CN117688706A - Wiring design method and system based on visual guidance - Google Patents
Wiring design method and system based on visual guidance Download PDFInfo
- Publication number
- CN117688706A CN117688706A CN202410130040.1A CN202410130040A CN117688706A CN 117688706 A CN117688706 A CN 117688706A CN 202410130040 A CN202410130040 A CN 202410130040A CN 117688706 A CN117688706 A CN 117688706A
- Authority
- CN
- China
- Prior art keywords
- cable
- real
- virtual
- wiring
- model
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 115
- 238000013461 design Methods 0.000 title claims abstract description 60
- 230000000007 visual effect Effects 0.000 title claims abstract description 52
- 230000003190 augmentative effect Effects 0.000 claims abstract description 52
- 238000001514 detection method Methods 0.000 claims abstract description 44
- 230000008569 process Effects 0.000 claims abstract description 39
- 238000012544 monitoring process Methods 0.000 claims abstract description 25
- 230000004927 fusion Effects 0.000 claims abstract description 14
- 239000002245 particle Substances 0.000 claims description 45
- 230000014509 gene expression Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 8
- 238000010276 construction Methods 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 6
- 238000000547 structure data Methods 0.000 claims description 6
- 230000010354 integration Effects 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000004422 calculation algorithm Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000009795 derivation Methods 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 238000012634 optical imaging Methods 0.000 claims description 3
- 239000004576 sand Substances 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 8
- 238000012938 design process Methods 0.000 abstract description 3
- 239000003550 marker Substances 0.000 description 5
- 238000004088 simulation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012800 visualization Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Processing Or Creating Images (AREA)
Abstract
The invention belongs to the technical field of augmented reality technology application, and discloses a wiring design method and system based on visual guidance. The design system comprises a visual monitoring module, an augmented reality module, a virtual-real fusion module, a cable modeling module, a wiring pen and a dynamic collision detection module. The invention designs a method for constructing an augmented reality scene, a method for realizing cable wiring design through a wiring pen, a cable modeling method updated in real time and a dynamic collision detection method. The invention is suitable for the wiring design stage, and the error rate of the wiring process is reduced by carrying out unified standardized management on the wiring design process; the cable model has high accuracy, and the collision detection method has high detection accuracy, so that the wiring quality is obviously improved; and the design process has real-time performance and intuitiveness matched with real parts, reduces the wiring design level and experience requirements of a user on complex electromechanical equipment, and saves wiring design time.
Description
Technical Field
The invention belongs to the technical field of augmented reality technology application, and particularly relates to a wiring design method and system based on visual guidance.
Background
With the development of various intelligent devices and the progress of technology, the number of cables in rail traffic equipment, aerospace, automobiles and other devices is continuously increased, and the complexity of assembly directly affects the production time, cost and quality of products. How to improve the wiring efficiency and the wiring quality of the product from the aspects of wiring design method, wiring means and the like, and to uniformly normalize the wiring process is a problem to be solved at present.
In the prior art, CAD software is adopted to carry out planar wiring design, but only planar layout can be designed, and bending and torsion of cables cannot be well simulated; there are special virtual environment three-dimensional wiring and simulation software such as CATIA, inventor, but the cable is replaced by a spline curve, so that the cable cannot be accurately simulated, the design is complicated, the requirements on design personnel are high, the cable cannot be operated in real time, and the cable cannot be freely adjusted according to products.
The digital twin is to fully utilize data such as a physical model, sensor update, operation history and the like, integrate simulation processes of multiple disciplines, multiple physical quantities, multiple scales and multiple probabilities, and complete mapping in a virtual space, thereby reflecting the full life cycle process of corresponding entity equipment. In the prior art, the augmented reality technology is proposed to be applied to the wiring field, and most of the augmented reality technology is used for fusing virtual cable information on line with real scene information, so that the virtual cable information can be checked in real time through the optical perspective display equipment, and convenience of checking a given wiring design scheme when an operator lays a cable is improved. According to the satellite cable laying guiding system and method based on augmented reality with the application number 201810420281.4, an augmented reality technology is applied, real cable laying environments are combined with designed wiring processes, so that operators can conduct wiring operation according to a given wiring scheme more intuitively under the condition that the number and trend of cables facing different cable laying objects are huge, the laying position space is narrow, and the operation working condition is complex, and the difficulty of actual wiring of the cables is reduced. In the existing method, a cable model is built, but the simulation precision of the cable model is generally low. The method mainly aims at solving the problem that operators can conveniently check the established design scheme in the actual cable laying stage, and cannot solve the problem in the cable wiring design stage.
Therefore, it is necessary to design a wiring design method for a designer aiming at the complex wiring environment, so that the design of a real-time wiring path in a real part environment can be realized, and the design level requirement of the designer is reduced.
Disclosure of Invention
In order to solve the problems, the invention provides a wiring design system based on visual guidance, which has good visualization and high simulation precision, reduces the design level and experience requirements of users, saves wiring design time, and is convenient for unified standardized management of wiring processes.
A wiring design method based on visual guidance, the method comprising the steps of:
s1, constructing a wiring system based on visual guidance; the system comprises a visual monitoring module, an augmented reality module, a virtual-real fusion module, a cable modeling module, a wiring pen and a dynamic collision detection module; the visual monitoring module is used for acquiring position data of a real part to be wired and constructing a real world position coordinate; the augmented reality module is used for constructing a virtual space coordinate system and determining the relative position relation between the virtual space coordinate system and the real part in real time; the virtual-real fusion module is used for superposing the virtual scene and the real part; the cable modeling module performs real-time physical modeling on the cable to generate a virtual cable model, and changes the shape of the virtual cable in real time according to real-time position information of the wiring pen and gesture information of a user; the wiring pen is used for enabling a user to send out a wiring command through a specified gesture to operate the virtual cable; the dynamic collision detection module is used for carrying out dynamic collision detection between the virtual cable model and the real part in real time in the wiring process;
constructing a wiring augmented reality scene through a wiring system based on visual guidance and outputting the scene to a display device; the construction of the wiring augmented reality scene specifically comprises the following steps:
s11, acquiring coordinates of a wiring workbench based on machine vision, and constructing a global coordinate system of a real world by taking the center of the wiring workbench as an origin;
s12, determining the positions of real parts to be wired and a wiring pen through identification of the markers;
s13, performing virtual-real registration, including real part registration, virtual part registration and wiring pen registration, so as to determine the relation among the coordinate systems, and calculating a transformation matrix among the coordinate systems;
s14, overlapping virtual and real scenes, and sending the generated augmented reality scenes to interactive display equipment;
s2, receiving a wiring action instruction, and generating a virtual cable model in a virtual scene; the virtual cable model generation method comprises the following steps: describing the configuration of the cable by adopting a Cosseat model, establishing a discrete particle model of the cable according to a finite element thought, and deducing a dynamic equation of the cable according to Newton's law of motion and Euler's dynamic theorem; deriving a solving method and an expression of various discrete forces through an energy principle; the semi-implicit iterative Euler integration method solves the dynamic equation of the cable;
s3, superposing the virtual cable model with the real world in real time;
s4, selecting a virtual cable model to perform wiring path design operation by identifying user specified gestures and positioning a wiring pen, and generating a virtual cable;
s5, collision detection between the virtual cable and the real part is carried out in real time in the wiring process.
Further, the method for generating the virtual cable model in step S2 specifically includes:
describing the configuration of the cable using the coserat model, the configuration at any time t is expressed as the position of each point on the centerline SAnd a direction coordinate system->Using the reach vector to represent the degree of bending deformation and torsional deformation of the cable model, wherein +.>Three coordinate axes of the direction coordinate system are respectively; using Frenet coordinate system, note that the unit tangent vector, normal vector and sub-normal vector of the center line S at the section are +.>、/>And->The method comprises the steps of carrying out a first treatment on the surface of the Main axis coordinate System>Unit tangent vector of axis and Frenet coordinate system +.>Overlap with each other and add->Is->And->Or (b)And->The included angle between the two, namely the torsion angle of the direction coordinate system relative to the Frenet coordinate system; the configuration of the cable model is defined by the position +.>And (c) angle->To determine;
according to the finite element concept, the centerline S of the cable model is discretized into n ordered particles, each particleThe position in three-dimensional space is denoted +.>The method comprises the steps of carrying out a first treatment on the surface of the A direction coordinate system is associated with each particle>By discrete expression of +.>、/>And->An angle +.>Calculating the direction coordinate system +.>；
According to Newton's law of motion and Euler's kinetic equation, after the cable model is discretized, the pose of the cable model at any moment is obtained by solving the following ordinary differential equation set:
in the method, in the process of the invention,indicate quality, & lt>Representing the second derivative of position r->Indicates external force (or->Representing internal force->Is a cross-sectional winding->Moment of inertia of the shaft>Indicating the included angle->Is of the order of->Representing edge->The magnitude of the external moment in the direction +.>Representing edge->The magnitude of the internal moment in the direction;
by an energy functionDerivation of the partial derivative of the generalized coordinate vector q, discrete forces associated with this energy +.>Including tensile strain, flexural deformation, geometric torsion, material torsion, dissipative force, and gravitational force;
finally, after the second derivative of the position is obtainedSecond derivative of sum angle->After the solution of (2), the position and direction coordinate system is updated by a semi-implicit Euler method.
Further, in the step S4, the wiring design operation includes:
in the virtual-real fusion scene, a wiring pen is close to a virtual cable model and is bound with the starting point of the virtual cable model through a specific gesture;
after the virtual cable reaches the appointed position on the real part by controlling the movement of the wiring pen, fixing the starting point of the virtual cable model at the appointed position of the user through a specific gesture;
then releasing the connection between the wiring pen and the virtual cable starting point;
when the wiring pen is controlled to move to adjust the position and the shape of the middle section cable model, calculating coordinate values of the wiring pen nib under a virtual space coordinate system and distances between the wiring pen nib and the ith particle in real time, and binding the wiring pen nib and the ith particle in the middle of the cable through gestures when the distances are smaller than or equal to a set distance threshold; calculating coordinate values of a pen point in real time through a mobile wiring pen, calculating external force of the point caused by position change, calculating force on discrete particles in a virtual cable modeling environment, solving a new position of the particles according to a dynamic equation of a cable model, and updating the shape of the cable; when a proper shape is obtained, fixing the position of the i point through gesture application and fixing constraint, and releasing the connection between the pen point of the wiring pen and the i-th particle of the cable model; and finally, after the middle section of the cable model is adjusted, the movable wiring pen is close to the end position of the cable model and is bound with the end position, the end position is moved to the appointed position of the real part, the gesture is used for fixing, and the connection between the wiring pen and the end position of the cable is released after the completion.
Further, in the step S13, a real part model is adopted for real part registration, the real part model is from a real part modeling environment in a virtual-real hybrid model, the real part model is position data and structure data of a real part obtained when the real part modeling environment in a collision detection module is initialized through a visual monitoring module, and a local coordinate system of a part to be assembled is constructed, and a three-dimensional model of the real part is reconstructed in a three-dimensional manner; the virtual cable model in the virtual part registration is from a virtual cable modeling environment in the virtual-real hybrid model; the routing pen registers images using the routing pen.
Further, in the step S14, in the process of overlapping virtual and real scenes, a depth map-based method is adopted to solve the problem of virtual and real occlusion in the overlapping process; and judging the depth relation of corresponding pixels in the virtual scene and the real scene video point by taking the depth map as an index, overlapping the depth relation to each other, generating an augmented reality scene conforming to an optical imaging rule, transmitting the generated augmented reality scene to display equipment interacted with a user, and displaying the augmented reality scene to the user through the display equipment.
Further, in step S5, the collision detection includes: before the virtual scene is fused to the real scene, three-dimensionally reconstructing a three-dimensional model of the real part in the real part modeling environment in advance, and creating a hierarchical bounding box; when the three-dimensional model of the real part with the layered bounding box is superimposed on the real part during real part registration, and a user interactively designs the shape of the cable in an augmented reality scene, the layered bounding box of the virtual cable model is built in real time through a layered bounding box building algorithm based on discrete particles, and collision contact between the virtual cable and the outside or between the virtual cable and the real part is processed by adopting a contact processing mechanism based on the discrete particles of the flexible cable model, so that collision detection of the virtual cable and the real part is realized.
Another object of the present invention is to provide a wiring system based on visual guidance, applied to the above wiring design method, the system comprising:
the visual monitoring module is used for acquiring position data of the real part to be wired and constructing a real world position coordinate;
the augmented reality module is used for constructing a virtual space coordinate system and determining the relative position relation between the virtual space coordinate system and the real part in real time;
the virtual-real fusion module is used for superposing the virtual scene and the real part;
the cable modeling module is used for carrying out real-time physical modeling on the cable, generating a virtual cable model, and changing the shape of the virtual cable in real time according to the real-time position information of the wiring pen and the gesture information of the user; in the cable modeling module, a Cosserat model is adopted to describe the configuration of a cable: according to the finite element thought, a discrete particle model of the cable is established, and a dynamic equation of the cable is deduced according to Newton's law of motion and the Euler's dynamic theorem; deriving a solving method and an expression of various discrete forces through an energy principle; finally, solving a dynamic equation of the cable by adopting a semi-implicit iterative Euler integration method;
the wiring pen is used for enabling a user to send out a wiring command through a specified gesture to operate the virtual cable;
and the dynamic collision detection module is used for carrying out dynamic collision detection between the virtual cable model and the real part in real time in the wiring process.
Further, the visual monitoring module comprises cameras uniformly distributed on a workbench for placing real parts of the cable to be assembled, and the cameras are used for acquiring current real-world position data; the visual monitoring module takes the center of the workbench as the origin of the global coordinate system, acquires the position data and the structure data of the real part through the two-dimensional code on the real part, constructs the local coordinate system of the real part, and sends the data to the dynamic collision detection module; and acquiring real-time position information of the wiring pen and sending the real-time position information to the cable modeling module.
Further, the dynamic collision detection module analyzes the contact characteristics between different types of objects by constructing a hierarchical bounding box of a three-dimensional model of the virtual cable and the real part, and processes collision contact between the virtual cable and the outside or between the virtual cable and the real part based on a contact processing mechanism of discrete particles of the flexible cable model so as to realize collision detection of the virtual cable and the real part.
Further, before the virtual scene is fused to the real scene, three-dimensional models of the real parts are reconstructed in advance in the real part modeling environment, and a hierarchical bounding box is created; when registering a real part, superposing a real part three-dimensional model with a hierarchical bounding box on the real part, and when a user interactively designs the shape of a cable in an augmented reality scene, constructing the hierarchical bounding box of the cable model in real time; the axisymmetric surrounding body is used for dynamic real-time collision detection between the cable model and the real part.
Compared with the prior art, one or more of the technical schemes can achieve at least one of the following beneficial effects:
the invention provides a wiring design system and a wiring design method based on visual guidance, comprising a method for constructing an augmented reality scene, a method for realizing a cable wiring process through a wiring pen, a cable modeling method updated in real time and a dynamic collision detection method. Real-time virtual wiring of the wiring pen on the real part is realized by a method for constructing an augmented reality scene; the wiring process is uniformly and normalized managed, so that the error rate of the wiring process is reduced; meanwhile, the cable model has high accuracy, and the collision detection method has high detection accuracy, so that the wiring quality is obviously improved. The invention is suitable for wiring design stage, so that the design process has real-time performance and intuitiveness matched with real parts, reduces the wiring design level and experience requirements of designers on complex electromechanical equipment, and saves wiring design time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a wiring design system based on visual guidance according to embodiment 1.
Fig. 2 is a schematic diagram of an augmented reality scene construction workflow according to embodiment 1.
Fig. 3 is a schematic structural view of the wiring pen of embodiment 1.
Fig. 4 is a schematic flow chart of a wiring design method based on visual guidance in embodiment 1.
Fig. 5 is a schematic diagram of the wiring process workflow of example 1.
Reference numerals: 1. a camera; 2. a work table; 3. a real part; 4. a virtual cable; vr glasses; 6. a wiring pen; 7. a computer; 8. a miniature camera; 9. a positioning block; 10. a pen point.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The embodiment provides a wiring design system based on visual guidance, which comprises a visual monitoring module, an augmented reality module, a virtual-real fusion module, a cable modeling module and a dynamic collision detection module.
As a specific embodiment, as shown in fig. 1, the vision monitoring module is used for obtaining current real world position data, and in the specific embodiment, the vision monitoring module may be cameras 1 uniformly distributed on a workbench 2 on which real parts 3 of a cable to be assembled are placed; the augmented reality module is used for constructing a virtual space coordinate system and determining the relative position relationship between the virtual coordinate system and the real world in real time; the virtual-real fusion module is used for superposing the virtual scene with the real world; the cable modeling module generates a virtual cable model and changes the cable shape in real time; a routing pen 6, a user issues a routing command by a specified gesture to operate the cable to generate a virtual cable 4; and the dynamic collision detection module is used for carrying out dynamic collision detection between the virtual cable model and the real part in real time in the wiring process. In particular implementations, the operations and storage of information are performed by the computer 7 and displayed by a smart wearable display device such as VR glasses 5.
The respective modules are described below.
1. Visual monitoring module
The visual monitoring module takes the center of a workbench 2 for placing a real part 3 of a cable to be assembled as an origin of a global coordinate system, acquires position data and structure data of the real part through a marker two-dimensional code on the real part 3, constructs a local coordinate system of the real part 3 of the cable to be assembled, and provides the data to the dynamic collision detection module; and acquiring real-time position information and operator gesture information of the wiring pen 6, determining the current position information of the wiring pen 6 and the position information of the wiring pen nib 10 mainly through two-dimensional codes on four planes of the positioning block 9 on the wiring pen 6, and sending the information to the cable modeling module.
2. Augmented reality module and virtual-real fusion module
The augmented reality module mainly builds a virtual space coordinate system and determines the relative position relation between the virtual space coordinate system and the real world in real time; the virtual-real fusion module mainly superimposes the virtual scene and the real world, and the augmented reality module and the virtual-real fusion module cooperate together to complete the construction of the augmented reality scene.
Referring to fig. 2, the augmented reality scene construction method of the wiring design system is as follows:
the coordinates of the workbench are determined through the current real-world scene position data acquired by four cameras uniformly distributed on the workbench, and a real-world global coordinate system is constructed by taking the center of the workbench as an origin. The position of the real part and the position of the wiring pen are then determined through marker identification. In this embodiment, a marker registration technology based on a visual tracking technology is adopted, so in order to ensure accuracy and stability of system identification, the selected markers must ensure: the markers are easy to collect and rapidly identify by the camera; and there is no ambiguity in the identification of the orientation after the marker is rotated. The two-dimensional code which is obvious in comparison and easy to identify is used as a marker in the embodiment.
And performing virtual-real registration, wherein the virtual-real registration comprises real part registration, virtual part registration and wiring pen registration, and the virtual-real registration is used for determining the relation among the coordinate systems and calculating a transformation matrix among the coordinate systems.
The real part image in the real part registration is acquired by a visual monitoring module, the real part model is from a real part modeling environment in the virtual-real mixed model, the real part model is position data and structure data of a real part obtained when the real part modeling environment in the collision detection module is initialized by the visual monitoring module, and a local coordinate system of the part to be assembled is constructed and a three-dimensional model of the real part is reconstructed in a three-dimensional mode. The virtual cable model in the virtual part registration is from a virtual cable modeling environment in the virtual-real hybrid model, and the virtual cable model carries out real-time physical modeling on the cable by a discrete coservat model-based method. When the wiring pen is registered, the image of the wiring pen comes from a visual monitoring module, the visual monitoring module determines the position of the wiring pen by identifying different two-dimensional codes on four surfaces of a positioning block of the wiring pen, and meanwhile, the position information of the virtual-real mixed model is sent to the wiring pen through a database, so that the position of the virtual-real mixed model is determined.
And (3) overlapping virtual and real scenes after registration is completed, wherein in the virtual and real overlapping process, the embodiment adopts a depth map-based method to solve the problem of virtual and real shielding in the overlapping process. Specifically, the depth map is used as an index to judge the depth relation of corresponding pixels in the virtual scene and the real scene video point by point and are mutually overlapped, an augmented reality scene conforming to an optical imaging rule is generated, and the generated augmented reality scene is sent to a display device interacted with a user and is displayed to the user through the display device.
3. Cable modeling module
The cable modeling module performs real-time physical modeling on the cable by adopting a method based on a discrete coserat model. Specifically, the configuration of the cable is described by adopting a Cosseat model, a discrete particle model of the cable is established according to the finite element thought, and a dynamic equation of the cable is deduced according to Newton's law of motion and the Euler's theorem of dynamics. Next, various discrete force solving methods and expressions are derived by energy principles. And finally solving a dynamic equation of the cable by adopting a semi-implicit iterative Euler integral method. The method can simulate the bending deformation and the torsional deformation of the cable very vividly, has very high calculation efficiency, and can well meet the requirement of an augmented reality wiring design system on real-time performance.
Describing the configuration of the cable using the coserat model, the configuration at any time t is expressed as the position of each point on the centerline SAnd a direction coordinate system->Wherein the degree of bending deformation and torsional deformation of the cable model is represented using the reach vector,/->Three coordinate axes of the direction coordinate system are respectively; using Frenet coordinate system, note that the unit tangent vector, normal vector and sub-normal vector of the center line S at the section are +.>、/>And->The method comprises the steps of carrying out a first treatment on the surface of the Main axis coordinate System>Unit tangent vector of axis and Frenet coordinate system +.>Overlap with each other and add->Is->And->Or (b)And->The included angle between the two, namely the torsion angle of the direction coordinate system relative to the Frenet coordinate system; the configuration of the cable model is defined by the position +.>And (c) angle->To determine;
according to the finite element concept, the centerline S of the cable model is discretized into n ordered particles, each particleThe position in three-dimensional space is denoted +.>. To express the direction of the cross-section of the cross-center line, a direction coordinate system +/is associated with each particle>By discrete expression of +.>、/>And->An angle +.>Calculating the direction coordinate system +.>The method can reduce the number of model parameters, and can effectively treat the physical phenomena of material torsion and geometric torsion of the cable model relative to a spring mass point system and a pure geometric method.
According to Newton's law of motion and Euler's kinetic equation, after the cable model is discretized, the pose of the cable model at any moment can be obtained by solving the following ordinary differential equation set:
in the method, in the process of the invention,indicate quality, & lt>Representing the second derivative of position r->Indicates external force (or->Representing internal force->Is a cross-sectional winding->Moment of inertia of the shaft>Indicating the included angle->Is of the order of->Representing edge->The magnitude of the external moment in the direction +.>Representing edge->The magnitude of the directional internal torque.
By an energy functionDerivation of the partial derivative of the generalized coordinate vector q, discrete forces associated with this energy +.>Including tensile strain, flexural deformation, geometric torsion, material torsion, dissipative force, and gravitational force.
Energy of tensile strainThe equation is as follows:
in the method, in the process of the invention,for tensile stiffness, li is the distance between two particles before deformation, tensile stiffness +.>Can be obtained by multiplying the elastic modulus E and the cross-sectional area A of the material;
bending energyThe equation is:
in the method, in the process of the invention,for flexural rigidity, li is the distance before deformation of the two particles.
Geometric torsional energyThe equation is:
in the method, in the process of the invention,for torsional rigidity, li is the distance before deformation of the two particles, +.>For the sub-normal vector of the i point, the calculation formula is as follows:
material torsional energyThe equation is:
in the method, in the process of the invention,for torsional rigidity, li is the distance before deformation of the two particles, +.>For the relative torsion angle of the cross section of point i and the cross section of point i+1, +.>The relative torsion angle of the cross section of the point i and the cross section of the point i-1.
By analysis of the torsion of the material, the torque applied to the cross section of particle i due to the torsion of the material was:
the energy of the dissipation force is divided into a translational motion energy and a rotational motion energy, wherein the translational motion energy dissipatesThe method comprises the following steps:
in the method, in the process of the invention,is the coefficient of sliding friction; vi is the velocity of particle i.
Rotational dissipated energyThe method comprises the following steps:
in the method, in the process of the invention,is the coefficient of rotational friction; />Is the angular velocity of particle i, wherein the damping moment experienced by the point i due to rotation is +.>The method can be obtained as follows:
gravity energyEquation is
Finally, after the second derivative of the position is obtainedSecond derivative of sum angle->After the solution of (2), the position and direction coordinate system is updated by a semi-implicit Euler method.
4. Wiring pen
The routing pen 6 is used for a user to send out a routing command through a specified gesture and control the position of the pen nib 10 to operate the virtual cable. The user uses the handheld wiring pen 6 to wire in real time in the augmented reality scene, so that the visibility is good. The position information of the wiring pen 6 is determined by a visual monitoring module acquiring the two-dimensional code on the positioning block 9 on the wiring pen. As a specific embodiment, as shown in fig. 3, the user gesture may be recognized by the micro camera 8 provided on the wiring pen 6. Of course, it is understood that gestures may also be commonly recognized by the visual monitoring module.
5. Dynamic collision detection module
Before the virtual scene is fused to the real scene, three-dimensional models of the real parts are reconstructed in advance in the real part modeling environment, a hierarchical bounding box is created, when the real parts are registered, the real part three-dimensional models with the hierarchical bounding box are overlaid on the real parts, and when a user interactively designs the shape of a cable in the augmented reality scene, the axisymmetric bounding box is adopted for dynamic real-time collision detection between the cable models and the real parts; the method comprises the steps of constructing a hierarchical bounding box of a virtual cable model in real time through a discrete particle-based hierarchical bounding box construction algorithm, analyzing the contact characteristics among different types of objects, and adopting a flexible cable model discrete particle-based contact processing mechanism to process collision contact between the virtual cable and the outside or between the virtual cable and the real part so as to realize collision detection of the virtual cable and the real part.
In this alternative, collision detection of the virtual cable with the real part can be transformed into collision detection between the virtual cable and the virtual three-dimensional model.
As shown in fig. 4, the present embodiment provides a wiring design method based on visual guidance, including the steps of:
s1, constructing the wiring design system based on visual guidance; constructing a wiring augmented reality scene and outputting the wiring augmented reality scene to a display device; the construction of the wiring augmented reality scene specifically comprises the following steps:
s11, acquiring real-world position data based on machine vision, and constructing real-world position coordinates: determining coordinates of a wiring workbench, and constructing a global coordinate system of a real world by taking the center of the wiring workbench as an origin;
s12, determining the positions of real parts to be wired and a wiring pen through identification of the markers;
s13, performing virtual-real registration, including real part registration, virtual part registration and wiring pen registration, so as to determine the relation among the coordinate systems, and calculating a transformation matrix among the coordinate systems;
s14, overlapping virtual and real scenes, and sending the generated augmented reality scenes to the interactive display device.
S2, receiving a wiring action instruction, and generating a virtual cable model in a virtual scene; the virtual cable model is used for carrying out real-time physical modeling on the cable by adopting a discrete Cosseat model method; describing the configuration of the cable by adopting a Cosseat model, establishing a discrete particle model of the cable according to a finite element thought, and deducing a dynamic equation of the cable according to Newton's law of motion and Euler's dynamic theorem; deriving a solving method and an expression of various discrete forces through an energy principle; the semi-implicit iterative Euler integration method solves the dynamic equation of the cable;
s3, superposing the virtual cable model with the real world in real time.
S4, performing wiring path design operation by identifying the specified gesture and positioning the wiring pen, and generating the virtual cable.
As shown in fig. 5, after initializing the augmented reality scene, the position of the pen tip of the wiring pen in the entire augmented reality scene is dynamically tracked by the visual monitoring module by recognizing the two-dimensional code on the surface of the positioning block on the wiring pen. When the system recognizes a specified wiring gesture instruction sent by a user, a specified single cable or wire harness physical model is generated in an augmented reality scene, the pen point of the wiring pen slowly approaches the cable model and is bound with the starting point of the cable model through a specific gesture, at the moment, the user fixes the starting point of the cable model at a user specified position on a real part through the specified gesture after the cable reaches the desired model through controlling the pen point of the wiring pen to move, and then the connection between the wiring pen and the starting point of the cable is released. When the wiring pen is controlled to move to adjust the position and the shape of the middle section cable model, calculating coordinate values of the pen point of the wiring pen under a virtual space coordinate system and the distance between the pen point and the ith particle in real time; when the distance is smaller than or equal to a set distance threshold, binding a pen point of a wiring pen with an ith particle in the middle of a cable through gestures, calculating coordinate values of the pen point in real time through moving the wiring pen, calculating external force caused by position change of the point, calculating force on discrete particles in a virtual cable modeling environment, solving a new position of the particles according to a dynamics equation of a cable model, and updating the shape of the cable; and when the proper shape is obtained, fixing the position of the i point through gesture application and fixing the position of the i point, and releasing the connection between the pen point of the wiring pen and the ith particle of the cable model. And finally, after the middle section of the cable model is adjusted, the movable wiring pen is close to the end position of the cable model and is bound with the end position, the end position is moved to the appointed position of the real part, the gesture is used for fixing, and the connection between the wiring pen and the end position of the cable is released after the completion. And the user moves the wiring pen to a proper position of the cable middle section, the cable middle section is restrained by designating a gesture to generate a wire clamp or a wire buckle, and relevant data in the virtual and real scene are saved to finish the wiring process.
S5, collision detection between the virtual cable and the real part is carried out in real time in the wiring process.
The invention has high simulation precision and good visualization of the wiring process, reduces the wiring design level and experience requirements of users, saves wiring time, and is convenient for unified standardized management of the wiring process.
It is apparent that the above examples are only examples for clearly illustrating the technical solution of the present invention, and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the protection of the present claims.
Claims (10)
1. A wiring design method based on visual guidance, the method comprising the steps of:
s1, constructing a wiring system based on visual guidance; the system comprises a visual monitoring module, an augmented reality module, a virtual-real fusion module, a cable modeling module, a wiring pen and a dynamic collision detection module; the visual monitoring module is used for acquiring position data of a real part to be wired and constructing a real world position coordinate; the augmented reality module is used for constructing a virtual space coordinate system and determining the relative position relation between the virtual space coordinate system and the real part in real time; the virtual-real fusion module is used for superposing the virtual scene and the real part; the cable modeling module performs real-time physical modeling on the cable to generate a virtual cable model, and changes the shape of the virtual cable in real time according to real-time position information of the wiring pen and gesture information of a user; the wiring pen is used for enabling a user to send out a wiring command through a specified gesture to operate the virtual cable; the dynamic collision detection module is used for carrying out dynamic collision detection between the virtual cable model and the real part in real time in the wiring process;
constructing a wiring augmented reality scene through a wiring system based on visual guidance and outputting the scene to a display device; the construction of the wiring augmented reality scene specifically comprises the following steps:
s11, acquiring coordinates of a wiring workbench based on machine vision, and constructing a global coordinate system of a real world by taking the center of the wiring workbench as an origin;
s12, determining the positions of real parts to be wired and a wiring pen through identification of the markers;
s13, performing virtual-real registration, including real part registration, virtual part registration and wiring pen registration, so as to determine the relation among the coordinate systems, and calculating a transformation matrix among the coordinate systems;
s14, overlapping virtual and real scenes, and sending the generated augmented reality scenes to interactive display equipment;
s2, receiving a wiring action instruction, and generating a virtual cable model in a virtual scene; the virtual cable model generation method comprises the following steps: describing the configuration of the cable by adopting a Cosseat model, establishing a discrete particle model of the cable according to a finite element thought, and deducing a dynamic equation of the cable according to Newton's law of motion and Euler's dynamic theorem; deriving a solving method and an expression of various discrete forces through an energy principle; the semi-implicit iterative Euler integration method solves the dynamic equation of the cable;
s3, superposing the virtual cable model with the real world in real time;
s4, selecting a virtual cable model to perform wiring path design operation by identifying user specified gestures and positioning a wiring pen, and generating a virtual cable;
s5, collision detection between the virtual cable and the real part is carried out in real time in the wiring process.
2. The visual guidance-based wiring design method according to claim 1, wherein in the step S2, the virtual cable model generation method specifically includes:
the configuration of the cable is described by using the Cosseat model, at randomThe configuration at time t is expressed as the position of each point on the centerline SAnd a direction coordinate system->Using the reach vector to represent the degree of bending deformation and torsional deformation of the cable model, wherein +.>Three coordinate axes of the direction coordinate system are respectively; using Frenet coordinate system, note that the unit tangent vector, normal vector and sub-normal vector of the center line S at the section are +.>、/>And->The method comprises the steps of carrying out a first treatment on the surface of the Main axis coordinate System>Unit tangent vector of axis and Frenet coordinate system +.>Overlap with each other and add->Is->And->Or (b)And->The included angle between the two, namely the torsion angle of the direction coordinate system relative to the Frenet coordinate system; the configuration of the cable model is defined by the position +.>And (c) angle->To determine;
according to the finite element concept, the centerline S of the cable model is discretized into n ordered particles, each particleThe position in three-dimensional space is denoted +.>The method comprises the steps of carrying out a first treatment on the surface of the A direction coordinate system is associated with each particle>By discrete expression of +.>、/>And->An angle +.>Calculating a direction coordinate system；
According to Newton's law of motion and Euler's kinetic equation, after the cable model is discretized, the pose of the cable model at any moment is obtained by solving the following ordinary differential equation set:
in the method, in the process of the invention,indicate quality, & lt>Representing the second derivative of position r->Indicates external force (or->Representing internal force->Is a cross-sectional winding->Moment of inertia of the shaft>Indicating the included angle->Is of the order of->Representing edge->The magnitude of the external moment in the direction +.>Representing edge->The magnitude of the internal moment in the direction;
by an energy functionDerivation of the partial derivative of the generalized coordinate vector q, discrete forces associated with this energy +.>Including tensile strain, flexural deformation, geometric torsion, material torsion, dissipative force, and gravitational force;
finally, after the second derivative of the position is obtainedSecond derivative of sum angle->After the solution of (2), the position and direction coordinate system is updated by a semi-implicit Euler method.
3. The visual guidance-based wiring design method according to claim 1, wherein in the step S4, the wiring design operation includes:
in the virtual-real fusion scene, a wiring pen is close to a virtual cable model and is bound with the starting point of the virtual cable model through a specific gesture;
after the virtual cable reaches the appointed position on the real part by controlling the movement of the wiring pen, fixing the starting point of the virtual cable model at the appointed position of the user through a specific gesture;
then releasing the connection between the wiring pen and the virtual cable starting point;
when the wiring pen is controlled to move to adjust the position and the shape of the middle section cable model, calculating coordinate values of the wiring pen nib under a virtual space coordinate system and distances between the wiring pen nib and the ith particle in real time, and binding the wiring pen nib and the ith particle in the middle of the cable through gestures when the distances are smaller than or equal to a set distance threshold; calculating coordinate values of a pen point in real time through a mobile wiring pen, calculating external force of the point caused by position change, calculating force on discrete particles in a virtual cable modeling environment, solving a new position of the particles according to a dynamic equation of a cable model, and updating the shape of the cable; when a proper shape is obtained, fixing the position of the i point through gesture application and fixing constraint, and releasing the connection between the pen point of the wiring pen and the i-th particle of the cable model; and finally, after the middle section of the cable model is adjusted, the movable wiring pen is close to the end position of the cable model and is bound with the end position, the end position is moved to the appointed position of the real part, the gesture is used for fixing, and the connection between the wiring pen and the end position of the cable is released after the completion.
4. The visual guidance-based wiring design method according to claim 1, wherein in the step S13, a real part model is adopted for real part registration, the real part model is derived from a real part modeling environment in a virtual-real hybrid model, the real part model is position data and structure data of a real part obtained when the real part modeling environment in a collision detection module is initialized by a visual monitoring module, and a local coordinate system of a part to be assembled is constructed and a three-dimensional model of the real part is three-dimensionally reconstructed; the virtual cable model in the virtual part registration is from a virtual cable modeling environment in the virtual-real hybrid model; the routing pen registers images using the routing pen.
5. The visual guidance-based wiring design method according to claim 1, wherein in the step S14, in the process of superimposing virtual and real scenes, a depth map-based method is adopted to solve the problem of virtual and real occlusion in the process of superimposing; and judging the depth relation of corresponding pixels in the virtual scene and the real scene video point by taking the depth map as an index, overlapping the depth relation to each other, generating an augmented reality scene conforming to an optical imaging rule, transmitting the generated augmented reality scene to display equipment interacted with a user, and displaying the augmented reality scene to the user through the display equipment.
6. The visual guidance-based wiring design method according to claim 1, wherein in step S5, the collision detection includes: before the virtual scene is fused to the real scene, three-dimensionally reconstructing a three-dimensional model of the real part in the real part modeling environment in advance, and creating a hierarchical bounding box; when the three-dimensional model of the real part with the layered bounding box is superimposed on the real part during real part registration, and a user interactively designs the shape of the cable in an augmented reality scene, the layered bounding box of the virtual cable model is built in real time through a layered bounding box building algorithm based on discrete particles, and collision contact between the virtual cable and the outside or between the virtual cable and the real part is processed by adopting a contact processing mechanism based on the discrete particles of the flexible cable model, so that collision detection of the virtual cable and the real part is realized.
7. A visual guidance-based wiring design system, characterized by being applied to the visual guidance-based wiring design method of any one of claims 1 to 6, the system comprising:
the visual monitoring module is used for acquiring position data of the real part to be wired and constructing a real world position coordinate;
the augmented reality module is used for constructing a virtual space coordinate system and determining the relative position relation between the virtual space coordinate system and the real part in real time;
the virtual-real fusion module is used for superposing the virtual scene and the real part;
the cable modeling module is used for carrying out real-time physical modeling on the cable, generating a virtual cable model, and changing the shape of the virtual cable in real time according to the real-time position information of the wiring pen and the gesture information of the user; in the cable modeling module, a Cosserat model is adopted to describe the configuration of a cable: according to the finite element thought, a discrete particle model of the cable is established, and a dynamic equation of the cable is deduced according to Newton's law of motion and the Euler's dynamic theorem; deriving a solving method and an expression of various discrete forces through an energy principle; finally, solving a dynamic equation of the cable by adopting a semi-implicit iterative Euler integration method;
the wiring pen is used for enabling a user to send out a wiring command through a specified gesture to operate the virtual cable;
and the dynamic collision detection module is used for carrying out dynamic collision detection between the virtual cable model and the real part in real time in the wiring process.
8. The visual guidance-based wiring design system according to claim 7, wherein the visual monitoring module comprises cameras uniformly distributed on a workbench on which real parts of cables to be assembled are placed, for acquiring current real world position data; the visual monitoring module takes the center of the workbench as the origin of the global coordinate system, acquires the position data and the structure data of the real part through the two-dimensional code on the real part, constructs the local coordinate system of the real part, and sends the data to the dynamic collision detection module; and acquiring real-time position information of the wiring pen and sending the real-time position information to the cable modeling module.
9. The visual guidance-based wiring design system according to claim 7 or 8, wherein the dynamic collision detection module analyzes the contact characteristics between different types of objects by constructing a hierarchical bounding box of a three-dimensional model of the virtual cable and the real part, and processes collision contact between the virtual cable and the outside or itself based on a contact processing mechanism of discrete particles of the flexible cable model, thereby realizing collision detection of the virtual cable and the real part.
10. The visual guidance-based wiring design system according to claim 9, wherein the three-dimensional model of the real part is three-dimensionally reconstructed in the real part modeling environment in advance before the virtual scene is fused to the real scene, and a hierarchical bounding box is created; when registering a real part, superposing a real part three-dimensional model with a hierarchical bounding box on the real part, and when a user interactively designs the shape of a cable in an augmented reality scene, constructing the hierarchical bounding box of the cable model in real time; the axisymmetric surrounding body is used for dynamic real-time collision detection between the cable model and the real part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410130040.1A CN117688706B (en) | 2024-01-31 | 2024-01-31 | Wiring design method and system based on visual guidance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410130040.1A CN117688706B (en) | 2024-01-31 | 2024-01-31 | Wiring design method and system based on visual guidance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117688706A true CN117688706A (en) | 2024-03-12 |
| CN117688706B CN117688706B (en) | 2024-05-10 |
Family
ID=90137388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410130040.1A Active CN117688706B (en) | 2024-01-31 | 2024-01-31 | Wiring design method and system based on visual guidance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117688706B (en) |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016155269A1 (en) * | 2015-04-01 | 2016-10-06 | 上海联影医疗科技有限公司 | Particle transport simulation and human radiotherapy dosage calculation method, device and system |
| CN106527947A (en) * | 2016-11-11 | 2017-03-22 | 广东小天才科技有限公司 | Drawing method and drawing system based on touch pen, and related device |
| US20170124230A1 (en) * | 2015-11-02 | 2017-05-04 | Beijing Institute Of Technology | Method and apparatus for simulating posture of flexible cable based on spring-mass model combining bending and torsion |
| CN206209629U (en) * | 2016-11-07 | 2017-05-31 | 闵瑜 | A kind of Mobile phone touch control pen with camera function |
| WO2017129148A1 (en) * | 2016-01-25 | 2017-08-03 | 亮风台（上海）信息科技有限公司 | Method and devices used for implementing augmented reality interaction and displaying |
| WO2018020568A1 (en) * | 2016-07-26 | 2018-02-01 | 三菱電機株式会社 | Cable movable region display device, cable movable region display method, and cable movable region display program |
| CN209000348U (en) * | 2018-07-13 | 2019-06-18 | 祝葆华 | A kind of design of line engraving and operation model |
| CN111144147A (en) * | 2018-11-06 | 2020-05-12 | 西安敏学信息科技有限公司 | Examination auxiliary equipment for two-dimensional code examination paper |
| US20210158624A1 (en) * | 2019-11-25 | 2021-05-27 | Samsung Electronics Co., Ltd. | Electronic device for providing augmented reality service and operating method thereof |
| CN114931746A (en) * | 2022-05-12 | 2022-08-23 | 南京大学 | Interaction method, device and medium for 3D game based on pen type and touch screen interaction |
| CN115688310A (en) * | 2022-10-26 | 2023-02-03 | 中国兵器工业信息中心 | Digital modeling system of flexible cable motion simulation model |
| RO202200004U2 (en) * | 2022-01-28 | 2023-05-30 | Ştefan-Petru Coteţ | Wireless gestural interface for touchscreen showcases |
| CN116310231A (en) * | 2022-09-09 | 2023-06-23 | 江苏徐工工程机械研究院有限公司 | Engineering equipment real-time interaction system and motion simulation method based on mixed reality |
| US20230229401A1 (en) * | 2022-01-18 | 2023-07-20 | Robert Lyden | Computer language and code for application development and electronic and optical communication |
| US20230230497A1 (en) * | 2022-01-14 | 2023-07-20 | Delta Electronics, Inc. | Virtual reality system with inspecting function of assembling and disassembling and inspection method thereof |
| CN116543036A (en) * | 2023-06-05 | 2023-08-04 | 华南理工大学 | Cable bending radius calculation method based on algebraic reconstruction of mask center line |
| CN116561951A (en) * | 2022-01-28 | 2023-08-08 | 上海交通大学 | Real-time interactive high-precision rope simulation method and system |
-
2024
- 2024-01-31 CN CN202410130040.1A patent/CN117688706B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016155269A1 (en) * | 2015-04-01 | 2016-10-06 | 上海联影医疗科技有限公司 | Particle transport simulation and human radiotherapy dosage calculation method, device and system |
| US20170124230A1 (en) * | 2015-11-02 | 2017-05-04 | Beijing Institute Of Technology | Method and apparatus for simulating posture of flexible cable based on spring-mass model combining bending and torsion |
| WO2017129148A1 (en) * | 2016-01-25 | 2017-08-03 | 亮风台（上海）信息科技有限公司 | Method and devices used for implementing augmented reality interaction and displaying |
| WO2018020568A1 (en) * | 2016-07-26 | 2018-02-01 | 三菱電機株式会社 | Cable movable region display device, cable movable region display method, and cable movable region display program |
| CN206209629U (en) * | 2016-11-07 | 2017-05-31 | 闵瑜 | A kind of Mobile phone touch control pen with camera function |
| CN106527947A (en) * | 2016-11-11 | 2017-03-22 | 广东小天才科技有限公司 | Drawing method and drawing system based on touch pen, and related device |
| CN209000348U (en) * | 2018-07-13 | 2019-06-18 | 祝葆华 | A kind of design of line engraving and operation model |
| CN111144147A (en) * | 2018-11-06 | 2020-05-12 | 西安敏学信息科技有限公司 | Examination auxiliary equipment for two-dimensional code examination paper |
| US20210158624A1 (en) * | 2019-11-25 | 2021-05-27 | Samsung Electronics Co., Ltd. | Electronic device for providing augmented reality service and operating method thereof |
| US20230230497A1 (en) * | 2022-01-14 | 2023-07-20 | Delta Electronics, Inc. | Virtual reality system with inspecting function of assembling and disassembling and inspection method thereof |
| US20230229401A1 (en) * | 2022-01-18 | 2023-07-20 | Robert Lyden | Computer language and code for application development and electronic and optical communication |
| RO202200004U2 (en) * | 2022-01-28 | 2023-05-30 | Ştefan-Petru Coteţ | Wireless gestural interface for touchscreen showcases |
| CN116561951A (en) * | 2022-01-28 | 2023-08-08 | 上海交通大学 | Real-time interactive high-precision rope simulation method and system |
| CN114931746A (en) * | 2022-05-12 | 2022-08-23 | 南京大学 | Interaction method, device and medium for 3D game based on pen type and touch screen interaction |
| CN116310231A (en) * | 2022-09-09 | 2023-06-23 | 江苏徐工工程机械研究院有限公司 | Engineering equipment real-time interaction system and motion simulation method based on mixed reality |
| CN115688310A (en) * | 2022-10-26 | 2023-02-03 | 中国兵器工业信息中心 | Digital modeling system of flexible cable motion simulation model |
| CN116543036A (en) * | 2023-06-05 | 2023-08-04 | 华南理工大学 | Cable bending radius calculation method based on algebraic reconstruction of mask center line |
Non-Patent Citations (6)
| Title |
|---|
| HENDERSON S等: "Exploring the benefits of augmented reality documentation for maintenance and repair", VISUALIZATION AND CONPUTER GRAPHICS, IEEE TRANSACTIONS ON, 31 December 2011 (2011-12-31) * |
| YI LIU等: "Interactive operation of physically-based slender flexible parts in an augmented reality environment", CIENCE IN CHINA SERIES E: TECHNOBGICALSCIENCES, 31 December 2014 (2014-12-31) * |
| 刘翊: "刚柔混合产品的装配工艺规划技术与应用研究", 中国博士学位论文全文数据库工程科技Ⅰ辑, 15 July 2015 (2015-07-15), pages 022 - 211 * |
| 原彬;熊伟;王祖温;: "电缆虚拟装配的关键技术及其发展", 机械科学与技术, no. 05, 15 May 2010 (2010-05-15) * |
| 王发麟;廖文和;郭宇;王晓飞;: "基于精确Cosserat模型的柔性线缆物理特性建模与变形仿真技术", 计算机辅助设计与图形学学报, no. 07, 15 July 2017 (2017-07-15) * |
| 谢世富;马立元;刘鹏远;马龙;: "可变形线性体仿真中的碰撞检测算法研究与实现", 系统仿真学报, no. 09, 8 September 2013 (2013-09-08) * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117688706B (en) | 2024-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Qiu et al. | Digital assembly technology based on augmented reality and digital twins: a review | |
| Ong et al. | Augmented reality applications in manufacturing: a survey | |
| Wang et al. | Real-virtual components interaction for assembly simulation and planning | |
| Leu et al. | CAD model based virtual assembly simulation, planning and training | |
| US6826500B2 (en) | Method and system for automated maintenance and training instruction generation and validation | |
| Jayaram et al. | Assessment of VR technology and its applications to engineering problems | |
| Wang et al. | Augmented reality aided interactive manual assembly design | |
| Nee et al. | Augmented reality applications in design and manufacturing | |
| CN102112945B (en) | Control system based on attitude for vehicle interface | |
| Eswaran et al. | Augmented reality-based guidance in product assembly and maintenance/repair perspective: A state of the art review on challenges and opportunities | |
| US7663649B2 (en) | Information processing device and method for aiding control operations relating to controlling the position and orientation of a virtual object and method for changing the positioning and orientation of a virtual object | |
| US20020133264A1 (en) | Virtual reality system for creation of design models and generation of numerically controlled machining trajectories | |
| CN104102811B (en) | It creates the posture of ergonomics manikin and uses natural user interface control computer Computer Aided Design environment | |
| US20030097195A1 (en) | Method for computing disassembly sequences from geometric models | |
| Lee et al. | Two-handed tangible interaction techniques for composing augmented blocks | |
| Ma et al. | A framework for interactive work design based on motion tracking, simulation, and analysis | |
| Ng et al. | GARDE: a gesture-based augmented reality design evaluation system | |
| CN111338287A (en) | Robot motion control method, device and system, robot and storage medium | |
| Tao et al. | Manufacturing assembly simulations in virtual and augmented reality | |
| CN112276914A (en) | Industrial robot based on AR technology and man-machine interaction method thereof | |
| Wang et al. | Real-virtual interaction in AR assembly simulation based on component contact handling strategy | |
| CN109584361B (en) | Equipment cable virtual preassembling and track measuring method and system | |
| Ong et al. | Augmented reality in product development and manufacturing | |
| CN117688706B (en) | Wiring design method and system based on visual guidance | |
| CN115481489A (en) | System and method for verifying suitability of body-in-white and production line based on augmented reality |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |