CN107122045A - A kind of virtual man-machine teaching system and method based on mixed reality technology - Google Patents
A kind of virtual man-machine teaching system and method based on mixed reality technology Download PDFInfo
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- CN107122045A CN107122045A CN201710247132.8A CN201710247132A CN107122045A CN 107122045 A CN107122045 A CN 107122045A CN 201710247132 A CN201710247132 A CN 201710247132A CN 107122045 A CN107122045 A CN 107122045A
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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
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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Abstract
The invention provides a kind of teaching system based on mixed reality technology and method.The system is made up of mixed reality head-mounted display apparatus.The equipment is integrated by main frame, holographic projection system, vision sensor, inertial sensor and constituted.Provides the apparatus a kind of new visible environment.Physics and digital object coexist in new visible environment, and real-time interactive.It can keep contacting with real world and virtual world simultaneously by the equipment operator, both can to complete practical operation in real world can also carry out the operation of next step according to the teaching study course of virtual world.Together with teaching process is organic unity with actual mechanical process, and simultaneously dependent is separated.Therefore the efficiency of teaching is substantially increased.And different 3D Virtual Demonstration animations can be developed according to different process and assemble tasks, possess sustainable use, greatly save resource.Present invention can apply to the fields such as laboratory, factory, scientific and technological museum.
Description
Technical field
The present invention relates to mixed reality and virtual human-computer interaction technique field.Mixed reality skill is based on more particularly to one kind
The virtual man-machine teaching system of art.
Background technology
Current most of production lines can not accomplish that full automation is produced, and process and assemble production process generally requires operation
Personnel and machine cooperate to complete.Therefore need in advance to train operating personnel for different process and assemble tasks
Instruction, makes it be familiar with the process of production and processing and possess corresponding operative skill.Traditional training method is mainly by experienced
Operating personnel lead, or giveed training with data such as instructional video, Guide Books.But these traditional teaching modes
Need to take more human and material resources, waste time and energy, and teaching process efficiency is relatively low, and Consumer's Experience friendly is not high,
Effect also is difficult to be protected.When the tasks such as process and assemble update, experienced operating personnel are also required to relearn.Old
Teaching data can not also be further continued for using.Therefore traditional teaching mode sustainability is not strong, can equally cause a certain degree of
The wasting of resources.In general it is significant there is provided the friendly teaching system of efficient, sustainable, interactive experience.
With the development and progress of science and technology, digitlization is initially entered in our life.The utilization of modern technologies also shadow
Ring and arrived our traditional teaching theories and teaching mode, change the traditional mode of learning aid, and as new development trend.
Mixed reality technology and virtual interacting technology are as brand-new electronic technology because of its vividness and friend in man-machine interaction experience
Good property Successful utilization, into modern teaching, is that traditional teaching banding carrys out new change.
The content of the invention
The invention provides a kind of virtual man-machine teaching system based on mixed reality technology, the system is main by computer
Host CPU processing system, holographic projection system, vision sensor, inertial sensor integrate composition, line holographic projections system
System, vision sensor, inertial sensor connect main frame by wired mode, complete data communication.The system can also claim
For mixed reality head-mounted display apparatus, its structural representation is as shown in Figure 1.
The main frame can be arbitrary main frame, and host CPU processing system can be arbitrary center
Processor（CPU）, graphics processor（GPU）.The holographic projection system is responsible for receiving the image that main frame is sended over
Information is simultaneously projected out one projected area of virtual image formation.
The vision sensor is camera and depth transducer with three-dimensional identification function, the sky for gathering object
Between positional information and movable information.
The Inertial Measurement Unit is accelerometer and gyroscope, position and attitude information for collecting device itself.
The projected area provides the region that a people interacts with mixed reality head-mounted display apparatus, interactive form include but
It is not limited to：People is interacted by different gestures with virtual projection image, and project content is mainly but not limited to：3D virtually shows
Teach animation, control menu.Teaching animation can be it is arbitrary, it is various informative, content including but not limited to：The works such as process and assemble
Industry task.
Another technical scheme of the present invention is there is provided a kind of virtual man-machine teaching system based on mixed reality technology
Implementation, it is characterised in that：Including following content：
1. the equipment needs to be worn on operating personnel's head.Vision sensor gathers the three-dimensional image information in space, these shootings
Head can obtain the depth map of different angles, then different depth maps be accumulated, thus by the technologies such as stereoscopic vision by
Main frame central processing system calculates the accurate threedimensional model of surrounding environment.
2. after the three-dimensional scene models for obtaining surrounding, computer central processing system generation image information, and control complete
Breath optical projection system goes out a projected area through holographic photoscope in the overhead projection of the object to be operated, and content includes 3D Virtual Demonstrations
Animation and control menu.The head movement that Inertial Measurement Unit can follow the trail of operating personnel obtains position and pose information, works as behaviour
The virtual region for making to project when the movement of personnel's sight may go out the field range of operating personnel, and operating personnel can move
Head position transformation angle causes projected area to reenter field range.
3. vision sensor with the position of real-time capture human hand and can recognize the gesture of human hand.When human hand enters projection
During " control menu " region, interactive mode can be but not limited to：Gesture motion is continuous " click action " with " discharging dynamic
Make ", so it is once " effectively clicking on ".The control life of control menu corresponding region is then chosen by once " effectively clicking on "
This information transmission is given main frame central processing system by order, vision sensor, the control according to corresponding to having programmed in advance
System instruction main frame central processing system control projection systems project goes out new content.
Operating personnel can also interact with teaching animation, when vision sensor detects human hand into 3D Virtual Demonstration animations
During region, main frame central processing system control holographic projection system makes 3D empty if human hand completes once " click action "
Intend animation pause, detect operating personnel if human hand " click " state is not over if vision sensor and can drag 3D and virtually move
The position of picture and angle so that teaching animation realizes that 360 degree show.When vision sensor detects " release movement " of human hand
Represent " click action " to terminate, dragging effect terminates.The virtual animations of 3D proceed.
4. computer central processing system receive in real time vision sensor collection image information carry out processing and in real time
Ground constructs projected image and is sent to holographic projection system and projected；On the other hand identify human hand enter view field and
When having artificial control instruction to produce in projection control zone, holographic projection system is given to send corresponding control signal.
The equipment utilization vision sensor captures the various information and data of surrounding environment, by technologies such as stereoscopic visions
The accurate threedimensional model of surrounding environment is calculated by main frame central processing system.Main frame controls line holographic projections
Systems Projection goes out 3D virtual images.User can see virtual scene information by the equipment in reality scene, in real generation
The information circuits of an interaction feedback are set up between boundary, virtual world and user, to strengthen the sense of reality of Consumer's Experience.Mixing is existing
Real head-mounted display apparatus is worn on the head of operating personnel, by built-in Inertial Measurement Unit follow the trail of operating personnel position and
Sight is moved.And the visual sensing system of the equipment can be for recognizing and the gesture of capture operation personnel is moved, according to catching
The gesture information received, main frame control holographic projection system is projected out new content, therefore operating personnel can pass through
Gesture is interacted with 3D virtual objects.
Content of the present invention to complete three aspects.
1. real physical world can have both been observed by mixed reality head-mounted display apparatus operating personnel and reality is completed
Border is operated, while it can also be seen that virtual teaching study course, and the operation of next step is carried out according to its guidance.
2. operating personnel can keep contacting with real world and virtual world simultaneously, and according to the need for itself and
Residing situation is interacted with virtual world in different forms.
3. for different teaching contents, different teaching animations can be developed on same set of hardware device.
The invention discloses a kind of virtual man-machine teaching system based on mixed reality technology and application method.The system by
Mixed reality head-mounted display apparatus is constituted.A kind of new visible environment that the equipment is provided.In new visible environment
Physics and digital object coexist, and real-time interactive.Operating personnel can complete streamline life according to 3D Virtual Demonstrations process in real time
Produce operation task.Operating personnel can interact according to different operation tasks and virtual world, to complete selection and switching
The functions such as different teaching contents.Due to that can make what teaching process was combined with actual mechanical process present system provides a kind of
Mixed reality teaching interactive mode, developing a set of such equipment can be to different operating personnel's Reusability.Therefore originally
Invention causes teaching process to become more vivid, with high efficiency, sustainability, interactive experience friendly.
Brief description of the drawings
The virtual man-machine teaching system structural representation of Fig. 1 mixed reality technologies
Fig. 2 is that operating personnel wear mixed reality head-mounted display apparatus schematic diagram
Fig. 3 is the control gesture schematic diagram of virtual interacting
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with accompanying drawing the present invention is made into
One step ground more detailed description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole implementation
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
All other embodiment, belongs to the scope of protection of the invention.
The virtual man-machine teaching system equipment composition of mixed reality technology is as shown in Figure 1.The system equipment is main by counting
Calculate machine host host CPU processing system, holographic projection system, vision sensor, inertial sensor and integrate composition.Should
Equipment needs to be worn on operating personnel's head, as shown in Figure 2.The thing of reality had both been can see by wearing the equipment operator
The world is managed again it can be seen that the virtual world of holographic projector formation.The equipment can be in real world, virtual world and operation
The information circuits of an interaction feedback are set up between personnel.
The vision sensor of the system is camera and depth transducer with three-dimensional identification function, for gathering object
Spatial positional information and movable information.The holographic projection system of the equipment is responsible for receiving the image that main frame is sended over
Information simultaneously projects 3D virtual objects.Mixed reality head-mounted display apparatus can be projected out 3D Virtual Demonstrations animation and control dish simultaneously
It is single.Different control instructions can be selected in control menu, for example, switch different teaching animations（Different teaching animations point
The industrial tasks such as process and assemble that Dui Ying be not different）, control beginning, pause and end of teaching process etc..
As shown in Figure 3, operating personnel can be interacted by different gestures with the virtual image being projected out, so that
Realize corresponding control action.Control gesture is provided with click（Fig. 3 a）With release（Fig. 3 b）Two kinds.Wherein click action generation
Table selection index system, release movement represents click action and terminated.Interactive mode for projected area is not limited to 2 kinds shown in accompanying drawing 2
Gesture, can also refer to touching, conversion certain gestures etc. more.
The vision sensor identification of the system and the gesture movement of capture operation personnel, and by data message by calculating owner
Machine processing, so as to control holographic projection system to be projected out the corresponding content of command adapted thereto.When human hand enters " the control dish of projection
During list " region, interactive mode can be but not limited to：Gesture motion is continuous " click action " and " release movement "（Fig. 3）,
So it is once " effectively clicking on ".The control command of control menu corresponding region is then chosen by once " effectively clicking on ".Depending on
Feel that this information transmission is given main frame central processing system by sensor, the control instruction according to corresponding to having programmed in advance
Main frame control projection systems project goes out new content.In order to be able to meet the learning tasks of more details, operating personnel may be used also
To be interacted with teaching animation, when vision sensor detects human hand into 3D Virtual Demonstration animation regions, if human hand completes one
Secondary " click action " then computer central processing system control holographic projection system makes the virtual animation pauses of 3D.If vision sensor
Detect human hand " click " state to be not over, operating personnel can drag position and the angle of the virtual animations of 3D so that teaching
Animation is realized to be showed to 360 degree." release movement " interval scale " click action " that vision sensor detects human hand terminates, dragging
Effect terminates.3D Virtual Demonstrations animation continues.
Above-described embodiment is preferably embodiment, but embodiments of the present invention are not by above-described embodiment of the invention
Limitation, other any Spirit Essences without departing from the present invention and the change made under principle, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (9)
1. a kind of virtual man-machine teaching system based on mixed reality technology, it is characterised in that：The system by main frame,
Holographic projection system, vision sensor, inertial sensor are integrated, holographic projection system, vision sensor, inertia sensing
Device connects main frame by wired mode, completes data communication.
2. a kind of virtual man-machine teaching system based on mixed reality technology according to right 1, it is characterised in that：The meter
The central processing system for calculating machine host can be arbitrary central processing unit（CPU）, graphics processor（GPU）.
3. a kind of virtual man-machine teaching system based on mixed reality technology according to right 1, it is characterised in that：It is described complete
Breath optical projection system is responsible for receiving the image information that sends over of main frame and is projected out virtual image in projected area.
4. a kind of virtual man-machine teaching system based on mixed reality technology according to right 1, it is characterised in that：It is described to regard
It is camera and depth transducer with three-dimensional identification function, spatial positional information and fortune for gathering object to feel sensor
Dynamic information.
5. a kind of virtual man-machine teaching system based on mixed reality technology according to right 1, it is characterised in that：It is described used
Property measuring unit be accelerometer and gyroscope, position and attitude information for collecting device itself.
6. a kind of virtual man-machine teaching system based on mixed reality technology according to right 3, it is characterised in that：It is described to throw
Shadow zone projected virtual picture material is mainly but not limited to：3D Virtual Demonstrations animation, control menu.
7. a kind of virtual man-machine teaching system based on mixed reality technology according to right 3, it is characterised in that：It is described to throw
Shadow zone provides the region that is interacted with teaching system of a people, interactive form including but not limited to：People passes through different gestures and void
Intend projected area to interact.
8. a kind of virtual man-machine teaching system based on mixed reality technology according to right 6, it is characterised in that：Teaching is moved
Picture can be it is arbitrary, it is various informative, content including but not limited to：The industrial tasks such as process and assemble.
9. a kind of implementation of the virtual man-machine teaching system based on mixed reality technology, it is characterised in that：Methods described bag
Include following content：
1. the equipment needs to be worn on operating personnel's head, and vision sensor gathers the three-dimensional image information in space, these shootings
Head can obtain the depth map of different angles, then different depth maps be accumulated, thus by the technologies such as stereoscopic vision by
Main frame central processing system calculates the accurate threedimensional model of surrounding environment；
2. after the three-dimensional scene models for obtaining surrounding, computer central processing system generation image information, and control holographic throwing
Shadow system goes out a projected area through holographic photoscope in the overhead projection of the object to be operated, and content includes 3D Virtual Demonstration animations
With control menu, the head movement that Inertial Measurement Unit can follow the trail of operating personnel obtains position and pose information, works as operator
The virtual region projected when member's sight movement may go out the field range of operating personnel, and operating personnel can be with moving-head
Position transformation angle causes projected area to reenter field range；
3. vision sensor with the position of real-time capture human hand and can recognize the gesture of human hand, when human hand enters the " control of projection
During menu " region, interactive mode can be but not limited to：Gesture motion is continuously " click action " and " release movement ", this
Sample is once " effectively clicking on ", and the control command of control menu corresponding region, vision are then chosen by once " effectively clicking on "
This information transmission is given main frame central processing system by sensor, the control instruction meter according to corresponding to having programmed in advance
Calculate machine host central processing system control projection systems project and go out new content；
Operating personnel can also interact with teaching animation, when vision sensor detects human hand into 3D Virtual Demonstration animation regions
When, main frame central processing system control holographic projection system makes 3D virtually move if human hand completes once " click action "
Pause is drawn, the virtual animations of 3D can be dragged by detecting operating personnel if human hand " click " state is not over if vision sensor
Position and angle so that teaching animation realizes that 360 degree show, when vision sensor detects " release movement " interval scale of human hand
" click action " terminates, and dragging effect terminates, and the virtual animations of 3D proceed；
4. main frame central processing system receive in real time vision sensor collection image information carry out processing and in real time
Ground constructs projected image and is sent to holographic projection system and projected；On the other hand identify human hand enter view field and
When having artificial control instruction to produce in projection control zone, holographic projection system is given to send corresponding control signal.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108053694A (en) * | 2017-12-29 | 2018-05-18 | 杭州百子尖科技有限公司 | The system and method for Safe production of chemical industry simulation and training based on virtual augmented reality |
| CN108564901A (en) * | 2018-06-22 | 2018-09-21 | 南京达斯琪数字科技有限公司 | A kind of real time human-machine interaction holographic display system |
| CN109175992A (en) * | 2018-08-20 | 2019-01-11 | 西安万威机械制造股份有限公司 | A kind of man-machine collaboration casing Intelligent assembly platform based on AR technology |
| CN109782907A (en) * | 2018-12-28 | 2019-05-21 | 西安交通大学 | A kind of virtual filling coorinated training system based on polyhybird real world devices |
| CN110610626A (en) * | 2019-10-15 | 2019-12-24 | 上海乂学教育科技有限公司 | Online mixed reality teaching system |
| CN112297030A (en) * | 2020-11-13 | 2021-02-02 | 沈阳航天新光集团有限公司 | Interactive bionic robot fish system based on mixed reality |
| CN112530216A (en) * | 2020-12-16 | 2021-03-19 | 北京新大陆时代教育科技有限公司 | Immersive virtual-real interaction training system and method thereof |
| CN112634467A (en) * | 2021-01-05 | 2021-04-09 | 东方电气集团科学技术研究院有限公司 | AR guidance method in equipment manufacturing and assembling process |
| US11030819B1 (en) | 2019-12-02 | 2021-06-08 | International Business Machines Corporation | Product build assistance and verification |
| CN114141079A (en) * | 2021-11-15 | 2022-03-04 | 中船舰客教育科技(北京)有限公司 | Intelligent production line MR virtual training system and method, electronic device and storage medium |
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| CN112634467A (en) * | 2021-01-05 | 2021-04-09 | 东方电气集团科学技术研究院有限公司 | AR guidance method in equipment manufacturing and assembling process |
| CN114141079A (en) * | 2021-11-15 | 2022-03-04 | 中船舰客教育科技(北京)有限公司 | Intelligent production line MR virtual training system and method, electronic device and storage medium |
| CN114141079B (en) * | 2021-11-15 | 2023-12-15 | 中船舰客教育科技(北京)有限公司 | Intelligent production line MR virtual training system, method, electronic equipment and storage medium |
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