CN108664722B - Satellite cable laying guiding system and guiding method based on augmented reality - Google Patents
Satellite cable laying guiding system and guiding method based on augmented reality Download PDFInfo
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- CN108664722B CN108664722B CN201810420281.4A CN201810420281A CN108664722B CN 108664722 B CN108664722 B CN 108664722B CN 201810420281 A CN201810420281 A CN 201810420281A CN 108664722 B CN108664722 B CN 108664722B
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Abstract
The invention discloses a satellite cable assembly guidance system based on augmented reality, which comprises a guidance information generation module, an image acquisition module, a cable identification module, a deck positioning module, a guidance information visualization module and a guidance state control module, wherein an operator is guided to quickly realize the assembly of a satellite cable in an augmented reality mode. In addition, the invention also discloses an assembly guiding method of the satellite cable. The invention improves the cable laying efficiency and the convenience of cable network information query in a complex satellite assembly scene, reduces the cable laying error occurrence efficiency and simplifies the predefined process of guiding process information.
Description
Technical Field
The invention belongs to the technical field of spacecraft final assembly, and particularly relates to an interactive process information guidance system for satellite cable laying. In addition, the invention also relates to an interactive process information guiding method for satellite cable laying.
Background
Satellite cables are a class of important parts for ensuring the realization of the functions of satellite systems. Cable networks and cable holders are the main operational objects of cable laying. Each group of cable networks comprises a plurality of cable branches consisting of cables, cable plugs are arranged at the tail ends of the cable branches or are directly connected with instruments, and each group of cable networks and the tail ends of the cable branches are respectively provided with a unique number; the cable support is a support rod piece for binding cables and is arranged on the satellite cabin plate before the cables are laid; the cable network laying is to fix the cable branches on a group of cable brackets according to the design requirements. Furthermore, for cables with cross deck lay requirements, it is necessary to branch the cables through the correct through-hatch holes in the deck. The cable network laying needs to ensure that cables are bound on a correct cable support and also needs to ensure that the free length of the tail end of the laid cable meets the requirement of subsequent cable splicing. Due to the fact that the number and the trend of cables of different satellites are different greatly, the laying position space is narrow, the operation working condition is complex, and the laying of the satellite cables is seriously dependent on manual operation. In order to complete the laying, a worker firstly needs to obtain required information (including a cable net structure, a cable trend, positions of relevant cable supports and cabin penetrating holes, numbers of cable branch tail ends and required redundant lengths of the cable branch tail ends) from a drawing or a three-dimensional model, and then carries out laying position confirmation, binding and adjustment operation in a satellite cabin.
At a satellite assembly site, a fixed billboard system is adopted to display information required by cable laying at present, and workers operate according to drawings or the identification of a three-dimensional model. The disadvantages of this type of process are: because the satellite cabin body has poor openness, a craft worker only needs to memorize the information required by paving to execute operation in the cabin body, and needs to continuously switch the visual angle between a display screen for displaying documents and a satellite real object so as to manually match the related design information with the real physical environment. At the moment, because the cable supports are relatively consistent in appearance and densely distributed on the cabin plate, workers are difficult to find the required supports, and the problems of low efficiency and high possibility of mistakes are also caused in the identification of the cabin penetrating holes. Further, since the number of branches of the satellite cable is large, a worker should bear a large amount of additional cognitive burden to confirm an operation target and a position, and cable laying efficiency is significantly reduced.
In order to improve the laying efficiency of the satellite cable, the invention adopts an augmented reality method to realize the automatic matching of the cable laying information and the real physical environment and guide workers to finish the cable laying operation. In the related field of complex mechanical assembly, currently, existing enterprises research and apply an assembly guiding method based on augmented reality, but the method cannot meet the requirement of differentiated single-piece production of satellites, cannot systematically solve the problem of automatic conversion from abstract cable laying process information to visual augmented reality interactive information, and does not realize visual operation guiding aiming at satellite cable laying process logic.
Disclosure of Invention
The invention aims to provide a satellite cable assembly guiding system based on augmented reality, which can realize automatic matching of cable laying process information and a real physical environment, guide workers to complete cable laying operation and improve the efficiency and quality of satellite cable laying.
In addition, another objective of the present invention is to provide a method for guiding satellite cable assembly based on augmented reality, which can greatly improve the efficiency and quality of satellite cable laying and avoid the occurrence of cable laying errors.
The invention adopts the following technical scheme:
the augmented reality-based satellite cable assembly guidance system comprises a guidance information generation module, an image acquisition module, a cable identification module, a cabin board positioning module, a guidance information visualization module and a guidance state control module, wherein the guidance information generation module is used for reading information data which are stored in the external cable direction, a cable three-dimensional model, a cable support layout, a satellite cabin board structure three-dimensional model and cable laying requirements to form a cable network information data set, and the cable network information data set is used for the cable identification module, the guidance state control module, the cabin board positioning module and the guidance information visualization module to call; the image acquisition module is used for shooting a working scene and transmitting an image to the cable identification module, the cabin board positioning module and the guide information visualization module; the cable identification module is used for identifying a cable plug, a cable branch or an electric connector in a working scene, acquiring a working live-action picture through the image acquisition module, identifying a coding pattern from the picture, analyzing the pattern to obtain the serial numbers of the cable plug, the cable branch and the electric connector, and providing a confirmation result to the guiding state control module; the cabin board positioning module is used for calculating the pose parameters of the satellite cabin board in a working scene, mark points which are used as the characteristics of the cable support are placed on the cable support by a user before the module works, after the module starts to work, an image of the working scene is obtained through the image acquisition module, a group of mark points in the image are identified, then the relative position relation between the mark points is compared with the cable support layout information provided by the guide information generation module in a similarity mode, and a group of cable supports with the maximum layout similarity with the group of mark points is found out; the relative position relation between the mark point and the inner surface of the satellite deck plate where the mark point is located is obtained through the cable support three-dimensional model and the deck plate three-dimensional model which are provided by the measurement guidance information generation module, so that the pose parameter of the plane where the inner surface of the satellite deck plate is located is determined, and the parameter is provided to the guidance information visualization module; the guidance information visualization module is used for displaying virtual process guidance information on the working scene image in an overlapping mode, and receiving a guidance instruction provided by the guidance state control module to select the displayed guidance type and specific content; the guiding state control module is used for receiving an operation instruction of a user, inquiring a cable network information set provided by the guiding information generation module, controlling the guiding information visualization module to display process guiding information according to a set logic, inquiring a corresponding cable network information set provided by the guiding information generation module according to a number after the guiding state control module receives the instruction, controlling the guiding information visualization module according to a predefined installation rule, displaying contents such as a cable branch model, a cable support position, a cabin penetrating hole position, a cable laying requirement and the like according to steps, recording the cable network laying progress in the laying guiding process, and enabling the user to continue laying operation under guidance from the interrupted step after the user interrupts the guiding.
Wherein the displayable information types include: (1) a cable network three-dimensional model; (2) prompting the position of the cable support; (3) prompting the branch trend of the cable; (4) cable plug position prompting; (5) prompting the position of the cabin penetrating hole; (6) redundant length of cable branch end; (7) written description of other process requirements.
For the guidance information which has a dependency relationship with the position of the deck plate, the guidance information visualization module calculates the position of the virtual object in the actual scene according to the relative position relationship between the guidance content and the deck plate and the satellite deck plate position parameter provided by the deck plate positioning module, and then renders and displays the virtual object according to the position; and directly rendering and displaying the guide information which has no dependence on the position of the deck on a display.
Wherein, user operation instruction and corresponding control logic include: (1) cable network information display instructions; (2) and cable branch laying guide instructions containing cable network numbers required to guide installation.
The guiding state control module receives the numbers of operation objects such as a cable network, a cable branch, a cable plug and the like provided by a user or the cable identification module, inquires the cable network information set provided by the guiding information generation module according to the numbers, and then controls the guiding information visualization module to display the inquired information in the cable network information set.
The satellite cable assembly guiding method based on augmented reality comprises the following steps:
1) the method comprises the steps of conducting guiding preparation, wherein after cable network information is obtained and produced from the outside through a guiding information generating module, cable support layout and a cabin plate three-dimensional model are provided for a cabin plate positioning module; after a user opens the system in the satellite cabin, the cabin board positioning module realizes continuous recognition of the position and posture of the cabin board and transmits the position and posture parameters to the guide information visualization module in real time; meanwhile, the cable identification module confirms the cable network number which needs to be inquired or operated and guided for the user and transmits the cable network number as a parameter to the guiding state control module;
2) the guidance display, after the guidance state control module confirms the command type to the user, the cable network information set is extracted from the guidance information production module, and the information to be displayed is sent to the guidance information visualization module; the guide information visualization module performs fusion display on the virtual object and the actual object according to the real-time position and posture parameters of the deck plate continuously provided by the deck plate positioning module;
the invention has the following advantages:
1. the system improves the cable laying efficiency, eliminates the requirement that a user understands and compares the virtual cable laying position information in the actual satellite cabin, and can directly acquire the related objects of the cable network from the system.
2. The convenience of cable network information query in a complex satellite assembly scene is improved. The user can quickly locate any plug, branch or cabin-through hole position of the cable network under the real scene through the cable plug, the cable branch or the cable network code.
3. The cable laying error occurrence efficiency is reduced, and the cable branch trend, the cabin penetrating position and the redundant length requirement of the cable branch tail end are ensured to be correctly understood and implemented by a user according to the design intention through accurate position indication.
4. The method simplifies the predefined process of guiding process information, can generate cable network information sets required by guiding in batch according to the existing cable process information, and is suitable for a single customized production mode of the satellite.
Drawings
FIG. 1: the invention relates to a module and a data flow chart in a satellite cable assembly guidance system based on augmented reality;
FIG. 2: the satellite cabin plate and cable example in the augmented reality-based satellite cable assembly guidance system are disclosed;
wherein: the device comprises a cabin plate 1, a cabin plate partition plate 2, a cabin penetrating hole 3, a cable 4, a cable support 5 (simplified schematic), an electric connector 6 and a free-end electric connector 7;
FIG. 3: the invention relates to a cable bracket structure and a marker installation example in a satellite cable assembly guiding system based on augmented reality;
wherein: 31 is a cable bracket support, 32 is a cable bracket fixing screw (fixing the cable bracket on the deck plate), 33 is a cable bracket rod, 34 is a cable bracket rod hole, 35 is a marker nail rod, and 36 is a marker nail cap painted with a two-dimensional code;
FIG. 4: the invention discloses a schematic diagram of cable trend information in a satellite cable assembly guidance system based on augmented reality;
wherein: 41 is the serial number of the electric connector, 42 is the serial number of a cable branch end point, 43 is the binding position of the cable support, 44 is the serial number of the cable support, 45 is the length of the cable section, 46 is the serial number of a cable network branching node, 47 is the through cabin hole position, and 48 is the through cabin hole serial number;
FIG. 5: the invention relates to a guide information visualization example graph which has a dependency relationship with a cabin plate position in a satellite cable assembly guide system based on augmented reality;
wherein 51 is a three-dimensional model of a laid cable section, 52 is a cable support mark which is finished binding, 53 is a three-dimensional model of an unpaved cable section, 54 is a cable support mark of a next cable to be bound, 55 is an electric connector numbering prompt, 56 is a cable branch end point numbering prompt, 57 is a cable network branching node numbering prompt, 58 is a cabin penetrating hole position prompt through which a cable needs to pass, and 59 is a cable section length prompt.
Detailed Description
The present invention will be described in further detail with reference to the attached drawings, which are only illustrative and not intended to limit the scope of the present invention in any way.
Referring to fig. 1, fig. 1 shows modules and a data flow diagram of an augmented reality based satellite cable assembly guidance system of the present invention; the satellite cable assembly guidance system based on augmented reality is installed in an augmented reality device, and the device integrates data reading, writing, operation, storage and interaction functions of a conventional computer, and is also provided with a camera capable of collecting a user view field image and an image projector for performing superposition display on a user view field image. The invention relates to a satellite cable assembly guidance system based on augmented reality, which comprises a guidance information generation module, an image acquisition module, a cable identification module, a cabin plate positioning module, a guidance information visualization module and a guidance state control module, wherein the guidance information generation module is used for reading information data of cable trend, a cable three-dimensional model, cable support layout, a satellite cabin plate structure three-dimensional model and cable laying requirements stored outside to form a cable network information data set, and the cable network information data set is used for the cable identification module, the guidance state control module, the cabin plate positioning module and the guidance information visualization module to call; the image acquisition module is used for shooting a working scene and transmitting an image to the cable identification module, the cabin board positioning module and the guide information visualization module; the cable identification module is used for identifying a cable plug, a cable branch or an electric connector in a working scene, acquiring a working live-action picture through the image acquisition module, identifying a coding pattern from the picture, analyzing the pattern to obtain the serial numbers of the cable plug, the cable branch and the electric connector, and providing a confirmation result to the guiding state control module; the cabin board positioning module is used for calculating the pose parameters of the satellite cabin board in a working scene, mark points which are used as the characteristics of the cable support are placed on the cable support by a user before the module works, after the module starts to work, an image of the working scene is obtained through the image acquisition module, a group of mark points in the image are identified, then the relative position relation between the mark points is compared with the cable support layout information provided by the guide information generation module in a similarity mode, and a group of cable supports with the maximum layout similarity with the group of mark points is found out; the relative position relation between the mark point and the inner surface of the satellite deck plate where the mark point is located is obtained through the cable support three-dimensional model and the deck plate three-dimensional model which are provided by the measurement guidance information generation module, so that the pose parameter of the plane where the inner surface of the satellite deck plate is located is determined, and the parameter is provided to the guidance information visualization module; the guidance information visualization module is used for displaying virtual process guidance information on the working scene image in an overlapping mode, and receiving a guidance instruction provided by the guidance state control module to select the displayed guidance type and specific content; the guiding state control module is used for receiving an operation instruction of a user, inquiring a cable network information set provided by the guiding information generation module, controlling the guiding information visualization module to display process guiding information according to a set logic, inquiring a corresponding cable network information set provided by the guiding information generation module according to a number after the guiding state control module receives the instruction, controlling the guiding information visualization module according to a predefined installation rule, displaying contents such as a cable branch model, a cable support position, a cabin penetrating hole position, a cable laying requirement and the like according to steps, recording the cable network laying progress in the laying guiding process, and enabling the user to continue laying operation under guidance from the interrupted step after the user interrupts the guiding.
In addition, in addition to the system and the augmented reality device of the present invention, a satellite cabin segment to be laid with a cable, a set of cable net, a set of cable support marker, and cable laying process information corresponding to the satellite cabin segment are required for implementing the embodiment: (1) a satellite cabin section; (2) a cable network; (3) a cable support marker; (4) cable laying process information; in particular, with reference to fig. 2, fig. 2 shows an example of a satellite bay section and of a cable, from fig. 2 it can be seen that the satellite bay section comprises three elements, a bay plate 1, a bay plate partition 2 and a cable support 5. The bulkhead 2 contains cable penetration holes 3. The cable bracket 5 is arranged on the deck plate 1, and the top end of the cable bracket is provided with an installation interface of a cable bracket marker; the cable network comprises three elements of a cable 4 with a plurality of branches, an electric connector 6 and a free end electric connector 7. The respective ends of the cable 4 are connected to an electrical connector 6 or a free end electrical connector 7, respectively. Wherein, the electric connector 6 is in a splicing relation with the satellite cabin equipment. The free-end electrical connector 7 has a plugging relation with other satellite cabin equipment, and a cable branch connected with the free-end electrical connector needs to be provided with a redundant length so as to be convenient for being bound at other cabin sections.
In a specific embodiment, the cable support marker is a nail-shaped marker, see fig. 3, fig. 3 shows a cable support structure and a marker installation example in the augmented reality-based satellite cable assembly and guidance system of the present invention, wherein the cable support structure includes two elements, namely a cable support base 31 and a cable support rod 33, the cable support base 31 is fixed on the deck plate by a cable support fixing screw 32, and a cable support rod hole 34 is formed in the cable support rod 33; the cable bracket marker comprises two elements of a marker nail cap 36 and a marker nail rod 35, a two-dimensional code pattern for identifying the bracket is drawn on the outer side of the marker nail cap 36, and the marker nail rod 35 is inserted into the cable bracket rod hole 34 to complete the installation of the marker;
further, the cable laying process information comprises cable trend, a cable three-dimensional model, cable support layout, a satellite deck structure three-dimensional model and cable laying requirements. Fig. 4 is a schematic diagram showing cable orientation information in the augmented reality-based satellite cable assembly guidance system according to the present invention; the cable trend information comprises an electric connector number 41 of each cable branch end point, a cable branch end point number 42, a cable support binding position 43 on the cable, a cable support number 44 for binding the cable, a cable section length 45 laid among the cable supports, a cable branching node number 46, a cabin penetrating hole position 47 on a cable laying path, a cabin penetrating hole number 48 and the like; the cable three-dimensional model consists of a cable branch model and an electric connector model at the tail end of the cable. The cable support layout information comprises installation coordinate parameters and serial numbers of each cable support on the cabin plate and a support three-dimensional model; the cable laying requirements are a literal description of cable laying considerations, such as "the distance between the cable tie location on the cable support and the cabin panel must be greater than 10 mm".
Before the system of the embodiment works, the following marking work is completed by a user: (1) adhering two-dimensional graphical codes containing the serial number information of the cable support to the outer side of the nail cap of each cable support marker, and then inserting the marker on the corresponding cable support; (2) pasting one-dimensional graphical codes containing branch identification information on each cable branch at equal intervals; (3) one-dimensional or two-dimensional graphical codes containing the plug number information are pasted on the cable plugs at the tail ends of the cable branches.
When the system of the embodiment works, the guidance information generation module acquires a text or a model file for storing the cable laying process information through a data read-write interface of the augmented reality device to form a cable network information set, stores the cable network information set in a data memory of the augmented reality device, and is used by the cable identification module, the guidance state control module, the deck positioning module and the guidance information visualization module.
When the system works, the image acquisition module acquires a user view field image by using the camera of the augmented reality device and transmits the image to the cable identification module, the cabin board positioning module and the guide information visualization module.
When the system of the embodiment works, the cable identification module acquires a user view field image through the image acquisition module and identifies the coding pattern from the picture. Based on the parsing of the pattern, the module provides the number to the guidance status control module and the guidance information visualization module if the module gets the number of the cable plug, the cable branch or the electrical connector.
When the system of the embodiment works, the cabin board positioning module acquires a working scene image through the image acquisition module, identifies geometric patterns on a group of cable support markers in the image, and further obtains the cable support position in the image. The module takes the position of the geometric pattern as the position of the marker of the cable support, and then compares the relative position relation of the marker with the layout information of the cable support provided by the guide information generation module to find out a group of cable supports with the largest layout similarity with the group of markers. And if the maximum similarity is greater than the preset threshold value of 95% of the module, identifying the actual cable support as the cable support with the maximum similarity in the group. Through the cable support three-dimensional model and the cabin plate three-dimensional model provided by the measurement guide information generation module, the relative position relation between the cable support marker and the inner surface of the satellite cabin plate where the cable support marker is located is obtained by the module, and further plane pose parameters where the inner surface of the satellite cabin plate is located are calculated, wherein the parameters comprise space intersection angle parameters of the inner surface X, Y of the cabin plate to the direction of the reference coordinate Z0 of the augmented reality device and coordinates of the center point of the inner surface of the cabin plate in the reference coordinate system of the augmented reality device. The module provides the set of coordinate parameters to a guidance information visualization module.
When the system of the embodiment works, the guidance information visualization module receives the guidance instruction provided by the guidance state control module to select the displayed guidance type and specific content, and the image projector of the augmented reality device is used for projecting the guidance information. For the guidance information which has a dependency relationship with the position of the deck plate, the module calculates the corresponding position of the virtual object in the actual scene by using the coordinate transformation matrix provided by the deck plate positioning module according to the relative position relationship between the guidance content and the deck plate and the satellite deck plate position parameter provided by the deck plate positioning module, and then renders and displays the virtual object according to the position. And directly rendering and displaying the guide information which has no dependency relation with the position of the deck on a display. Fig. 5 shows an example of visualization of guidance information having a dependency relationship with a position of a deck in the augmented reality-based satellite cable assembly guidance system of the present invention: guiding a user to check deviation between the actual laying cable trend and a plan by displaying the laid cable section three-dimensional model 51; guiding the user to check for deviations of the actual lashing location from the plan by displaying the cable holder indicia 52 for which lashing has been completed; guiding the user to understand the remaining workload of cable laying and the laying position by displaying the three-dimensional model 53 of the un-laid cable section; by displaying the number 55 of the electric connector, the number 56 of the cable branch endpoint and the number 57 of the cable network branching node, a user can prevent the cable branch with wrong operation by comparing the number with the number of the actual cable or the electric connector; the user is guided to perform the cable tie work by displaying the cable support mark 54 of the next cable to be tied, the cabin penetrating hole position prompt 58 through which the cable needs to pass, and the cable section length prompt 59.
When the system of the embodiment works, the guiding state control module receives an operation instruction of a user, inquires a cable network information set provided by the guiding information generation module, and controls the guiding information visualization module to display the process guiding information according to the set logic. The user operation instruction and the logic adopted by the embodiment are as follows: (1) cable network information display instruction: the module receives the numbers of operation objects such as a cable network, a cable branch, a cable plug and the like provided by a user or a cable identification module, inquires a cable network information set provided by the guide information generation module according to the numbers, and then controls the guide information visualization module to display the inquired information in the cable network information set. For example, when the number is found to belong to a cable branch, an instruction for displaying the cable branch is issued to the guide visualization module. (2) Cable branch laying guidance instruction: the instruction contains the cable network number that needs to be booted up. After receiving the instruction, the module queries the corresponding cable network information set provided by the guidance information generation module according to the number, controls the guidance information visualization module according to the predefined installation rule, and displays the cable branch model, the cable support position, the cabin penetration hole position, the cable laying requirement and other contents according to the steps (fig. 5). During the laying and guiding process, the module records the laying progress of the cable network, so that a user can continue laying operation under the guidance from the step of interruption after the guidance is interrupted.
When the system of the embodiment works, all modules are matched and associated with each other, and the specific expression is as follows:
in the guidance preparation stage, after the guidance information generation module acquires and generates cable network information from the outside, the cable support layout and the cabin plate three-dimensional model are provided for the cabin plate positioning module; after a user opens the system in the satellite cabin, the cabin board positioning module realizes continuous recognition of the position and posture of the cabin board and transmits the position and posture parameters to the guide information visualization module in real time; meanwhile, the cable identification module can confirm the cable network number which needs to be inquired or operated and guided for the user, and transmit the cable network number as a parameter to the guiding state control module.
In the guidance display stage, after the guidance state control module confirms the command type to a user, a cable network information set is extracted from the guidance information generation module, and information to be displayed is sent to the guidance information visualization module; and the guide information visualization module is used for fusion display of the virtual object and the actual object according to the real-time position and posture parameters of the deck plate continuously provided by the deck plate positioning module.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications without inventive contribution to the present embodiment as required after reading the present specification, but all of them are protected by patent law within the scope of the present invention.
Claims (7)
1. The augmented reality-based satellite cable assembly guidance system comprises a guidance information generation module, an image acquisition module, a cable identification module, a cabin board positioning module, a guidance information visualization module and a guidance state control module, wherein the guidance information generation module is used for reading information data which are stored in the external cable direction, a cable three-dimensional model, a cable support layout, a satellite cabin board structure three-dimensional model and cable laying requirements to form a cable network information data set, and the cable network information data set is used for the cable identification module, the guidance state control module, the cabin board positioning module and the guidance information visualization module to call; the image acquisition module is used for shooting a working scene and transmitting an image to the cable identification module, the cabin board positioning module and the guide information visualization module; the cable identification module is used for identifying a cable plug, a cable branch or an electric connector in a working scene, acquiring a working live-action picture through the image acquisition module, identifying a coding pattern from the picture, analyzing the pattern to obtain the serial numbers of the cable plug, the cable branch and the electric connector, and providing a confirmation result to the guiding state control module; the cabin board positioning module is used for calculating the pose parameters of the satellite cabin board in a working scene, mark points which are used as the characteristics of the cable support are placed on the cable support by a user before the module works, after the module starts to work, an image of the working scene is obtained through the image acquisition module, a group of mark points in the image are identified, then the relative position relation between the mark points is compared with the cable support layout information provided by the guide information generation module in a similarity mode, and a group of cable supports with the maximum layout similarity with the group of mark points is found out; the relative position relation between the mark point and the inner surface of the satellite deck plate where the mark point is located is obtained through the cable support three-dimensional model and the deck plate three-dimensional model which are provided by the measurement guidance information generation module, so that the pose parameter of the plane where the inner surface of the satellite deck plate is located is determined, and the parameter is provided to the guidance information visualization module; the guidance information visualization module is used for displaying virtual process guidance information on the working scene image in an overlapping mode, and receiving a guidance instruction provided by the guidance state control module to select the displayed guidance type and specific content; the guiding state control module is used for receiving an operation instruction of a user, inquiring a cable network information set provided by the guiding information generation module, controlling the guiding information visualization module to display process guiding information according to a set logic, inquiring a corresponding cable network information set provided by the guiding information generation module according to a number after the guiding state control module receives the instruction, controlling the guiding information visualization module according to a predefined installation rule, displaying a cable branch model, a cable support position, a cabin penetrating hole position and a cable laying requirement according to steps, recording the cable network laying progress in the laying guiding process, and enabling the user to continue laying operation under guidance from the interrupted step after the guiding is interrupted.
2. The system of claim 1, wherein the types of information that may be displayed include: (1) a cable network three-dimensional model; (2) prompting the position of the cable support; (3) prompting the branch trend of the cable; (4) cable plug position prompting; (5) prompting the position of the cabin penetrating hole; (6) redundant length of cable branch end; (7) written description of other process requirements.
3. The system of claim 1, wherein for the guidance information having a dependency relationship with the position of the deck, the guidance information visualization module calculates the position of the virtual object in the actual scene according to the relative pose relationship between the guidance content and the deck and the satellite deck pose parameters provided by the deck positioning module, and then renders and displays the virtual object according to the position.
4. The system of claim 1, wherein guidance information that is independent of deck position is directly rendered and displayed on the display.
5. The system of claim 1, wherein the user operation instructions and corresponding control logic comprise: (1) cable network information display instructions; (2) and cable branch laying guide instructions containing cable network numbers required to guide installation.
6. The system of claim 1, wherein the guidance state control module receives numbers of the cable network, the cable branch, and the cable plug provided by a user or the cable identification module, and inquires the cable network information set provided by the guidance information generation module by the numbers, and then controls the guidance information visualization module to display the inquired information in the cable network information set.
7. Augmented reality based satellite cable assembly guidance method, characterized in that an augmented reality based satellite cable assembly guidance system according to any of claims 1-6 is used, comprising the steps of:
1) the method comprises the steps of conducting guiding preparation, wherein after cable network information is obtained and produced from the outside through a guiding information generating module, cable support layout and a cabin plate three-dimensional model are provided for a cabin plate positioning module; after a user opens the system in the satellite cabin, the cabin board positioning module realizes continuous recognition of the position and posture of the cabin board and transmits the position and posture parameters to the guide information visualization module in real time; meanwhile, the cable identification module confirms the cable network number which needs to be inquired or operated and guided for the user and transmits the cable network number as a parameter to the guiding state control module;
2) the guiding display, after the guiding state control module confirms the command type to the user, the cable network information set is extracted from the guiding information production module, and the information to be displayed is sent to the guiding information visualization module; and the guide information visualization module is used for fusion display of the virtual object and the actual object according to the real-time position and posture parameters of the deck plate continuously provided by the deck plate positioning module.
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| CN109492288B (en) * | 2018-10-30 | 2023-05-23 | 江南造船(集团)有限责任公司 | Ship cable design method, system, equipment and medium based on three-dimensional model |
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