CN106707810B - Ship remote fault diagnosis and maintenance auxiliary system and method based on mixed reality glasses - Google Patents
Ship remote fault diagnosis and maintenance auxiliary system and method based on mixed reality glasses Download PDFInfo
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- CN106707810B CN106707810B CN201611102176.3A CN201611102176A CN106707810B CN 106707810 B CN106707810 B CN 106707810B CN 201611102176 A CN201611102176 A CN 201611102176A CN 106707810 B CN106707810 B CN 106707810B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
Abstract
The invention discloses a kind of ship remote fault diagnosis based on mixed reality glasses and maintenance auxiliary systems and method, including stereoscopic shooting module fusion compression module communication module mixed reality display module, auxiliary information adding module, graph rendering module and mixed reality glasses module.A kind of ship remote fault diagnosis and maintenance auxiliary system based on mixed reality glasses that invention provides, solves the problems, such as remote fault diagnosis and maintenance under ship FOB.Identical, the simultaneously operating under the same scene seen in bank end and ship end.The bi-directional synchronization display interaction between ship and bank of faulty equipment outdoor scene and maintenance auxiliary information, realizes the ship fault diagnosis and maintenance under the conditions of expert info enhancing on the bank.
Description
Technical field
The present invention relates to ship fault diagnosis field more particularly to a kind of ship remote failures based on mixed reality glasses
Diagnosis and maintenance auxiliary system.
Background technique
Mixed reality glasses are using mixed reality technology, by computer drawing and dimension display technologies in human eye
In show the virtual objects being not present in true environment, and by sensing technology by virtual objects accurate " placement " in true ring
In border, virtual objects and true environment are combined together by display equipment, and it is true to be presented to one sensory effects of user
New environment.Therefore mixed reality system have actual situation combination, real-time, interactive, three-dimensional visualization new feature.
The mode that at sea occurrence of equipment failure is taken through telephone contact more at present obtains fault message and and guides crewman
It repairs, however crewman is not specialized maintenance personnel, this guidance can be misled there are the drawback of information description inaccuracy
The maintenance operation that bank end carries out inaccuracy to the judgement of equipment fault and crewman instructs.It is effective there is presently no one
Solution.Therefore how real-time scene and maintenance auxiliary information to be combined using mixed reality glasses, realizes a kind of expert
The mixed reality system that synchronizing information is shown under Same Scene with crewman is the purpose that we pursue.
Summary of the invention
According to problem of the existing technology, the invention discloses a kind of ship remote failures based on mixed reality glasses
Diagnosis and maintenance auxiliary system, comprising: stereoscopic shooting module, the stereoscopic shooting module are mounted on ship end operator's head
Portion's position acquisition faulty equipment adjusts three-dimensional according to three-dimensional scenic depth information and takes the photograph to the three-dimensional scenic depth information to camera
As the stereoscopic shooting parameter of head；
Compression module is merged, the letter that receives the scene data information of the stereoscopic shooting module transmission and will receive
Breath carries out fusion compression processing, converts thereof into the data format for transmission；
Communication module, the communication module are passed back the data information for merging compression module transmission using maritime affairs communications satellite
To bank end；
The system further includes the mixed reality display module of the data information of the reception communication module transmission at bank end, institute
It states mixed reality display module and the stereo scene information received is subjected to real-time display, using human eye position as viewpoint, with
Stereo scene display depth of the three-dimensional scenic depth of stereoscopic shooting module measurement as mixed reality display module, shows event
Hinder the 3 D stereo scene of ship, realize the synchronization of ship-to-shore 3 D stereo scene, and carries out failure in this 3 D stereo scene
The breakdown judge of ship；
Receive the auxiliary information adding module of the data information of the mixed reality display module transmission, the auxiliary information
Fault point is labeled using three-dimension interaction tool in the 3 D stereo scene that adding module is shown on the coast, while from accessory
Accessory model is transferred in model library, and the maintenance assembly method of ship faulty equipment is shown；The auxiliary information adds mould
Assembly method information is sent on failure ship by block by communication module；
The graph rendering module of failure ship receives the data information of the auxiliary information adding module transmission, expert is tieed up
Repair operation information and model library accessory information and carry out three-dimensional graphics renderer processing, according to the corresponding field angle of mixed reality glasses and
The three-dimensional scenic depth to match with scene, is rendered to maintenance Supplemental Enhancement Information；
Receive the maintenance Supplemental Enhancement Information after the data information that the graph rendering module transmits renders Shipborne terminal
Send the mixed reality glasses module of crewman's wearing to, Overlapping display instructs crewman to carry out breakdown maintenance behaviour on faulty equipment
Make.
The mixed reality display module includes human-computer interaction device, and the human-computer interaction device includes at least three-dimensional mouse
Mark, data glove, position tracker and the accessory model library with the mating setting of ship component device；
Under working condition: calling the accessory mould in accessory model library in the human-computer interaction device of mixed reality display module
Type, the accessory model in model library create threedimensional model using D modeling tool, by data glove movable accessory model into
Luggage carries out fault point mark with showing, using 3D mouse, when data glove and position tracker cooperation real-time detection work
Hand shape and each joint of hand bending angle, the position of handle and movement state information be input to mixed reality display module,
Accessory model is grabbed, is rotated, moving operation.
The stereoscopic shooting module obtains when failure ship arrives the three-dimensional scenic depth information of its own according to human eye solid
Visual signature, dual camera spacing are set as human eye spacing, dual camera visual angle is adjusted in real time according to capture apparatus depth information
It is whole.
Using fusion compression algorithm when the fusion compression module handles the information received: being carried out to image special
Sign extracts identifying processing, compares front and back two field pictures, the part that two frame informations of record change, the information not changed is without passing
It is defeated, changing unit is only transmitted, the information not changed to synthesize new frame image with previous frame.
A kind of ship remote fault diagnosis and maintenance householder method based on mixed reality glasses, including following step
It is rapid:
A, acquisition faulty equipment is to the three-dimensional scenic depth information to camera, according to three-dimensional scenic depth information adjustment three
Tie up the stereoscopic shooting parameter of camera；
B, fusion compression processing is carried out to the stereoscopic shooting information in step a, becomes the data of maritime affairs communications satellite transmission
The information of compression processing is simultaneously sent on the bank by format；
C, the stereo scene for passing back on the bank is shown by mixed reality display module, is view with human eye position
Point is shown using the three-dimensional scenic depth that stereoscopic shooting module measures as the stereo scene display depth of mixed reality display module
3 D stereo scene on ship is shown, realizes that ship-to-shore 3 D stereo scene is synchronous；In the 3 D stereo scene shown on the coast into
Row equipment fault judgement, and fault point is labeled using three-dimension interaction tool, while transferring accessory from accessory model library
Model shows assembly method and incites somebody to action that treated repair message is sent to faulty equipment end；
D, auxiliary operation information will be repaired and model library accessory information carries out three-dimensional process, it is corresponding to become mixed reality glasses
Field angle and the three-dimensional scenic depth that matches with scene, form maintenance Supplemental Enhancement Information；
E, Shipborne terminal sends the maintenance Supplemental Enhancement Information after rendering to the mixed reality glasses of crewman's wearing, superposition
It is shown on faulty equipment, carries out the auxiliary direction of breakdown maintenance operation.
By adopting the above-described technical solution, a kind of ship remote failure based on mixed reality glasses provided by the invention
Diagnosis and maintenance auxiliary system solve the problems, such as remote fault diagnosis and maintenance under ship FOB.Bank end and ship
Identical, the simultaneously operating under the same scene seen in end.Faulty equipment outdoor scene and maintenance auxiliary information are two-way between ship and bank
Ship fault diagnosis and maintenance under the conditions of expert info enhancing on the bank are realized in simultaneous display interaction.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of present system；
Fig. 2 is the work flow diagram of present system；
Fig. 3 is the schematic diagram of the embodiment of present system；
Fig. 4 is that the mixed reality information of present system generates schematic diagram
Specific embodiment
To keep technical solution of the present invention and advantage clearer, with reference to the attached drawing in the embodiment of the present invention, to this
Technical solution in inventive embodiments carries out clear and complete description:
A kind of ship remote fault diagnosis and maintenance auxiliary system based on mixed reality glasses as shown in Figure 1,
Including stereoscopic shooting module, fusion compression module, communication module, mixed reality display module, auxiliary information adding module, figure
Rendering module and mixed reality glasses module.
Stereoscopic shooting module: three-dimensional shooting is carried out to failure ship, ship end operator's head position is installed in and obtains
It takes ship faulty equipment to the three-dimensional scenic depth information of its own, three-dimensional camera is adjusted according to three-dimensional scenic depth information
Stereoscopic shooting parameter；
Compression module is merged, fusion compression processing is carried out to three-dimensional photographing information in fusion compression module, it is logical to become maritime affairs
The data format that news satellite can transmit.
Communication module, the communication module are passed back the data information for merging compression module transmission using maritime affairs communications satellite
To bank end；
Mixed reality display module shown the stereo scene for passing bank end back by mixed reality display module, with
Stereo scene display depth of the three-dimensional scenic depth of stereoscopic shooting module measurement as mixed reality display module, shows ship
On 3 D stereo scene, realize that ship-to-shore 3 D stereo scene is synchronous, and 3 D stereo scene carries out the failure of failure ship and sentences
It is disconnected.
Auxiliary information adding module clicks through failure using three-dimension interaction tool in the 3 D stereo scene shown on the coast
Rower note, while accessory model is transferred from accessory model library, the assembly method of the maintenance of failure ship is shown；It is described
Assembly method information is sent on failure ship by auxiliary information adding module by communication module；
Three-dimensional graphics renderer processing, the three-dimensional graphics renderer module of Shipborne terminal is maintenance operation information, model library accessory
Information carries out three-dimensional rendering processing, the three dimensional field depth of field for becoming the corresponding field angle of mixed reality glasses and matching with scene
Degree forms maintenance Supplemental Enhancement Information.Concrete methods of realizing: viewpoint setting and field angle are carried out first in graph rendering module
Setting (45 degree of horizontal field of view angle, 28 degree of vertical field of view angle), the parameter of viewpoint and field angle uses Shipborne terminal stereoscopic shooting
Module carries out the stereoscopic shooting parameter used when stereoscopic shooting, such as: 45 degree of horizontal field of view angle, 28 degree of vertical field of view angle.Then
Maintenance auxiliary operation information, model library accessory information reads, the location parameter where recording, and forms maintenance auxiliary enhancing
Information.
Receive the maintenance Supplemental Enhancement Information after the data information that the graph rendering module transmits renders Shipborne terminal
Send the mixed reality glasses module of crewman's wearing to, Overlapping display instructs crewman to carry out breakdown maintenance behaviour on faulty equipment
Make.Concrete mode is: reading maintenance Supplemental Enhancement Information in Shipborne terminal, the three-dimensional scenic depth measured when using shooting is believed
The viewing volume depth of breath setting mixed reality glasses, carries out moving operation (translational coordination (x, y, z)) to accessory model, to accessory
Model carries out rotation process (rotation angle).Three-dimensional perspective projective transformation processing is carried out to maintenance auxiliary information, treated believes
Breath is shown by mixed reality glasses module, and the real information seen through mixed reality glasses carries out mixing superposition.
Further, mixed reality display module includes human-computer interaction device, and the human-computer interaction device includes at least three
Tie up mouse, data glove, position tracker and the accessory model library with the mating setting of ship component device, under working condition:
The accessory model in accessory model library, the accessory mould in model library are called in the human-computer interaction device of mixed reality display module
Type creates threedimensional model using D modeling tool, carries out assembly displaying by data glove movable accessory model, uses three-dimensional
Mouse carries out fault point mark, the hand shape and each joint of hand when data glove and position tracker cooperation real-time detection work
Bending angle, the position of handle and movement state information are input to mixed reality display module, are grabbed, revolved to accessory model
Turn, moving operation.
Further, foundation when the stereoscopic shooting module obtains failure ship to its own three-dimensional scenic depth information
Human-eye stereoscopic vision feature, dual camera spacing be set as human eye spacing, dual camera visual angle according to capture apparatus depth information into
Row adjustment in real time.
Further, using fusion compression algorithm when the fusion compression module handles the information received: right
Image carries out feature extraction identifying processing, compares front and back two field pictures, the part that two frame informations of record change, the letter not changed
Breath only transmits changing unit without transmission, the information not changed to synthesize new frame image with previous frame.
Expert's maintenance operation information, model library accessory information are carried out three-dimensional process by graph rendering module, and it is existing to become mixing
The three-dimensional scenic depth they real glasses corresponding field angle and matched with scene forms maintenance Supplemental Enhancement Information.
In the present invention include by maintenance of equipment in ship-handling room instrument and equipment (Radar, Loran, GPS, AIS,
LRIT, gyrocompass, sounding instrument, tachometer, magnetic compass, Ship's Black Box, atmospherium, electronic chart, autopilot, carriage clock, behaviour
Rudder and steering gear etc.), engine room facilities (host, subsidiary engine, lubricating oil equipment, cooling equipment, fume extractor, air device, ventilation equipment, electricity
Force control apparatus), above-decks equipment (anchor, hawser, equipment, lamp apparatus on mast)
A kind of ship remote fault diagnosis and maintenance householder method based on mixed reality glasses, including following step
It is rapid:
A, acquisition faulty equipment is to the three-dimensional scenic depth information to camera, according to three-dimensional scenic depth information adjustment three
Tie up the stereoscopic shooting parameter of camera；
B, fusion compression processing is carried out to the stereoscopic shooting information in step a, becomes the data of maritime affairs communications satellite transmission
The information of compression processing is simultaneously sent on the bank by format；
C, the stereo scene for passing back on the bank is shown by mixed reality display module, is view with human eye position
Point is shown using the three-dimensional scenic depth that stereoscopic shooting module measures as the stereo scene display depth of mixed reality display module
3 D stereo scene on ship is shown, realizes that ship-to-shore 3 D stereo scene is synchronous；In the 3 D stereo scene shown on the coast into
Row equipment fault judgement, and fault point is labeled using three-dimension interaction tool, while transferring accessory from accessory model library
Model shows assembly method and incites somebody to action that treated repair message is sent to faulty equipment end；
D, auxiliary operation information will be repaired and model library accessory information carries out three-dimensional process, it is corresponding to become mixed reality glasses
Field angle and the three-dimensional scenic depth that matches with scene, form maintenance Supplemental Enhancement Information；
E, Shipborne terminal sends the maintenance Supplemental Enhancement Information after rendering to the mixed reality glasses of crewman's wearing, superposition
It is shown on faulty equipment, carries out the auxiliary direction of breakdown maintenance operation.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (2)
1. a kind of ship remote fault diagnosis and maintenance auxiliary system based on mixed reality glasses, it is characterised in that packet
Include: stereoscopic shooting module, the stereoscopic shooting module are mounted on ship end operator's head position and obtain faulty equipment to camera shooting
The three-dimensional scenic depth information of head adjusts the stereoscopic shooting parameter of three-dimensional camera according to three-dimensional scenic depth information；
Merge compression module, receive the scene data information of stereoscopic shooting module transmission and by the information received into
Row fusion compression processing, converts thereof into the data format for transmission；
The data information for merging compression module transmission is transferred back to bank using maritime affairs communications satellite by communication module, the communication module
End；
The system further includes the mixed reality display module of the data information of the reception communication module transmission at bank end, described mixed
It closes real display module and the stereo scene information received is subjected to real-time display, using human eye position as viewpoint, with solid
Stereo scene display depth of the three-dimensional scenic depth of shooting module measurement as mixed reality display module, shows the ship that is out of order
The 3 D stereo scene of oceangoing ship realizes the synchronization of ship-to-shore 3 D stereo scene, and failure ship is carried out in this 3 D stereo scene
Breakdown judge；
Receive the auxiliary information adding module of the data information of the mixed reality display module transmission, the auxiliary information addition
Fault point is labeled using three-dimension interaction tool in the 3 D stereo scene that module is shown on the coast, while from accessory model
Accessory model is transferred in library, and the maintenance assembly method of ship faulty equipment is shown；The auxiliary information adding module will
Assembly method information is sent on failure ship by communication module；
The graph rendering module of failure ship receives the data information of the auxiliary information adding module transmission, expert is repaired and is grasped
Make information and model library accessory information and carry out three-dimensional graphics renderer processing, according to the corresponding field angle of mixed reality glasses and with field
The three-dimensional scenic depth that scape matches, is rendered to maintenance Supplemental Enhancement Information；
Receive the maintenance Supplemental Enhancement Information transmission after the data information that the graph rendering module transmits renders Shipborne terminal
To the mixed reality glasses module that crewman wears, Overlapping display instructs crewman to carry out breakdown maintenance operation on faulty equipment；
The mixed reality display module includes human-computer interaction device, and the human-computer interaction device includes at least 3D mouse, number
According to gloves, position tracker and accessory model library with the mating setting of ship component device；
Under working condition: the accessory model in accessory model library is called in the human-computer interaction device of mixed reality display module,
Accessory model in model library creates threedimensional model using D modeling tool, is filled by data glove movable accessory model
With displaying, hand when fault point mark, data glove and position tracker cooperation real-time detection work is carried out using 3D mouse
The bending angle of shape and each joint of hand, the position of handle and movement state information are input to mixed reality display module, to matching
Part model grabbed, rotated, moving operation；
The stereoscopic shooting module obtains foundation human-eye stereoscopic vision when failure ship arrives the three-dimensional scenic depth information of its own
Feature, dual camera spacing are set as human eye spacing, dual camera visual angle is adjusted in real time according to capture apparatus depth information；
Using fusion compression algorithm when the fusion compression module handles the information received: carrying out feature to image and mention
Take identifying processing, relatively the part that changes of front and back two field pictures, two frame informations of record, the information not changed without transmission,
Only transmission changing unit the information not changed to synthesize new frame image with previous frame.
2. a kind of ship remote fault diagnosis and maintenance householder method based on mixed reality glasses, it is characterised in that: packet
Include following steps:
A, acquisition faulty equipment adjusts three-dimensional according to three-dimensional scenic depth information and takes the photograph to the three-dimensional scenic depth information to camera
As the stereoscopic shooting parameter of head；
B, fusion compression processing is carried out to the stereoscopic shooting information in step a, becomes the data format of maritime affairs communications satellite transmission
And the information of compression processing is sent on the bank；
C, the stereo scene for passing back on the bank is shown by mixed reality display module, using human eye position as viewpoint,
The three-dimensional scenic depth measured using stereoscopic shooting module is shown as the stereo scene display depth of mixed reality display module
3 D stereo scene on ship realizes that ship-to-shore 3 D stereo scene is synchronous；It is set in the 3 D stereo scene shown on the coast
Standby breakdown judge, and fault point is labeled using three-dimension interaction tool, while accessory model is transferred from accessory model library,
Assembly method is shown and incites somebody to action that treated repair message is sent to faulty equipment end；
D, auxiliary operation information will be repaired and model library accessory information carries out three-dimensional process, and become the corresponding view of mixed reality glasses
Rink corner and the three-dimensional scenic depth to match with scene form maintenance Supplemental Enhancement Information；
E, Shipborne terminal sends the maintenance Supplemental Enhancement Information after rendering to the mixed reality glasses of crewman's wearing, Overlapping display
On faulty equipment, the auxiliary direction of breakdown maintenance operation is carried out.
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| CN201611102176.3A CN106707810B (en) | 2016-12-02 | 2016-12-02 | Ship remote fault diagnosis and maintenance auxiliary system and method based on mixed reality glasses |
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| CN113438461A (en) * | 2021-05-14 | 2021-09-24 | 烟台杰瑞石油服务集团股份有限公司 | Auxiliary maintenance method and equipment |
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