BIM augmented reality setting-out system based on total powerstation and photogrammetric technology as claimed in claim 1, it is characterised in that described above-mentioned positioner, total powerstation and augmented reality equipment are carried out data transmission by wireless network.
5. BIM augmented reality setting-out system based on total powerstation and photogrammetric technology as claimed in claim 1, it is characterised in that described augmented reality equipment is the optical perspective type augmented reality helmet, the video perspective type augmented reality helmet, panel computer or smart mobile phone.
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