CN101214178A - Video frequency reinforcing reality auxiliary operation welding protection helmet - Google Patents

Video frequency reinforcing reality auxiliary operation welding protection helmet Download PDF

Info

Publication number
CN101214178A
CN101214178A CN 200710304245 CN200710304245A CN101214178A CN 101214178 A CN101214178 A CN 101214178A CN 200710304245 CN200710304245 CN 200710304245 CN 200710304245 A CN200710304245 A CN 200710304245A CN 101214178 A CN101214178 A CN 101214178A
Authority
CN
China
Prior art keywords
welding
helmet
video
protective
camera
Prior art date
Application number
CN 200710304245
Other languages
Chinese (zh)
Inventor
师国伟
王涌天
靖 陈
军 常
Original Assignee
北京理工大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 北京理工大学 filed Critical 北京理工大学
Priority to CN 200710304245 priority Critical patent/CN101214178A/en
Publication of CN101214178A publication Critical patent/CN101214178A/en

Links

Abstract

The present invention provides a welding protection helmet with video frequency augmented reality auxiliary operation. The helmet comprises the welding protection helmet, a binocular high dynamic range video camera, a helmet display, a video frequency input-output device, a potable computer, a protective glass, a fan, a mike, a microphone and a respiration device. With the present invention, welding is carried out by observing the video frequency of the helmet display, which avoids the harm caused by watching welding directly or indirectly. At the same time, in the present invention, the augmented reality technology is adopted, which can decrease the welder visual information insufficiency caused by various interferences produced by welding, and additional auxiliary information which is required for welding can also be added into welding at real time to guide welding. The present invention can be applied to the aspects of manual welding, mechanical welding with human participation, etc. and can also be applied to the mechanical processing and manufacturing aspects of cutting, polishing, etc.

Description

视频增强现实辅助操作的焊接防护头盔 Video augmented reality assistance operation welding protective helmet

[0001] 技术领域: [0001] Technical Field:

[0002] 本发明属于电焊防护领域,更具体的说是涉及到一种具有辅助操作的焊接防护头盔。 [0002] The present invention belongs to the field of welding protective, is more particularly relates to a protective helmet having a welding assistance operation.

[0003] 背景技术: [0003] BACKGROUND:

[0004] 从电焊机问世到今的百余年中,焊接方面的研究几乎都集中在焊机上。 [0004] from the welding machine to come out of this over a hundred years, almost all aspects of welding research focused on the welder. 但作为电焊操作工防护所必备的,同时对焊接质量影响较大的电焊面罩,却一直被人们所忽视,在这方面所进行研究很少,并且在技术上没有什么突破。 But as welding operators necessary for protection, while larger impact on the welding quality welding mask, but it has been ignored, few studies conducted in this area, and there is no breakthrough in technology. 所以直到今天,焊接在走向智能化、自动化、机器人化的同时,20年代传统的防护面罩仍普遍使用。 So until today, welded toward intelligent, automated, robotized same time, in the 1920s the traditional protective masks are still widely used. 传统的防护面罩基于变色变光原理,通过焊接时产生的光、电、磁信号触发面罩防护片光阀,控制防护片明暗来达到滤光防护目的。 Conventional protective mask based on the principle of light color change, light, electric, magnetic signals produced by trigger welding protective mask film light valves, the control to achieve the protective sheet brightness filter for protective purposes. 但防护镜片变暗,在排除弧光、飞溅、烟尘的干扰和危害的同时,周围场景也一同变暗,焊工视野变的不清晰,致使不能清除识别焊缝、工件和周围环境。 However, protective lenses darken, excluding arc, spatter, while interference and dust hazards, but also with darkened surrounding scene, the welder is not clear field of vision, making it impossible to recognize the weld clear the workpiece and the surrounding environment. 在这种情况下如果没有额外的焊接辅助经验知识,焊工很难对焊接中出现的偏差做出及时反馈,难以判断自己操作是否正常和是否需要做出调整,从而造成焊接质量的不均匀。 In this case, if there is no additional welding auxiliary empirical knowledge, welders welding difficult to offset that appears to make timely feedback, it is difficult to determine if they are operating properly and whether adjustments need to be made, resulting in uneven weld quality. 在实际焊接中,有经验的焊工凭经验,凭感、知觉判断焊接质量,而一般焊工则不得不不时拿开面罩裸眼直接观察焊接效果。 In actual welding, the empirically experienced welders, with perceptive welding quality is determined, then the general welders often have removed the direct observation of the naked eye mask welding effect. 这是手工焊接质量难以提高、职业病危害大的主要原因;也是焊工培训成本高、成长周期长,市场优秀焊工缺乏的主要原因。 It is difficult to improve the quality of manual welding, occupational hazards big factor; welder training is also a high cost, long cycle of growth, mainly due to lack of market excellent welder.

[0005] 在传统的基于变色变光原理防护片上,一直致力于改变触发方式以排除焊接时相互之间的干扰、缩短响应时间以减少有害光线进入眼睛等方面的研究。 [0005] Based on the conventional variable color light principle protective sheet, changing the trigger has been committed to eliminate mutual interference during welding, shorten the response time to reduce harmful light rays from entering the eyes of research. 但随着研究的深入,在这些方面的进展越来越难,俩人同时焊接只要接近到一定范围防护就会失效,而要在目前的响应时间上再缩短一个数量级将会涉及到材料、控制等方面的理论性难题。 But with further research, progress in these areas more and more difficult, as long as the two people at the same time close to a certain range of welding protection will fail, but to be in the current response time to shorten an order of magnitude will involve material control and other aspects of theoretical problems. 随着先进制造技术的发展,机器人焊接及智能化焊接将逐步取代纯手工焊接,自动、半自动焊接将成为装备制造业的关键技术与发展趋势。 With the development of advanced manufacturing technology, and intelligent welding robot welding will gradually replace pure manual welding, automatic, semi-automatic welding technology will be the key trends and equipment manufacturing industry. 当前服役的工业机器人中,已有将近半数是焊接机器人,然而,由于焊接工件的装配误差、焊接环境与条件的变化、焊接动态过程的复杂性以及焊接变形的影响,致使目前实际应用中的机器人焊接还难以满足高技术焊接产品质量、精度与效率的要求。 Currently serving an industrial robot, for nearly half of the welding robot, however, due to the complexity of the dynamic process of welding and the welding deformation of assembly error variation welding work, the welding environment and conditions, so that the practical application of the current robot welding is also difficult to meet the high-tech welding quality, accuracy and efficiency requirements. 在焊接过程中还缺少不了焊工的参与,焊工对机器人焊接质量的监控、对机械手臂的操控对焊接质量均匀性仍起着关键性的作用。 During the welding process and ultimately, leaving a shortfall of participation welders, welders welding quality monitoring of the robot, the robot arm to control the uniformity of the quality of welding still plays a key role. 焊工与先进焊接机械之间和谐的结合才能制造出高质量的产品,因此现代先进焊机队焊工的技术熟练程度依赖较大。 Between welders and harmonious combination of advanced welding machinery in order to manufacture high-quality products, so the technical proficiency of modern advanced welding welders rely on a large team. 提高焊工技术熟练程度、辅助焊工经验性知识是提高现代先进焊机焊接质量的有效办法。 Improve the skill of the welder, welder assisted experiential knowledge is an effective way to improve the quality of modern advanced welder.

[0006] 发明内容: [0006] SUMMARY OF THE INVENTION:

[0007] 本发明的目的正是为了克服上述已有技术的不足而提供的一种弥补目前焊接中焊工视觉信息缺少、额外辅助信息缺失的不足,使之满足手工焊接和机械焊接的需要,提高焊接质量防护头盔。 [0007] An object of the present invention is to make up in order to overcome the deficiencies of the above prior art to provide a welding current welders lack of visual information, insufficient information is missing additional assistance, so as to meet the needs of mechanical welding and manual welding, improved welding quality protective helmet.

[0008] 本发明采用如下技术方案:一种视频透射式增强现实头盔,包括头盔式电焊防护罩、双目高动态范围微型摄像机、微型头盔显示器,还包括呼吸器、风扇、耳机、麦克风等辅助设施;此外还有一种便携式计算机,包括与头盔上面摄像机、显示器相连接的传输线以及与网络或者其他电脑进行数据交换的通信模块。 [0008] The present invention adopts the following technical solutions: A video transmission augmented reality helmet, comprising a helmet shield welding, high dynamic range binocular miniature cameras, micro HMD, further comprising breathing apparatus, a fan, headphones, microphones and other auxiliary facilities; there is also a portable computer, comprising a camera above the helmet, the transmission line connected to a display and a communication module for data exchange with other computers or networks. 本发明的防护原理是通过观察头盔显示器的视频来进行焊接的。 Protection principle of the invention is carried out by observing the welding helmet display video. 头盔上左右两路摄像机、左右眼显示器形成双目立体显示系统,摄像机采集的焊接图像通过便携式计算机处理以后,得到增强,焊工在显示器上能看到清晰的、具有深度感的三维立体图像。 Two right and left cameras on the helmet, formed in the left and right eye display binocular stereoscopic display system, the image captured by the camera after the welding process by a portable computer, enhanced, welder on the display can be seen clearly, having a sense of depth three-dimensional image. 由于通过视频进行操作,因此焊工不用直接或者间接观看焊接场景,对焊工保护较好。 As a result of operation by the video, so the welder without welding scene viewed directly or indirectly, to better protect the welder. 同时其他的辅助防护设备如风扇、呼吸系统业可以敷设在头盔内部,可以减少焊接有害物资对焊工身体健康的危害。 While other auxiliary protective equipment such as fans, respiratory system industry can be laid inside the helmet, welding can reduce harmful substances harmful to the health of the welder.

[0009] 本发明摄像机前面安装有防护片,这些防护片可以是有色玻璃或者其他深色滤光材料。 In front of [0009] the present invention, the camera is mounted protective sheet, protective sheet may be these or other dark colored glass filter material. 这些防护片用以排除焊接时产生的弧光干扰。 The protective sheet to exclude interference generated arc welding. 但这样采集到的图像比较暗,而暗的图像却可以通过图像处理来恢复,采用图像处理实现起来要比解决传统防护面罩存在的视野模糊问题容易的多。 But this captured image is dark, and the dark image but can be restored by image processing using image processing to implement than to solve the problems of traditional protective masks vision blurred problems much easier. 图像处理获得的清晰视频弥补了传统防护面罩视野不清的不足。 Definition video image processing obtained make up the traditional protective mask poor visibility deficiencies.

[0010] 本发明的便携式计算机的通信模块能够接收焊机上固定计算机数据。 [0010] The portable computer of the present invention, a communication module capable of receiving data on stationary computers welder. 焊机上的固定计算机可以把焊枪上面或者机械手臂上面传感器获得的近弧区信息(如焊缝、熔池等)提取并恢复出来。 Fixing the computer on the welder torch near the top or arc area information obtained by the sensor above the manipulator arm (e.g., seam, weld pool, etc.) to extract and recover it. 这样通过通信模块便携式计算机能够实时获得近弧区信息。 Such portable computer can be obtained in real time information through the arc area near the communication module.

[0011] 本发明的便携式计算机还可以生成焊接需要的额外辅助指导知识。 [0011] The portable computer according to the present invention may also generate additional auxiliary guide knowledge required welding. 在便携式计算机上以图形、文字或声音的形式储存有根据焊接规范和加工工艺要求以及焊工的经验知识预先生成的焊接辅助信息。 Stored on a portable computer in accordance with the welding the welding auxiliary information processing requirements and specifications and empirical knowledge of previously generated welders in the form of graphics, text or sound.

[0012] 本发明采用增强现实技术,将近弧区信息和额外辅助知道信息实时融合到焊接操作中,弥补了现在焊接操作中视觉信息不足、额外辅助信息缺乏的缺陷。 [0012] The present invention uses augmented reality technology, nearly arc zone information and additional assistance to know the information in real-time fusion welding operations, the welding operation is now up for lack of visual information, additional auxiliary information lack of defects. 将计算机生成的虚拟信息融合到实际场景中并显示给用户,需要实现增强现实的跟踪注册,本发明采用基于模型的跟踪注册方法,来获得虚拟信息在真实视频中的位置,并保持二者之间的一致性。 The integration of computer-generated virtual information to the actual scene and displayed to the user, need to implement augmented reality tracking registration, tracking the present invention employs model-based registration method to obtain location information in virtual real video, and keep both of consistency between.

[0013] 本发明由于大量采用现代信息技术,系统功能强大,技术含量高。 [0013] The present invention, due to extensive use of modern information technology, the system is powerful, high technical contents. 采用了独特的焊接防护原理,随着图像处理技术的不断提高,焊接的视觉信息将更加丰富;随着焊枪和焊接机械传感器技术的不断提高,可以融合到焊接场景中的指导信息会越来越丰富;这将方便了焊工的操作,提高焊接质量。 With a unique welding protection principles, with the continuous improvement of image processing technology, welding visual information will be more abundant; With the continuous improvement of welding torch and mechanical sensor technology, information can be fused to guide the welding scene will be more rich; this will facilitate the operation of the welder to improve welding quality. 本发明也可以应用于手工焊接、机器人焊接等方面,还可以用于切割、打磨等加工领域。 Aspect of the present invention may be applied to manual welding, the welding robot, etc., it can also be used for cutting, grinding or machining.

[0014] 附图说明: [0014] BRIEF DESCRIPTION OF DRAWINGS:

[0015] 图1为视频透射式增强现实原理图 [0015] Figure 1 is a schematic diagram of an augmented reality video transmission type

[0016] 图2为视频增强现实辅助操作的焊接防护头盔结构草图 [0016] FIG. 2 is a video assistance operation augmented reality welding protective helmet structure sketch

[0017] 图3为视频增强现实辅助操作的焊接防护头盔系统结构图 [0017] FIG. 3 is a video assistance operation augmented reality welding system configuration view of a protective helmet

[0018] 图4为摄像机姿态估计流程图 [0018] FIG. 4 is a flow diagram for estimating the camera pose

[0019] 图5(a)直接观察的焊接场景、 [0019] FIG. 5 (a) direct observation of the welding scene,

[0020] 图5(b)透过传统焊接面罩看到场景 [0020] FIG. 5 (b) to see the scene through a conventional welding mask

[0021] 图5(c)透过本发明的头盔系统看到的有增强信息和辅助信息的场景 [0021] FIG. 5 (c) through the helmet system of the present invention are seen to enhance the scene information and the auxiliary information

[0022] 1-防护头盔、2-摄像机、3-头盔显示器、4-防护玻璃、5-计算机、6-视频输入设备、7-视频输出设备、8-风扇、麦克、呼吸装置 [0022] The protective helmet 1-, 2- camera, HMD 3-, 4- protective glass, computer 5-, 6-, video input devices, video output devices 7-, 8- fan, Mike, breathing apparatus

[0023] 具体实施方式: [0023] DETAILED DESCRIPTION:

[0024] 下面通过附图对本发明做进一步详细描述: [0024] The following figures further by detailed description of the invention:

[0025] 图1是一个视频增强现实的原理图。 [0025] FIG. 1 is a schematic diagram of a video augmented reality. 由安装在用户头盔上的两个摄像机摄取真实世界的图像,计算机通过对这些图像进行计算处理,将所要添加的信息叠加在摄像机的视频信号上,通过视频信号融合实现虚拟景象与真实场景的对齐,最后通过类似于虚拟现实沉浸式头盔显示器的显示系统呈现给用户。 Real-world images taken by two cameras installed on the user helmet, computer through the calculation processing of these images, the information to be added is superimposed on the video signal from the camera, the virtual scene with the real scene video signal convergence alignment and finally presented to the user through a similar immersive virtual reality display helmet-mounted display system. 由于用户眼睛不直接看到真实世界,摄像机的位置的方向就代表了用户头部的位置和视线方向。 Since the user does not directly see the direction of the eye position of the real world, the camera represents the position and line of sight direction of the user's head.

[0026] 图2是一个头盔结构草图。 [0026] FIG. 2 is a sketch of the structure of the helmet. 它由焊接防护头盔1、摄像机2、头盔显示器3、视频输入输出设备6、7、便携式计算机5、防护玻璃4、风扇、麦克、呼吸装置8等辅具组成。 It consists of welding protective helmet 1, camera 2, 3 HMD, 6,7 video input and output devices, portable computers 5, the cover glass 4, the fan, Mike, breathing aids like composition means 8. 焊接防护头盔1作为头盔的外壳,防护玻璃4保护头盔显示器3和其中内部结构的作用,同时也为头盔维修维护提供方便。 Welding helmet as protective helmet shell 1, the protective effect of the cover glass 4 and 3 wherein the inner helmet mounted display structure, and also to facilitate maintenance repair helmet. 头盔上面的摄像机2采用高动态范围摄像机,摄像机的实用照度范围大,被摄视场中存在强光区和阴影区所有细节均可看清。 Helmet Camera 2 above high dynamic range of the camera, a large practical illumination range of the camera, light area shaded areas and all the details of the subject in the presence of the field of view can see. 摄像机采集的视频图像由视频输入设备6传输到便携式计算机5,在便携式计算机5上实现虚实融合,融合结果通过视频输出设备7输出到显示器3上,呈现到焊工眼前。 Video image captured by the camera is transmitted by the video input device 6 to the portable computer 5, the actual situation fusion implemented on a portable computer 5, through the integration result is output to the video output device 7 on the display 3, rendering the front of the welder.

[0027] 图3是系统结构简图。 [0027] FIG. 3 is a system structure diagram. 给出的是一个半自动焊接的系统结构图。 Analysis is a system diagram of a semi-automatic welding. 焊机上的计算机将焊枪及机械手臂等的运动参数、焊枪上的传感器参数以及焊机自身参数进行数据融合,并提取和恢复出近弧区信息,焊工配戴的便携式计算机通过通信模块实时获取融合数据。 The welding torch on a computer and the like robot motion parameters, sensor parameters on the welding torch itself and parameter data fusion, and the extraction and recovery nearly arc area information, the welder to wear a portable computer via the communication module acquiring in real-time integration of data. 头盔上的摄像机实时获取焊接视频,通过增强现实技术的跟踪注册将近弧区信息和虚拟辅助信息实时融合到摄像机拍摄的视频上,并通过头盔显示器显示给焊工。 Camera on the welding helmet video real-time access, real-time integration of information and registered nearly Arc supplementary information through enhanced virtual reality technology to track the video shot by the camera and displayed to the welder by helmet-mounted display.

[0028] 图4是摄像机姿态估计流程图。 [0028] FIG. 4 is a flowchart of camera pose estimate. 为了获取摄像机的位置和方向,必须得到工件坐标系和相机坐标系之间的变换矩阵,本发明通过基于模型(model-basedmethod)的增强现实跟踪方法来实现这一目的。 In order to obtain the position and direction of the camera, you must be a transformation matrix between the camera coordinate system and the workpiece coordinate system, the present invention this object is achieved by a method of tracking the AR model (model-basedmethod) based. 基于模型的跟踪依赖于工件的3D模型,按照现代加工工艺设计成形的复杂待焊工件一般都有CAD模型,普通焊接工件结构简单可以很快构造其3D轮廓模型,这为基于模型的跟踪提供了方便。 Model based tracking relies on the 3D model of the workpiece, in accordance with the process design of modern complex shaped member to be welded are generally CAD model, ordinary welding work simple structure which can be quickly configured 3D contour model, which provides a model-based tracking Convenience. 将待焊工件的3D模型投影到摄像机视频序列的每一帧上,找出工件模型轮廓线在图像上的投影与工件图像边线之间的对应关系,由于摄像机的运动二者并不完全对应,抽取线段上的采样点根据坐标变换求出摄像机的运动轨迹,从而恢复摄像机姿态。 The 3D model projecting member to be welded to each frame of camera video sequence, find the corresponding relationship between the projection image and the workpiece edge contour on the workpiece model image, since both the camera motion does not correspond exactly, extracting sample points on the line segment is obtained according to the trajectory of the camera coordinate transformation, thereby restoring the camera pose. 由于在焊接过程中焊工基本固定在原位,头部没有大幅度突然运动,因而采用该方法能获得比较准确的摄像机位置和姿态信息。 Since the welding process welders substantially fixed in place, there is no substantial sudden movement of the head, so this method can obtain more accurate camera position and attitude information.

[0029] 在焊接前对摄像机姿态进行与估计,将待焊工件的3D模型投影到摄像机视频序列的每一帧上,找出工件模型轮廓线在图像上的投影与工件图像边线之间的对应关系,采用几何相似性来获得模型轮廓线和工件边缘图像线之间的对应。 [0029] with the camera pose estimation, 3D models is projected to be welded to each frame member camera video sequence, find the corresponding model between the workpiece and the workpiece contour line projected image on the image edges prior to welding relationship, geometric similarity between the model obtained corresponding to the edge of the workpiece and the contour line image. 定义几何相似性为: Defined geometrical similarity:

[0030] [0030]

[0031] σ是常数,w是权重系数,且w1+w2=1,d1,d2是图像上两线之间的最小和最大距离,p0,pw是两线的相交、合并的长度。 [0031] σ is a constant, w is the weighting factor, and w1 + w2 = 1, d1, d2 is the minimum and the maximum distance between the two lines on the image, p0, pw is the intersection of two lines of the combined length.

[0032] 在获得了最初参考图像对应的相机姿态并以此为初始值。 [0032] In the first reference image is obtained corresponding to the attitude of the camera and as an initial value. 通过计算工件模型轮廓在第二帧上的投影和工件图像边线的相似度,找到所有的对应线。 By calculation model on the contour of the workpiece and the second workpiece image frame projection edges similarity find all the corresponding lines. 由于焊工头部即摄像机的运动,匹配投影线和图像边线并不完全重合,计算二者之间的差值作为修正值,结合初始值确定第二帧图像对应摄像及姿态。 Since the head of the welder i.e. camera movement, and an image edge matching the projection line can not coincide, the difference between the two calculated as a correction value, the initial value is determined in conjunction with the second frame image and the corresponding image pickup gesture. Tcw、Tcw′分别是当前帧和参考帧世界坐标系到图像坐标系间的变换。 Tcw, Tcw 'are the current frame and the reference frame to a world coordinate system transformation between the image coordinate system. M是沿投影线法线方向的运动矩阵。 M is a matrix of motion along the normal direction of a projection line. 摄像机姿态修正关键是求运动矩阵M。 The key is to find a camera attitude correcting motion matrix M.

[0033] Tcw=comproj(.) Tcw=MTcw′ [0033] Tcw = comproj (.) Tcw = MTcw '

[0034] 其中, [0034] wherein,

[0035] T包含了3个平移矢量和3个旋转矢量。 [0035] T contains three three translation vector and a rotation vector. M有6个矢量μ。 6 M vectors μ. 世界坐标系中的到图像坐标系的变换如下 Transformation in the world coordinate system to the image coordinate system is as follows

[0036] 其中,Xw=(xw,yw,zw,1)T [0036] wherein, Xw = (xw, yw, zw, 1) T

[0037] 带入各式,对Tcw=MTcw′求导可得到一个Nx6的雅各比矩阵。 [0037] into a variety of Tcw = MTcw 'to obtain a derivative of Nx6 Jacobian matrix.

[0038] [0038]

[0039] di是视频图像上轮廓线投影上的采样点和它对应的工件边缘图像点的法线距离,这样得到矢量μ和N维矢量d之间的关系Jμ=d,进而得到μ=(JTJ-1)JTd,也即求出了运动矩阵M。 [0039] di is normal sample points on the contour line projected on the video image and its corresponding image point from the edge of the workpiece, the relationship thus obtained between Jμ N-dimensional vector and the vector [mu] d = d, then get μ = ( JTJ-1) JTd, i.e. obtains the motion matrix M. 通过上述计算,可以求出每一帧图像与参考图像的运动矩阵M,在确定了相机最初的姿态后,就可以知道,焊工的头部运动过程中拍摄的每一帧图像对应的摄像机位置和方向。 Through the above calculations, can be determined for each frame of the moving image and the reference image matrix M is, after determining the initial attitude of the camera, can know, each frame image corresponding to movement of the head in the welding position taken by the camera and direction.

[0040] 根据焊点位置、工件形状、材料以及焊接操作规范、加工工艺等要求可以事先知道增强视觉信息和额外辅助信息在工件上的位置。 [0040] The position of the pads, the workpiece shape, material, and the welding operation specifications, and other processing requirements can be enhanced to know in advance the location assistance information and additional visual information on a workpiece. 即相当于已知(xw,yw,zw,1),求(u,v)。 That corresponds to a known (xw, yw, zw, 1), seeking (u, v). 由上述计算已经求出每一帧的转换矩阵,代入反求即可得到要辅助信息在视频序列上的位置。 The above transformation matrix calculation has been determined for each frame is substituted into the reverse position information can be obtained to assist in the video sequence.

[0041] 图5是焊接场景的对比效果图。 [0041] FIG. 5 is a comparison of the effect of the welding scene. 分别给出直接焊接场景、透过传统焊接面罩看到场景和透过本发明的头盔系统看到的场景。 Are given scene directly welded, see scenes and scene viewed through the helmet system of the present invention through a conventional welding mask.

Claims (4)

1.一种视频增强现实辅助操作的焊接防护头盔,包括防护头盔、摄像机、头盔显示器、视频输入输出设备、便携式计算机、防护玻璃、风扇、麦克、话筒、呼吸装置组成,其特征在于:摄像机镜头面安装有防护片,摄像机安装在头盔前面眼位部,头盔显示器安装在头盔内部眼睛前方位置,显示器外面的头盔外层装有防护玻璃,便携式计算机佩戴在焊工身上,摄像机、显示器通过视频输入输出设备和便携式计算机相连,麦克、话筒安装在头盔左右或内壁,风扇安装在头盔内顶部,呼吸器安装在头盔下颌部,通过防护头盔上的视频设备进行焊接操作。 A protective helmet realistic video Soldering assistance operation, including protective helmet, camera, head mounted display, video input and output device, a portable computer, a cover glass, a fan, microphone, the microphone, the composition of the breathing apparatus, comprising: camera lens surface protective sheet is attached, the camera mounted on the front portion of the helmet eye position, the helmet mounted display is mounted inside the eye in front position outside the display helmet equipped with a protective glass layer, a portable computer worn on the welder body, cameras, video input and output through a display and a computer connected to the portable device, microphone, or a microphone mounted on the left and right inner walls of the helmet, the fan is mounted on the top of the helmet, a helmet respirator is mounted jaw portion, the welding operation by the protective helmet on the video device.
2.根据权利要求1所述的视频增强现实辅助操作的焊接防护头盔,其特征在于摄像机防护片可以是有色玻璃或者其他深色滤光材料。 2. Video according to claim 1 Soldering real assistance operation protective helmet, characterized in that the protective sheet may be a camera or other dark colored glass filter material.
3.根据权利要求1所述的视频增强现实辅助操作的焊接防护头盔,其特征在于采用增强现实技术和图像处理的方法增强焊工的视觉信息不足。 The video according to claim 1 Soldering real assistance operation protective helmet, characterized in that the method augmented reality image processing and enhancement welders lack visual information.
4.根据权利要求1所述的视频增强现实辅助操作的焊接防护头盔,其特征在于采用增强现实技术将计算机预先生成的焊接辅助信息实时叠加到焊接过程中,对焊工操作做出指导。 According to claim 1, wherein the video enhancement protective welding helmet real assistance operation, characterized by using the augmented reality computer generated in advance to the welding auxiliary information is superimposed in real time during the welding, made guidance welder.
CN 200710304245 2007-12-26 2007-12-26 Video frequency reinforcing reality auxiliary operation welding protection helmet CN101214178A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200710304245 CN101214178A (en) 2007-12-26 2007-12-26 Video frequency reinforcing reality auxiliary operation welding protection helmet

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 200710304245 CN101214178A (en) 2007-12-26 2007-12-26 Video frequency reinforcing reality auxiliary operation welding protection helmet

Publications (1)

Publication Number Publication Date
CN101214178A true CN101214178A (en) 2008-07-09

Family

ID=39620727

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 200710304245 CN101214178A (en) 2007-12-26 2007-12-26 Video frequency reinforcing reality auxiliary operation welding protection helmet

Country Status (1)

Country Link
CN (1) CN101214178A (en)

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101581967B (en) 2009-06-26 2011-08-10 上海大学 Method for inhibiting mutual interference between magnetic force trackers in augment reality system
CN102573720A (en) * 2009-10-13 2012-07-11 林肯环球股份有限公司 Welding helmet with integral user interface
CN102784033A (en) * 2012-07-17 2012-11-21 广东电网公司东莞供电局 Digital anti-dazzling electric welding protection eyeshade and anti-dazzling display method of eyeshade
CN102793604A (en) * 2011-05-27 2012-11-28 王鹏 Automatic arc light goggles for welder
CN102831816A (en) * 2012-08-17 2012-12-19 深圳先进技术研究院 Device for providing real-time scene graph
CN102929391A (en) * 2012-10-23 2013-02-13 中国石油化工股份有限公司 Reality augmented distributed control system human-computer interactive equipment and method
CN103262097A (en) * 2010-12-17 2013-08-21 高通股份有限公司 Augmented reality processing based on eye capture in handheld device
WO2013184220A3 (en) * 2012-03-19 2014-08-21 Flir Systems, Inc. Wearable apparatus with integrated infrared imaging module
CN104076878A (en) * 2014-06-19 2014-10-01 哈尔滨工程大学 Amusement horizontal lying type viewing theater box
US9330575B2 (en) 2008-08-21 2016-05-03 Lincoln Global, Inc. Tablet-based welding simulator
US9468988B2 (en) 2009-11-13 2016-10-18 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
US9483959B2 (en) 2008-08-21 2016-11-01 Lincoln Global, Inc. Welding simulator
CN106232280A (en) * 2014-06-02 2016-12-14 林肯环球股份有限公司 System for and method of monitoring and characterizing manual welding operations
CN106360867A (en) * 2016-08-25 2017-02-01 国家电网公司 Cable gallery operation positioning protector of power distribution system
CN106377002A (en) * 2016-08-25 2017-02-08 国家电网公司 Cable tunnel maintenance work safety monitoring protection armor
CN106503810A (en) * 2016-10-21 2017-03-15 国网山东省电力公司泰安供电公司 Heating and ventilation equipment tour-inspection device and method
US9754509B2 (en) 2008-08-21 2017-09-05 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9767712B2 (en) 2012-07-10 2017-09-19 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup
US9836994B2 (en) 2009-07-10 2017-12-05 Lincoln Global, Inc. Virtual welding system
US9928755B2 (en) 2008-08-21 2018-03-27 Lincoln Global, Inc. Virtual reality GTAW and pipe welding simulator and setup
CN107911688A (en) * 2017-10-23 2018-04-13 国网浙江杭州市萧山区供电公司 On-site cooperation method for power supply operation based on augmented reality device
US9972215B2 (en) 2015-08-18 2018-05-15 Lincoln Global, Inc. Augmented reality interface for weld sequencing
US10198962B2 (en) 2013-09-11 2019-02-05 Lincoln Global, Inc. Learning management system for a real-time simulated virtual reality welding training environment
US10250822B2 (en) 2011-06-10 2019-04-02 Flir Systems, Inc. Wearable apparatus with integrated infrared imaging module

Cited By (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9761153B2 (en) 2008-08-21 2017-09-12 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9483959B2 (en) 2008-08-21 2016-11-01 Lincoln Global, Inc. Welding simulator
US10056011B2 (en) 2008-08-21 2018-08-21 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9928755B2 (en) 2008-08-21 2018-03-27 Lincoln Global, Inc. Virtual reality GTAW and pipe welding simulator and setup
US9779635B2 (en) 2008-08-21 2017-10-03 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9336686B2 (en) 2008-08-21 2016-05-10 Lincoln Global, Inc. Tablet-based welding simulator
US9858833B2 (en) 2008-08-21 2018-01-02 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9330575B2 (en) 2008-08-21 2016-05-03 Lincoln Global, Inc. Tablet-based welding simulator
US9818312B2 (en) 2008-08-21 2017-11-14 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9818311B2 (en) 2008-08-21 2017-11-14 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9779636B2 (en) 2008-08-21 2017-10-03 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9836995B2 (en) 2008-08-21 2017-12-05 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US9754509B2 (en) 2008-08-21 2017-09-05 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
CN101581967B (en) 2009-06-26 2011-08-10 上海大学 Method for inhibiting mutual interference between magnetic force trackers in augment reality system
US9836994B2 (en) 2009-07-10 2017-12-05 Lincoln Global, Inc. Virtual welding system
CN104759735A (en) * 2009-10-13 2015-07-08 林肯环球股份有限公司 Welding helmet with heads up display
US9895267B2 (en) 2009-10-13 2018-02-20 Lincoln Global, Inc. Welding helmet with integral user interface
CN102573720A (en) * 2009-10-13 2012-07-11 林肯环球股份有限公司 Welding helmet with integral user interface
CN102573720B (en) * 2009-10-13 2015-03-25 林肯环球股份有限公司 Welding helmet with integral user interface
US9468988B2 (en) 2009-11-13 2016-10-18 Lincoln Global, Inc. Systems, methods, and apparatuses for monitoring weld quality
CN103262097A (en) * 2010-12-17 2013-08-21 高通股份有限公司 Augmented reality processing based on eye capture in handheld device
CN103262097B (en) * 2010-12-17 2016-11-23 高通股份有限公司 Based handheld device to capture the eye of augmented reality treatment
CN102793604A (en) * 2011-05-27 2012-11-28 王鹏 Automatic arc light goggles for welder
US10250822B2 (en) 2011-06-10 2019-04-02 Flir Systems, Inc. Wearable apparatus with integrated infrared imaging module
WO2013184220A3 (en) * 2012-03-19 2014-08-21 Flir Systems, Inc. Wearable apparatus with integrated infrared imaging module
US9767712B2 (en) 2012-07-10 2017-09-19 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup
CN102784033A (en) * 2012-07-17 2012-11-21 广东电网公司东莞供电局 Digital anti-dazzling electric welding protection eyeshade and anti-dazzling display method of eyeshade
CN102831816B (en) * 2012-08-17 2014-11-19 深圳先进技术研究院 Device for providing real-time scene graph
CN102831816A (en) * 2012-08-17 2012-12-19 深圳先进技术研究院 Device for providing real-time scene graph
CN102929391B (en) * 2012-10-23 2015-11-04 中国石油化工股份有限公司 Augmented Reality distributed control system human interface device and method
CN102929391A (en) * 2012-10-23 2013-02-13 中国石油化工股份有限公司 Reality augmented distributed control system human-computer interactive equipment and method
US10198962B2 (en) 2013-09-11 2019-02-05 Lincoln Global, Inc. Learning management system for a real-time simulated virtual reality welding training environment
CN106232280A (en) * 2014-06-02 2016-12-14 林肯环球股份有限公司 System for and method of monitoring and characterizing manual welding operations
CN104076878A (en) * 2014-06-19 2014-10-01 哈尔滨工程大学 Amusement horizontal lying type viewing theater box
US9972215B2 (en) 2015-08-18 2018-05-15 Lincoln Global, Inc. Augmented reality interface for weld sequencing
CN106360867A (en) * 2016-08-25 2017-02-01 国家电网公司 Cable gallery operation positioning protector of power distribution system
CN106377002B (en) * 2016-08-25 2018-02-02 国网山东省电力公司鱼台县供电公司 A cable safety monitoring protector tunnel maintenance jobs
CN106360867B (en) * 2016-08-25 2017-12-01 国网山东省电力公司鱼台县供电公司 A power distribution system protection positioning operation cable gallery
CN106377002A (en) * 2016-08-25 2017-02-08 国家电网公司 Cable tunnel maintenance work safety monitoring protection armor
CN106503810A (en) * 2016-10-21 2017-03-15 国网山东省电力公司泰安供电公司 Heating and ventilation equipment tour-inspection device and method
CN107911688A (en) * 2017-10-23 2018-04-13 国网浙江杭州市萧山区供电公司 On-site cooperation method for power supply operation based on augmented reality device

Similar Documents

Publication Publication Date Title
EP0641132B1 (en) Stereoscopic image pickup apparatus
CN101566875B (en) Image processing apparatus, and image processing method
US20100022351A1 (en) Feedback device for guiding and supervising physical exercises
US20030215130A1 (en) Method of processing passive optical motion capture data
CN101883291B (en) Method for drawing viewpoints by reinforcing interested region
US20090324017A1 (en) Capturing and processing facial motion data
US20140152530A1 (en) Multimedia near to eye display system
US20120200667A1 (en) Systems and methods to facilitate interactions with virtual content
US20130128012A1 (en) Simulated head mounted display system and method
US20110228051A1 (en) Stereoscopic Viewing Comfort Through Gaze Estimation
US9030492B2 (en) Method and device for determining optical overlaps with AR objects
US20140134580A1 (en) System and device for welding training
WO2002030171A3 (en) Facial animation of a personalized 3-d face model using a control mesh
US20140134579A1 (en) System and device for welding training
CN103443742B (en) System and method for gaze and gesture interface
CN101072366B (en) Free stereo display system based on light field and binocular vision technology
CN104219584B (en) Panoramic video based interactive method and system for augmented reality
CN101745765B (en) The man-machine cooperative sharing control method of remote welding
CN101226640B (en) Method for capturing movement based on multiple binocular stereovision
KR20160013182A (en) Systems and methods providing a computerized eyewear device to aid in welding
CN102448681B (en) Operating space presentation device, operating space presentation method, and program
JP2010204821A (en) Working machine equipped with periphery monitoring device
JP2008502992A (en) Communication method for providing information of the image
US20120053727A1 (en) Movable robot
CN1976445A (en) Multi-camera monitoring system based on three-dimensional video frequency dynamic tracking and tracking method thereof

Legal Events

Date Code Title Description
C06 Publication
C10 Request of examination as to substance
C02 Deemed withdrawal of patent application after publication (patent law 2001)