CN109584361A - A kind of equipment cable is virtually pre-installed and trajectory measurement method and system - Google Patents
A kind of equipment cable is virtually pre-installed and trajectory measurement method and system Download PDFInfo
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- CN109584361A CN109584361A CN201811498609.0A CN201811498609A CN109584361A CN 109584361 A CN109584361 A CN 109584361A CN 201811498609 A CN201811498609 A CN 201811498609A CN 109584361 A CN109584361 A CN 109584361A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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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
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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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
Abstract
The present invention relates to augmented reality application fields, it is virtually pre-installed more particularly to a kind of equipment cable and trajectory measurement method and system, this method and system initially set up prepackage cable model library, mark is placed on the equipment of cable to be assembled, it captures again and identifies and three-dimensional coordinate model is established according to the real scene of equipment, obtain the real scene information and virtual coordinates information of equipment, the icon in remote control regional choice virtual image in three-dimensional coordinate model is remotely controlled operation, then mobile remote control track carries out virtual prepackage and the trajectory measurement of cable according to cable design scheme.This method and system introduce augmented reality and carry out virtual cable prepackage, three-dimensional measurement and modeling are carried out using technique of binocular stereoscopic vision, the coordinate information and cable trace information of real-time measurement track target, data information is provided for equipment associative simulation, is all of great significance for the pre-assembled design of equipment cable and associative simulation etc..
Description
Technical field
The present invention relates to augmented reality application fields, virtually pre-install in particular to a kind of equipment cable and rail
Mark measurement method and system.
Background technique
Augmented reality (Augmented Reality, AR) technology is grown up on the basis of virtual reality technology
It is a kind of combine computer vision, graphics, image procossing, multi-sensor technology, display technology emerging computer application and
Human-computer interaction technology.Augmented reality emphasizes that user is based on real world, carrys out broad range of techniques application scenarios for Intelligent assembly work belt,
Assembly efficiency is improved, pre-assembled and the emulation of assembling model three-dimensional modeling, optimal assembling scheme calculate and plan there is important meaning
Justice.
Aircraft, guided missile, satellite etc. are equipped, by space and weight constraints, while considering that electromagnetic compatibility influences, cable peace
Reload request is high.It must be measured at the scene by experienced Denso worker before cable installation, and formulate electrical fitting technology.With material
Expect light-weighted requirement, a large amount of components are very frivolous using carbon fibre material, especially skin assemblies in equipment at present, to prevent
Deformation cannot arbitrarily assemble on surface and fixed cable, it is necessary to specially reserved installation site and fixation hole.If installed in cable
Before, using enhancing realization technology, three-dimensional coordinate measurement, modeling are carried out on real equipped workpiece, using in enhancing realization
Virtual cable registration technology is moved by track pen and generates virtual cable track, and binocular vision cameras capture track simultaneously generates virtual
Cable, while providing three-dimensional coordinate information.The coordinate information is provided to equipment configuration designer, assembles to cable and gives workpiece band
Rigidity, the influence of crust deformation progress simulation calculation come, and take measures to eliminate the effects of the act.
By augmented reality, virtual cable information is fused together with reality scene information online, in real time, is used
Family can be shown equipment real time inspection virtual cable information by optical perspective formula and complete trajectory measurement.This is to whole system
Performance improve, shorten the construction period it is significant.
Summary of the invention
It is virtually pre-installed and trajectory measurement method and system the embodiment of the invention provides a kind of equipment cable, to realize equipment
Cable is virtually pre-installed and trajectory measurement, formally assembles for later period cable and provides reference and guidance.
It is virtually pre-installed and trajectory measurement method according to an embodiment of the invention, providing a kind of equipment cable, including following
Step:
Establish prepackage cable model library；
Mark is placed on the equipment of cable to be assembled；
Capture identifies and establishes three-dimensional coordinate model according to the real scene of equipment；
Obtain the real scene information and virtual coordinates information of equipment；
The icon in remote control regional choice virtual image in three-dimensional coordinate model is remotely controlled operation；
Mobile remote control track carries out virtual prepackage and the trajectory measurement of cable according to cable design scheme.
Further, method further include:
The image that the actual situation after the completion of virtual prepackage and trajectory measurement by cable combines is shown.
Further, mobile remote control track carries out virtual prepackage and the trajectory measurement packet of cable according to cable design scheme
It includes:
Coordinate information of the measurement remote control track in three-dimensional system of coordinate will obtain after the completion of the tracking of whole virtual cable, registration
Take virtual cable track.
Further, prepackage cable model library is established using 3DMAX software, prepackage cable model library includes cable class
Type, color, line footpath information.
Further, selecting the icon in virtual image to be remotely controlled operation includes to cable information and prepackage cable model
The selection operation in library.
Further, it is identified as two dimensional code mark.
According to another embodiment of the present invention, a kind of equipment cable is provided virtually to pre-install and trajectory measurement system, comprising:
Binocular stereo vision camera, optical perspective formula show equipment, pattern process computer, image transmitting and service cable, remote control rail
Mark pen；Binocular stereo vision camera, optical perspective formula show that equipment is calculated by image transmitting and service cable and image procossing
Machine connection is controlled and is powered by pattern process computer；Wherein:
Binocular stereo vision camera is for capturing mark and establishing three-dimensional coordinate model according to the real scene of equipment；
Optical perspective formula shows that equipment is used to obtain the real scene information and virtual coordinates information of equipment；
Icon of the remote control track pen in the remote control regional choice virtual image in three-dimensional coordinate model is remotely controlled
Operation；
Pattern process computer passes through opening remote control track pen target switch and moves for establishing prepackage cable model library
Dynamic remote control track pen carries out virtual prepackage and the trajectory measurement of cable according to cable design scheme.
Further, optical perspective formula shows the void that equipment is also used to after the completion of the virtual prepackage by cable and trajectory measurement
The image combined in fact is shown.
Further, remote control track pen target uses infrared LED, is identified as two dimensional code mark.
Further, binocular stereo vision camera shows that equipment is combined into one with optical perspective formula.
Equipment cable in the embodiment of the present invention is virtually pre-installed and trajectory measurement method and system, introduces augmented reality
Virtual cable prepackage is carried out, three-dimensional measurement and modeling, the seat of real-time measurement track target are carried out using technique of binocular stereoscopic vision
Information and cable trace information are marked, provides data information for equipment associative simulation, the pre-assembled of equipment cable is designed and joined
Emulation etc. is closed all to be of great significance.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is that equipment cable of the present invention is virtually pre-installed and the flow chart of trajectory measurement method；
Fig. 2 is that equipment cable of the present invention is virtually pre-installed and the preferred flow charts of trajectory measurement method；
Fig. 3 is that equipment cable of the present invention is virtually pre-installed and the connection schematic diagram of trajectory measurement system；
Wherein appended drawing reference are as follows: 1, pattern process computer；2, binocular stereo vision camera；3, optical perspective formula, which is shown, sets
It is standby；4, image transmitting and service cable；5, it is remotely controlled track pen；6, it is remotely controlled track pen target；7, two dimensional code identifies.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
Embodiment 1
An embodiment according to the present invention provides a kind of equipment cable and virtually pre-installs and trajectory measurement method, referring to Fig. 1,
The following steps are included:
Step S101: prepackage cable model library is established；
Step S102: mark is placed on the equipment of cable to be assembled；
Step S103: capture identifies and establishes three-dimensional coordinate model according to the real scene of equipment；
Step S104: the real scene information and virtual coordinates information of equipment are obtained；
Step S105: the icon in remote control regional choice virtual image in three-dimensional coordinate model is remotely controlled operation；
Step S106: mobile remote control track carries out virtual prepackage and the trajectory measurement of cable according to cable design scheme.
Equipment cable in the embodiment of the present invention is virtually pre-installed and trajectory measurement method, introduces augmented reality and carries out void
Quasi- cable prepackage, carries out three-dimensional measurement and modeling, the coordinate information of real-time measurement track target using technique of binocular stereoscopic vision
With cable trace information, data information is provided for equipment associative simulation, the pre-assembled design and associative simulation for equipment cable
Deng being all of great significance.
In as a preferred technical scheme, referring to fig. 2, method further include:
Step S107: the image that the actual situation after the completion of virtual prepackage and trajectory measurement by cable combines is shown.
According to the principle of augmented reality, virtual cable is completed according to track pen target motion track in equipment real scene
Registration, actual situation combine image information output is captured by user's human eye.Virtual cable trajectory coordinates are recorded, prepackage cable is completed
Trajectory measurement.
In as a preferred technical scheme, mobile remote control track according to cable design scheme carry out cable it is virtual prepackage with
Trajectory measurement includes:
Coordinate information of the measurement remote control track in three-dimensional system of coordinate will obtain after the completion of the tracking of whole virtual cable, registration
Take virtual cable track.
In as a preferred technical scheme, prepackage cable model library, prepackage cable model library packet are established using 3DMAX software
Type of cable, color, line footpath information are included.
In as a preferred technical scheme, select the icon in virtual image be remotely controlled operation include to cable information and
Pre-install the selection operation in cable model library.
In as a preferred technical scheme, it is identified as two dimensional code mark 7.
Embodiment 2
According to another embodiment of the present invention, a kind of equipment cable is provided virtually to pre-install and trajectory measurement system, comprising:
Binocular stereo vision camera 2, optical perspective formula show equipment 3, pattern process computer 1, image transmitting and service cable 4, distant
Control track pen 5；Binocular stereo vision camera 2, optical perspective formula show that equipment 3 passes through image transmitting and service cable 4 and image
The processing connection of computer 1 is controlled and is powered by pattern process computer 1；Wherein:
Binocular stereo vision camera 2 is for capturing mark and establishing three-dimensional coordinate model according to the real scene of equipment；
Optical perspective formula shows that equipment 3 is used to obtain the real scene information and virtual coordinates information of equipment；
Icon of the remote control track pen 5 in the remote control regional choice virtual image in three-dimensional coordinate model is remotely controlled
Operation；
Pattern process computer 1 switchs simultaneously for establishing prepackage cable model library, and by opening remote control track pen target 6
Mobile remote control track pen 5 carries out virtual prepackage and the trajectory measurement of cable according to cable design scheme.
Specifically, the information such as prepackage cable model library, including type of cable, color, line footpath are established using 3DMAX software.
Suitable position in equipment on cable workpiece to be assembled places two dimensional code mark 7, and user wears cable and virtually pre-installs and track
The optical perspective formula being combined in measuring device shows that equipment 3 and binocular stereo vision camera 2, binocular stereo vision camera 2 are caught
It obtains and identifies and establish three-dimensional coordinate model, show that equipment 3 obtains equipment real scene information and sits with virtual by optical perspective formula
Mark information.The icon in remote control regional choice virtual image that user passes through manipulation remote control track pen 5 operates, main to complete
Cable information selection etc., simultaneously mobile remote control track pen 5 carries out opening remote control track pen target 6 according to cable design scheme after the completion
The virtual prepackage of cable and trajectory measurement.
In as a preferred technical scheme, optical perspective formula shows that equipment 3 is also used to the virtual prepackage and track by cable
The image that actual situation after being measured combines is shown.
After virtual cable completes registration, the image that actual situation combines, which will be exported to optical perspective formula, shows that equipment 3 is shown, completes
Equipment cable is virtually pre-installed and trajectory measurement.The present invention can be used for the virtual prepackage emulation and cable trace measurement of equipment cable,
Simultaneously information etc. can be provided for equipment associative simulation, formal assembly.
In as a preferred technical scheme, remote control track pen target 6 uses infrared LED, is identified as two dimensional code mark 7.Two
The placement location for tieing up code mark 7 needs to be determined according to the size of prepackage wireline equipment, shape and the position for designing cable etc..
In as a preferred technical scheme, binocular stereo vision camera 2 and optical perspective formula show 3 groups of equipment and are combined into one
Body.Binocular stereo vision camera 2 shows that equipment 3 is combined into one with optical perspective formula, wears and uses convenient for user.
Specifically, cable model library is established according to equipment cable design using 3DMAX software in advance.In cable to be pre-installed
It equips suitable position and places two dimensional code mark 7, for determining the three-dimensional coordinate origin established.Meanwhile utilizing two dimensional code mark 7
When ensuring that measurement is repeated several times, the three-dimensional system of coordinate of foundation benchmark having the same.User wears optical perspective formula and shows equipment 3
And binocular stereo vision camera 2 is aligned and is equipped, binocular stereo vision camera 2 captures two dimensional code mark 7 and builds as origin
Vertical three-dimensional system of coordinate.The remote keying operation selection cable information and model that user passes through remote control track pen 5.
User shows equipment 3 and binocular stereo vision camera 2 by wearing optical perspective formula, is selected by remote control track pen 5
After selecting virtual cable model, mobile remote control track pen target 6 can show that equipment 3 is immediately seen prepackage by optical perspective formula
Virtual cable.Coordinate information of the measurement remote control track pen target 6 of binocular stereo vision camera 2 in three-dimensional system of coordinate, whole
Virtual cable track can be obtained after the completion of the tracking of virtual cable, registration, to complete virtual cable trajectory measurement.It is remotely controlled rail
Mark target 6 uses infrared LED, and the infrared LED spectrum is to camera imaging, but human eye is invisible, avoids bringing vision to human eye
It is uncomfortable.User directly wears optical perspective formula and shows such as AR glasses of equipment 3, carries out prepackage virtual cable and checks, while can be with
Virtual cable information is stored and post-processed, the information such as explanatory text, image are added in virtual cable information, is used
Reference information is provided when cable formally assembles.
Using this method and equipment, Denso personnel are mobile according to design cable route on equipment using remote control track pen 5,
And then occur the information such as the cable drawn and cable coordinates, color, type, line footpath at the moment.Meanwhile this method and equipment can
Record, revocation respective virtual information, until being optimal state.Virtual cable information can be saved simultaneously, in virtual cable rail
Increase texts, the voices such as working specification, teachings even video information on the basis of mark, color, coordinate information, is later period electricity
Cable formally assembles offer reference and guidance.
Cable relevant information menu and icon are shown in the human eye visual field by Light Transmission display equipment.Opening remote control rail
The remote control track pen target 6 of 5 front end of mark pen is infrared LED, and assembles route mobile remote control track pen mesh according to the cable of design
Mark 6, binocular stereo vision camera 2 tracks the target, while measuring three-dimensional coordinate of the target in the three-dimensional system of coordinate of foundation.It can
With storage prepackage cable information and the information such as necessary text, image are added, technology can be provided for the prepackage of later period formal cable and referred to
It leads.Three-dimensional system of coordinate foundation, the processing of binocular stereo vision camera image, track target following, virtual cable registration, actual situation combine
The treatment processes such as image output are completed in pattern process computer 1.
Spatial data is wherein obtained from current equipment scene using binocular stereo vision camera 2 in real time, and by user's
Visual field real-time reconstruction coordinate system calculates the information such as the edge, vertex, texture of equipment using SIFT image technique, and calculates depth
Information and coordinate information complete three-dimensional coordinate modeling and depth calculation.To guarantee that the coordinate system established has repeatability, while energy
The location information of enough identification equipments needs to place two dimensional code mark 7 in the suitable position of equipment.The placement position of two dimensional code mark 7
It sets, quantity needs to be determined according to the size of prepackage wireline equipment, shape and design cable position etc..Accomplish that entire dress can be covered
Standby cable pre-installed position and no space left, it is ensured that virtual prepackage cable trace is complete.
Image transmitting and power supply are carried out using cable between binocular stereo vision camera 2 and pattern process computer 1.Image
Transmission uses USB3.0 agreement.
The distant control function of remote control track pen 5 is mainly used for information exchange work.Pass through accordingly pressing for operation remote control track pen 5
Key can complete the operations such as the selection of virtual cable model, virtual cable registration, the storage of actual situation image.Virtual cable model is main
Including information such as type of cable, color, line footpath, fixed forms.There is track target in the front end of remote control track pen 5, and track target is adopted
With infrared LED, after pressing LED switch, LED is lighted, and infrared LED luminescent spectrum can make camera imaging, but invisible to human eye,
It prevents from causing human eye vision uncomfortable.
Binocular stereo vision camera 2, the present invention select to select the ZED binocular solid phase of san francisco, usa Stereo labs
Machine ZED stereoscopic camera, the camera can remove the real time field depth figure of processing highest 4416x1242 resolution ratio with the speed of 15fps, can
The Object Depth of 20 meters of ranges is drawn.
Pattern process computer 1 uses general high-performance business desktop, portable computer, such as system, the Zhaoyang of Legend
Column business notebook K42 etc..
Binocular stereo vision camera 2 and pattern process computer 1 directly adopt USB3.0 interface and are communicated, and complete image
With control information transmission.
Optical perspective formula of the invention shows that equipment 3 uses business AR glasses, such as the BT- of selection Seiko Epson Corporation
350AR glasses.The AR glasses carry out image transmitting using wireless network, and using silicon wafer OLED display technology, resolution ratio reaches
720P, colour gamut reach 160,000 colors.AR glasses are attached with binocular stereo vision camera 2 by tooling.
Three-dimensional cable model uses 3DMAX software modeling, if can also be turned by correlation technique using CAD model
Change 3DMAX model into.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, system embodiment described above is only schematical, such as the division of unit, can be one kind
Logical function partition, there may be another division manner in actual implementation, such as multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be through some interfaces, the indirect coupling or communication connection of unit or module,
It can be electrical or other forms.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple units
On.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
It, can if integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product
To be stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention substantially or
Say that all or part of the part that contributes to existing technology or the technical solution can embody in the form of software products
Out, which is stored in a storage medium, including some instructions are used so that a computer equipment
(can be personal computer, server or network equipment etc.) executes all or part of step of each embodiment method of the present invention
Suddenly.And storage medium above-mentioned includes: USB flash disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), mobile hard disk, magnetic or disk.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of equipment cable is virtually pre-installed and trajectory measurement method, which comprises the following steps:
Establish prepackage cable model library；
Mark is placed on the equipment of cable to be assembled；
Capture identifies and establishes three-dimensional coordinate model according to the real scene of equipment；
Obtain the real scene information and virtual coordinates information of equipment；
The icon in remote control regional choice virtual image in three-dimensional coordinate model is remotely controlled operation；
Mobile remote control track carries out virtual prepackage and the trajectory measurement of cable according to cable design scheme.
2. the method according to claim 1, wherein the method also includes:
The image that the actual situation after the completion of virtual prepackage and trajectory measurement by cable combines is shown.
3. the method according to claim 1, wherein the mobile remote control track is carried out according to cable design scheme
The virtual prepackage of cable and trajectory measurement include:
Coordinate information of the measurement remote control track in three-dimensional system of coordinate, it is empty by being obtained after the completion of the tracking of whole virtual cable, registration
Quasi- cable trace.
4. cable model library is pre-installed the method according to claim 1, wherein establishing using 3DMAX software, it is described
Pre-installing cable model library includes type of cable, color, line footpath information.
5. the method according to claim 1, wherein the icon in the selection virtual image is remotely controlled operation
Including the selection operation to cable information and prepackage cable model library.
6. the method according to claim 1, wherein described be identified as two dimensional code mark.
7. a kind of equipment cable is virtually pre-installed and trajectory measurement system characterized by comprising binocular stereo vision camera, light
It learns perspective formula and shows equipment, pattern process computer, image transmitting and service cable, remote control track pen；The binocular tri-dimensional
Feel camera, optical perspective formula show equipment transmitted by described image and service cable and described image processing computer connect by
Described image processing computer is controlled and is powered；Wherein:
The binocular stereo vision camera is for capturing mark and establishing three-dimensional coordinate model according to the real scene of equipment；
The optical perspective formula shows that equipment is used to obtain the real scene information and virtual coordinates information of equipment；
Icon of the remote control track pen in the remote control regional choice virtual image in three-dimensional coordinate model is remotely controlled
Operation；
Described image handles computer for establishing prepackage cable model library, and passes through opening remote control track pen target switch and move
Dynamic remote control track pen carries out virtual prepackage and the trajectory measurement of cable according to cable design scheme.
8. system according to claim 7, which is characterized in that the optical perspective formula shows that equipment is also used to cable
The image that actual situation after the completion of virtual prepackage and trajectory measurement combines is shown.
9. system according to claim 7, which is characterized in that the remote control track pen target uses infrared LED, the mark
Know is that two dimensional code identifies.
10. system according to claim 7, which is characterized in that the binocular stereo vision camera and the optical perspective
Formula shows that equipment is combined into one.
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| CN201811498609.0A CN109584361B (en) | 2018-12-08 | 2018-12-08 | Equipment cable virtual preassembling and track measuring method and system |
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| CN113298003B (en) * | 2021-06-03 | 2024-05-03 | 北京安达维尔科技股份有限公司 | AR-based aviation cable assembly system and method |
| CN114323000A (en) * | 2021-12-17 | 2022-04-12 | 中国电子科技集团公司第三十八研究所 | Cable AR guiding assembly system and method |
| CN114323000B (en) * | 2021-12-17 | 2023-06-09 | 中国电子科技集团公司第三十八研究所 | Cable AR guide assembly system and method |
| CN116993140A (en) * | 2023-07-28 | 2023-11-03 | 安徽鸿凌智能仪表科技有限公司 | Station management method and system for intelligent instrument assembly process |
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