CN110096141A - The autonomous learning method and system of multiaxis unmanned plane Virtual assemble - Google Patents
The autonomous learning method and system of multiaxis unmanned plane Virtual assemble Download PDFInfo
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- CN110096141A CN110096141A CN201910245752.7A CN201910245752A CN110096141A CN 110096141 A CN110096141 A CN 110096141A CN 201910245752 A CN201910245752 A CN 201910245752A CN 110096141 A CN110096141 A CN 110096141A
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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
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q50/10—Services
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Abstract
The invention discloses a kind of autonomous learning method and system of multiaxis unmanned plane Virtual assemble, the described method includes: the multiaxis unmanned plane virtual reality that building integrates multiaxis unmanned plane virtual instruction, multiaxis unmanned plane Virtual assemble operates, multiaxis unmanned plane is virtually assessed, generates multiaxis unmanned plane Virtual assemble scene by the multiaxis unmanned plane virtual reality；Receive the function choosing-item of user's input in the multiaxis unmanned plane Virtual assemble scene, the function choosing-item includes at least one function during multiaxis unmanned plane virtual instruction, the operation of multiaxis unmanned plane Virtual assemble, multiaxis unmanned plane virtually assesss；In response to the function choosing-item of user's input, corresponding multiaxis unmanned plane virtual instruction or the operation of multiaxis unmanned plane Virtual assemble or the function virtually assessed of multiaxis unmanned plane are executed.The present invention is able to solve that traditional teaching way is uninteresting, is limited by space, there are problems that security risk.
Description
Technical field
The present invention relates to unmanned plane instructional technology fields, more particularly to a kind of autonomous of multiaxis unmanned plane Virtual assemble
Learning method and system.
Background technique
As the change of cutting edge technology develops, multiaxis unmanned plane is by feat of itself unique advantage, it will obtains more systematic
Change, intelligent development, but in the teaching of multiaxis unmanned plane, typically allows student to manage by imagining by the picture of books
Solution, especially in the relationship teaching of the power of multiaxis unmanned plane, lift, gravity, teacher needs to describe to allow study to understand
Summary abstraction, student be not intelligible.
Traditional multiaxis unmanned plane training and teaching behavior are as follows: in actually training and teaching, not only by limit spatially
System, the uninteresting explanation of teaching can also reduce the enthusiasm of student's study；In addition to increasing the property of participation of student, will do it true
The dismounting of multiaxis unmanned plane learns, therefore faulty operation can bring potential security risk, and to part precise requirements compared with
High multiaxis unmanned plane product also brings along damage, and increases great amount of cost.
Summary of the invention
For this purpose, an object of the present invention is to provide a kind of autonomous learning method of multiaxis unmanned plane Virtual assemble, with
Solve the problems, such as that traditional teaching way is uninteresting, limited by space, there are security risks.
A kind of autonomous learning method of multiaxis unmanned plane Virtual assemble, which comprises
Building collection multiaxis unmanned plane virtual instruction, the operation of multiaxis unmanned plane Virtual assemble, multiaxis unmanned plane are virtually evaluated as
The multiaxis unmanned plane virtual reality of one generates multiaxis unmanned plane by the multiaxis unmanned plane virtual reality and virtually fills
With scene；
The function choosing-item of user's input is received in the multiaxis unmanned plane Virtual assemble scene, the function choosing-item includes
At least one function during multiaxis unmanned plane virtual instruction, multiaxis unmanned plane Virtual assemble operate, multiaxis unmanned plane is virtually assessed；
In response to the function choosing-item of user's input, executes corresponding multiaxis unmanned plane virtual instruction or multiaxis unmanned plane is virtual
The function that assembly manipulation or multiaxis unmanned plane are virtually assessed.
The autonomous learning method of the multiaxis unmanned plane Virtual assemble provided according to the present invention, can by complicated multiaxis nobody
Machine assembly knowledge is presented by multiaxis unmanned plane Virtual assemble scene, by virtual reality technology provide one it is interactive, three-dimensional
Actual environment, allow users to carry out human-computer interaction by sense organ and dedicated unit and participate in, realize teaching, assembly manipulation
With assessment multiple function, helps user quickly to grasp the assembly work of complicated multiaxis unmanned plane, increase the interest of study, significantly
The enthusiasm of user is excited, this method is not limited by spatially, is not necessarily to actual multiaxis unmanned plane product, avoids safety hidden
Suffer from.
In addition, the autonomous learning method of above-mentioned multiaxis unmanned plane Virtual assemble according to the present invention, can also have as follows
Additional technical characteristic:
Further, when function choosing-item is multiaxis unmanned plane virtual instruction function, the method also includes described more
Multiaxis unmanned plane is constructed in axis unmanned plane virtual reality and assembles teaching mode, is specifically included:
The whole multiaxis unmanned plane model of parts for importing multiaxis unmanned plane product to be assembled, it is empty by multiaxis unmanned plane
Quasi- reality scene generation module calls each multiaxis unmanned plane model of parts in multiaxis unmanned plane component model library module, raw
At multiaxis unmanned plane Virtual assemble scene；
Plan the initial position of multiaxis unmanned plane whole components, the initial position of the multiaxis unmanned plane whole components
Meet: the initial position of multiaxis unmanned plane whole components is randomly generated, and is not overlapped in height；
The operating path and the speed of service for establishing each components of multiaxis unmanned plane based on feature locations one by one are adaptively calculated
The mathematical model of method is established one by one according to the components assemble sequence of multiaxis unmanned plane product to be assembled based on each of feature locations
The operating path of components and the mathematical model of speed of service adaptive algorithm.
Further, when function choosing-item is multiaxis unmanned plane Virtual assemble operating function, the method also includes:
User wears virtual reality device and enters multiaxis unmanned plane assembly manipulation module, determines and carries out operation assembly
Multiaxis unmanned plane；
Selection training grade of difficulty, grade of difficulty are divided into primary, intermediate and advanced, wherein provide under primary grade of difficulty
Every step Assembly part information, rigging position highlights and voice prompting；There is provided rigging position highlighted prompt under intermediate grade of difficulty；
Without any prompt under advanced grade of difficulty；
Multiaxis unmanned plane Virtual assemble scene is generated, multiaxis unmanned plane component to be assembled is interspersed on the table,
And provide a user guidance information；
User calls the component in multiaxis unmanned plane component model library module, one by one by the component of multiaxis unmanned plane
It is grouped together；
Static interference inspection and dynamic interference examination are carried out to assembly multiaxis unmanned plane component, do not pass through interference checking
Component will return on workbench, and the step of repeatedly generating multiaxis unmanned plane Virtual assemble scene；Wherein, the static interference
It whether there is collision between each component of multiaxis unmanned plane and between component and assembly tool when checking static for detection；Institute
Stating dynamic interference examination is detection multiaxis unmanned plane in operation between each component of multiaxis unmanned plane and component and assembly
With the presence or absence of collision between tool.
Further, the virtual reality device includes multiaxis unmanned plane virtual reality display module, multiaxis unmanned plane void
Quasi- reality locating module and multiaxis unmanned plane virtual reality operational module, the multiaxis unmanned plane virtual reality display module are head
Wear display equipment or virtual glasses；The multiaxis unmanned plane virtual reality locating module is to be installed on space locating for electronic equipment
The infrared depth transducer of top；The multiaxis unmanned plane virtual reality operational module is that the input of single or multiple body feeling interactions is set
Standby, for providing real world to virtual environment for user interface；The body feeling interaction input equipment includes being provided with positioning
The gesture identification tool or human body temperature type input equipment of sensor and force snesor.
Further, when function choosing-item evaluation function virtual for multiaxis unmanned plane, the method also includes:
Obtain assembly manipulation during parameter, the parameter include multiaxis unmanned plane assembly elapsed time, multiaxis nobody
The use of machine assembly tool, multiaxis unmanned plane installation step, multiaxis unmanned plane assembly difficulty, each component assembly error of multiaxis unmanned plane
With multiaxis unmanned plane assembly yield；
Comprehensive assessment is carried out to the parameter using Field Using Fuzzy Comprehensive Assessment, obtains evaluation result.
It is another object of the present invention to the autonomous learning systems for proposing a kind of multiaxis unmanned plane Virtual assemble, to solve
Traditional teaching way is uninteresting, is limited by space, there are problems that security risk.
A kind of autonomous learning systems of multiaxis unmanned plane Virtual assemble, the system comprises:
Construct module, for construct collection multiaxis unmanned plane virtual instruction, multiaxis unmanned plane Virtual assemble operation, multiaxis nobody
Machine virtually assesses the multiaxis unmanned plane virtual reality being integrated, and generates multiaxis by the multiaxis unmanned plane virtual reality
Unmanned plane Virtual assemble scene；
Receiving module, for receiving the function choosing-item of user's input, institute in the multiaxis unmanned plane Virtual assemble scene
Stating function choosing-item includes multiaxis unmanned plane virtual instruction, the operation of multiaxis unmanned plane Virtual assemble, during multiaxis unmanned plane virtually assesses
At least one of function；
Execution module, the function choosing-item for being inputted in response to user, execute corresponding multiaxis unmanned plane virtual instruction or
The function that the operation of multiaxis unmanned plane Virtual assemble or multiaxis unmanned plane are virtually assessed.
The autonomous learning systems of the multiaxis unmanned plane Virtual assemble provided according to the present invention, can by complicated multiaxis nobody
Machine assembly knowledge is presented by multiaxis unmanned plane Virtual assemble scene, by virtual reality technology provide one it is interactive, three-dimensional
Actual environment, allow users to carry out human-computer interaction by sense organ and dedicated unit and participate in, realize teaching, assembly manipulation
With assessment multiple function, helps user quickly to grasp the assembly work of complicated multiaxis unmanned plane, increase the interest of study, significantly
The enthusiasm of user is excited, this method is not limited by spatially, is not necessarily to actual multiaxis unmanned plane product, avoids safety hidden
Suffer from.
In addition, autonomous learning systems of above-mentioned multiaxis unmanned plane Virtual assemble according to the present invention, can also have as follows
Additional technical characteristic:
Further, when function choosing-item is multiaxis unmanned plane virtual instruction function, the execution module is specifically used for:
The whole multiaxis unmanned plane model of parts for importing multiaxis unmanned plane product to be assembled, it is empty by multiaxis unmanned plane
Quasi- reality scene generation module calls each multiaxis unmanned plane model of parts in multiaxis unmanned plane component model library module, raw
At multiaxis unmanned plane Virtual assemble scene；
Plan the initial position of multiaxis unmanned plane whole components, the initial position of the multiaxis unmanned plane whole components
Meet: the initial position of multiaxis unmanned plane whole components is randomly generated, and is not overlapped in height；
The operating path and the speed of service for establishing each components of multiaxis unmanned plane based on feature locations one by one are adaptively calculated
The mathematical model of method is established one by one according to the components assemble sequence of multiaxis unmanned plane product to be assembled based on each of feature locations
The operating path of components and the mathematical model of speed of service adaptive algorithm.
Further, when function choosing-item is multiaxis unmanned plane Virtual assemble operating function, the execution module is specifically used
In:
User wears virtual reality device and enters multiaxis unmanned plane assembly manipulation module, determines and carries out operation assembly
Multiaxis unmanned plane；
Selection training grade of difficulty, grade of difficulty are divided into primary, intermediate and advanced, wherein provide under primary grade of difficulty
Every step Assembly part information, rigging position highlights and voice prompting；There is provided rigging position highlighted prompt under intermediate grade of difficulty；
Without any prompt under advanced grade of difficulty；
Multiaxis unmanned plane Virtual assemble scene is generated, multiaxis unmanned plane component to be assembled is interspersed on the table,
And provide a user guidance information；
User calls the component in multiaxis unmanned plane component model library module, one by one by the component of multiaxis unmanned plane
It is grouped together；
Static interference inspection and dynamic interference examination are carried out to assembly multiaxis unmanned plane component, do not pass through interference checking
Component will return on workbench, and the step of repeatedly generating multiaxis unmanned plane Virtual assemble scene；Wherein, the static interference
It whether there is collision between each component of multiaxis unmanned plane and between component and assembly tool when checking static for detection；Institute
Stating dynamic interference examination is detection multiaxis unmanned plane in operation between each component of multiaxis unmanned plane and component and assembly
With the presence or absence of collision between tool.
Further, the virtual reality device includes multiaxis unmanned plane virtual reality display module, multiaxis unmanned plane void
Quasi- reality locating module and multiaxis unmanned plane virtual reality operational module, the multiaxis unmanned plane virtual reality display module are head
Wear display equipment or virtual glasses；The multiaxis unmanned plane virtual reality locating module is to be installed on space locating for electronic equipment
The infrared depth transducer of top；The multiaxis unmanned plane virtual reality operational module is that the input of single or multiple body feeling interactions is set
Standby, for providing real world to virtual environment for user interface；The body feeling interaction input equipment includes being provided with positioning
The gesture identification tool or human body temperature type input equipment of sensor and force snesor.
Further, when function choosing-item evaluation function virtual for multiaxis unmanned plane, the execution module is specifically used for:
Obtain assembly manipulation during parameter, the parameter include multiaxis unmanned plane assembly elapsed time, multiaxis nobody
The use of machine assembly tool, multiaxis unmanned plane installation step, multiaxis unmanned plane assembly difficulty, each component assembly error of multiaxis unmanned plane
With multiaxis unmanned plane assembly yield；
Comprehensive assessment is carried out to the parameter using Field Using Fuzzy Comprehensive Assessment, obtains evaluation result.
Another embodiment of the invention also proposes a kind of readable storage medium storing program for executing, is stored thereon with computer program, the journey
The step of above method is realized when sequence is executed by processor.
Another embodiment of the invention also proposes a kind of computer equipment, including memory, processor and is stored in
On memory and the computer program that can run on a processor, the processor realize the above method when executing described program.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the embodiment of the present invention are from the description of the embodiment in conjunction with the following figures
It will be apparent and be readily appreciated that, in which:
Fig. 1 is the flow chart of the autonomous learning method of multiaxis unmanned plane Virtual assemble according to a first embodiment of the present invention；
Fig. 2 is the detail flowchart of step S103 when function choosing-item is multiaxis unmanned plane virtual instruction function；
Fig. 3 is the detail flowchart of step S103 when function choosing-item is multiaxis unmanned plane Virtual assemble operating function；
Fig. 4 is the detail flowchart of step S103 when function choosing-item evaluation function virtual for multiaxis unmanned plane；
Fig. 5 is the structural representation of the autonomous learning systems of multiaxis unmanned plane Virtual assemble according to a second embodiment of the present invention
Figure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Referring to Fig. 1, a kind of autonomous learning method for multiaxis unmanned plane Virtual assemble that first embodiment of the invention proposes,
The method includes the steps S101~S103:
S101, building collection multiaxis unmanned plane virtual instruction, the operation of multiaxis unmanned plane Virtual assemble, multiaxis unmanned plane are virtually commented
Estimate the multiaxis unmanned plane virtual reality being integrated, it is empty to generate multiaxis unmanned plane by the multiaxis unmanned plane virtual reality
Quasi- assembly scene；
Wherein, specifically, multiaxis unmanned plane virtual reality can form multiaxis unmanned plane virtually now in a computer
Real software, to interact with user, which specifically includes the virtual component of multiaxis unmanned plane
Model library module, multiaxis unmanned plane virtual reality scenario generation module, multiaxis unmanned plane Virtual assemble Teaching Module, multiaxis nobody
Machine Virtual assemble operation module and multiaxis unmanned plane Virtual assemble evaluation module；The multiaxis unmanned plane virtual system passes through multiaxis
Unmanned plane virtual reality scenario generation module calls each multiaxis unmanned plane in the virtual component model library module of multiaxis unmanned plane
Virtual model of parts, generate multiaxis unmanned plane Virtual assemble scene, by multiaxis unmanned plane Virtual assemble Teaching Module, multiaxis without
Man-machine Virtual assemble operation module and multiaxis unmanned plane Virtual assemble evaluation module provide teaching, assembly manipulation and assessment respectively.
Wherein, the virtual component model library module of multiaxis unmanned plane be used for by multiaxis unmanned plane machinery drawing establish or
Three-dimensional reconstruction is established and passes through the mold former that metal renders and is managed according to hierarchical model, and using database to zero
Part dimension information, location information etc. are managed.Specifically, the management of multiaxis unmanned plane component model library uses level mould
Type can layering assembly and sequence constraint preferably between expression model using tree.
The virtual reality scenario generation method of multiaxis unmanned plane virtual reality scenario generation module is specifically as follows: by three
The multiaxis unmanned plane Virtual assemble scene for 360 degree of immersions expression that dimension reconstruction, panoramic mosaic, computer modeling obtain；It is three-dimensional
It rebuilds, panoramic mosaic and computer modeling can obtain multiaxis unmanned plane Virtual assemble scene using the prior art.
The number of the multiaxis unmanned plane Virtual assemble scene of 360 degree of immersions expression is greater than 1, can carry out scene switching in this way, mention
The interest and attraction of height teaching.
S102 receives the function choosing-item of user's input, the function choosing in the multiaxis unmanned plane Virtual assemble scene
At least one during item includes multiaxis unmanned plane virtual instruction, multiaxis unmanned plane Virtual assemble operates, multiaxis unmanned plane is virtually assessed
Item function；
Specifically, need to provide interactive window in multiaxis unmanned plane virtual reality software, so that user selects, this
In embodiment, there are 3 interactive windows, respectively correspond multiaxis unmanned plane virtual instruction, multiaxis unmanned plane Virtual assemble operates, is more
Axis unmanned plane virtually assesses this three Xiang Gongneng, and one of them, two weeks functions or selection repertoire may be selected in user.
S103, in response to the function choosing-item of user's input, execute corresponding multiaxis unmanned plane virtual instruction or multiaxis nobody
The function that the operation of machine Virtual assemble or multiaxis unmanned plane are virtually assessed.
Specifically, referring to Fig. 2, when function choosing-item be multiaxis unmanned plane virtual instruction function when, the method also includes
In the multiaxis unmanned plane virtual reality construct multiaxis unmanned plane assemble teaching mode, specifically include step S1031a~
S1033a:
S1031a imports whole multiaxis unmanned plane model of parts of multiaxis unmanned plane product to be assembled, passes through multiaxis
Unmanned plane virtual reality scenario generation module calls each multiaxis unmanned plane zero in multiaxis unmanned plane component model library module
Part model generates multiaxis unmanned plane Virtual assemble scene；
S1032a plans the initial position of multiaxis unmanned plane whole components, the multiaxis unmanned plane whole components
Initial position meets: the initial position of multiaxis unmanned plane whole components is randomly generated, and is not overlapped in height；
Wherein, being randomly generated can be avoided to form thinking set, so that the teaching of multiaxis unmanned plane is more comprehensively complete, simultaneously
It is not overlapped between each components of multiaxis unmanned plane, multiaxis unmanned plane components is avoided to block, influence subsequent multiaxis unmanned plane
Teaching operation.
S1033a, the operating path for establishing each components of multiaxis unmanned plane based on feature locations one by one and the speed of service are certainly
The mathematical model of adaptive algorithm is established one by one according to the components assemble sequence of multiaxis unmanned plane product to be assembled based on Q-character
The operating path for each components set and the mathematical model of speed of service adaptive algorithm.
Wherein, specifically, in the present embodiment according to zero of Automatic manual transmission generic specifications JBT5994-1992
Part assemble sequence determines the operating paths of components one by one, thus can not only omit to avoid multiaxis unmanned plane components, and
And without any confusion, and the study of multiaxis unmanned plane assemble sequence can be reinforced.
Pass through building multiaxis unmanned plane Virtual assemble scene, planning of science activities multiaxis unmanned plane components operating path and operation
Speed forms high-precision model and carries out the teaching of multiaxis no-manned plane three-dimensional Moving assemble, successfully compensates for traditional industry
The not high deficiency of student's participation, effectively excites the enthusiasm of student, and effectively reduce religion in training and teaching pattern
This is studied, the learning efficiency of student is improved, reaches the religion for familiarizing each multiaxis unmanned plane components and assembling process
Learn effect.
Referring to Fig. 3, the method also includes steps when function choosing-item is multiaxis unmanned plane Virtual assemble operating function
S1031b~S1035b:
S1031b, user wear virtual reality device and enter multiaxis unmanned plane assembly manipulation module, and determination is grasped
Make the multiaxis unmanned plane assembled；
Wherein, the virtual reality device includes that multiaxis unmanned plane virtual reality display module, multiaxis unmanned plane are virtually existing
Real locating module and multiaxis unmanned plane virtual reality operational module, the multiaxis unmanned plane virtual reality display module are aobvious to wear
Show equipment or virtual glasses, the multiaxis unmanned plane scene for providing 360 degree of immersions is shown；The multiaxis unmanned plane is virtual
Real locating module is the infrared depth transducer for being installed on space above locating for electronic equipment, for determine the position of user with
Posture；The multiaxis unmanned plane virtual reality operational module is single or multiple body feeling interaction input equipments, for mentioning for user
For the interface of real world to virtual environment；The body feeling interaction input equipment includes being provided with alignment sensor and force snesor
Gesture identification tool or human body temperature type input equipment.
When it is implemented, can also first establish multiaxis unmanned plane virtual reality software and multiaxis unmanned plane virtual reality device
In conjunction with virtual reality interactive system, by multiaxis unmanned plane virtual reality device carry out the teaching of multiaxis unmanned plane, multiaxis nobody
Machine assembly manipulation and the assessment of multiaxis unmanned plane.
S1032b, selection training grade of difficulty, grade of difficulty is divided into primary, intermediate and advanced, wherein primary grade of difficulty
It is lower to provide that every step Assembly part information, rigging position be highlighted and voice prompting；It is high that rigging position is provided under intermediate grade of difficulty
Bright prompt；Without any prompt under advanced grade of difficulty；
Wherein, the present embodiment provides the difficulties of the multiaxis unmanned plane training on operation of the autonomous personal settings of user and examination assessment
Degree provides different degrees of multiaxis unmanned plane assembly prompt facility, can be according to the level condition and training progress of different user
Adjust multiaxis unmanned plane Virtual assemble difficulty.
S1033b generates multiaxis unmanned plane Virtual assemble scene, multiaxis unmanned plane component to be assembled is interspersed in work
Make on platform, and provides a user guidance information；
S1034b, user calls the component in multiaxis unmanned plane component model library module, by the member of multiaxis unmanned plane
Component is grouped together one by one；
S1035b carries out static interference inspection and dynamic interference examination to assembly multiaxis unmanned plane component, not by dry
The component for relating to inspection will return on workbench, and the step of repeatedly generating multiaxis unmanned plane Virtual assemble scene.
Wherein, the static interference inspection is when detection is static between each component of multiaxis unmanned plane and component and dress
It is collided with whether there is between tool；The dynamic interference examination is detection multiaxis unmanned plane each member of multiaxis unmanned plane in operation
It whether there is collision between component and between component and assembly tool.If work will do not returned by the component of interference checking
Make on platform, then repeatedly step S1033b and S1034b.
Referring to Fig. 4, the method also includes steps when function choosing-item evaluation function virtual for multiaxis unmanned plane
S1031c~S1032c:
S1031c, obtains the parameter during assembly manipulation, and the parameter includes multiaxis unmanned plane assembly elapsed time, more
The use of axis unmanned plane assembly tool, multiaxis unmanned plane installation step, multiaxis unmanned plane assembly difficulty, each part dress of multiaxis unmanned plane
With error and multiaxis unmanned plane assembly yield；
S1032c carries out comprehensive assessment to the parameter using Field Using Fuzzy Comprehensive Assessment, obtains evaluation result.
It is wherein, multiple with empirical, probabilistic index due to being related in the assembly of multiaxis unmanned plane virtual reality,
Therefore for virtual reality assembly the characteristics of, it is virtual that the present embodiment chooses the virtual elapsed time of multiaxis unmanned plane, multiaxis unmanned plane
Assembly tool use, multiaxis unmanned plane Virtual assemble step, multiaxis unmanned plane Virtual assemble difficulty, multiaxis unmanned plane virtual each zero
Part rigging error and assembly yield this six indexs, comprehensively consider the feasibility and accuracy of evaluation method, comprehensive using obscuring
Evaluation assessment is closed to evaluate student's operation.Using fuzzy comprehensive evaluation method can well solve evaluation ambiguity and not really
It is qualitative, comprehensive and reasonable evaluation result is obtained, evaluation accuracy is improved, is provided simultaneously with good scalability.
The concrete application scene of an autonomous learning method using above-mentioned multiaxis unmanned plane Virtual assemble is set forth below, uses
Family wears multiaxis unmanned plane virtual reality and shows equipment accessing system, determines the multiaxis unmanned plane for needing to test assessment assembly.It is more
The assessment system of axis unmanned plane Virtual assemble is examined in a manner of three-dimension interaction.Evaluation process is similar to multiaxis
The practical operation of unmanned plane Virtual assemble is taken an examination, need to deepen user for multiaxis unmanned plane Virtual assemble component, multiaxis without
The cognition of man-machine Virtual assemble tool consolidates the basic theoretical knowledge of multiaxis unmanned plane assembly and can apply to practice.Assembly
In require user according to correct flow operations, in the case where upsetting component and putting in order, according to a small amount of information alert
And guidance, the correct erection sequence of each component of multiaxis unmanned plane can be cleared, and attach it on correct position.With
Family can obtain the score that this part is included after the correctly component of one part of installation.If there is operating mistake, tool make
With it is improper, the problems such as then according to situation of a serious nature deduct points.It is completed in assembly time, then directly calculates the institute of this time examination
Obtain achievement.Test time arrives, then calculates the specific gravity that obatained score accounts for this part of total score, finally by user multiaxis without
The mistake operated during man-machine Virtual assemble and the unskilled place of assemble flow feed back to user, make the continuous leakage detection of user
It fills a vacancy, then learns, examines again, reach skilled.
It to sum up, can be by complexity according to the autonomous learning method of multiaxis unmanned plane Virtual assemble provided in this embodiment
Multiaxis unmanned plane assembly knowledge is presented by multiaxis unmanned plane Virtual assemble scene, provides an interaction by virtual reality technology
, three-dimensional actual environment, allow users to carry out human-computer interaction by sense organ and dedicated unit and participate in, realize teaching,
Assembly manipulation and assessment multiple function, help user quickly to grasp the assembly work of complicated multiaxis unmanned plane, increase the interest of study
Taste excites the enthusiasm of user significantly, and this method is not limited by spatially, is not necessarily to actual multiaxis unmanned plane product,
Avoid security risk.
Referring to Fig. 5, based on the same inventive concept, the multiaxis unmanned plane Virtual assemble that second embodiment of the invention proposes
Autonomous learning systems, which is characterized in that the system comprises:
Construct module 10, for construct collection multiaxis unmanned plane virtual instruction, multiaxis unmanned plane Virtual assemble operation, multiaxis without
The multiaxis unmanned plane virtual reality that man-machine virtual assessment is integrated, is generated more by the multiaxis unmanned plane virtual reality
Axis unmanned plane Virtual assemble scene；
Receiving module 20, for receiving the function choosing-item of user's input in the multiaxis unmanned plane Virtual assemble scene,
The function choosing-item includes multiaxis unmanned plane virtual instruction, multiaxis unmanned plane Virtual assemble operates, multiaxis unmanned plane is virtually assessed
In at least one of function；
Execution module 30, the function choosing-item for inputting in response to user execute corresponding multiaxis unmanned plane virtual instruction
Or the function that the operation of multiaxis unmanned plane Virtual assemble or multiaxis unmanned plane are virtually assessed.
Wherein, when function choosing-item is multiaxis unmanned plane virtual instruction function, the execution module 30 is specifically used for:
The whole multiaxis unmanned plane model of parts for importing multiaxis unmanned plane product to be assembled, it is empty by multiaxis unmanned plane
Quasi- reality scene generation module calls each multiaxis unmanned plane model of parts in multiaxis unmanned plane component model library module, raw
At multiaxis unmanned plane Virtual assemble scene；
Plan the initial position of multiaxis unmanned plane whole components, the initial position of the multiaxis unmanned plane whole components
Meet: the initial position of multiaxis unmanned plane whole components is randomly generated, and is not overlapped in height；
The operating path and the speed of service for establishing each components of multiaxis unmanned plane based on feature locations one by one are adaptively calculated
The mathematical model of method is established one by one according to the components assemble sequence of multiaxis unmanned plane product to be assembled based on each of feature locations
The operating path of components and the mathematical model of speed of service adaptive algorithm.
Wherein, when function choosing-item is multiaxis unmanned plane Virtual assemble operating function, the execution module 30 is specifically used for:
User wears virtual reality device and enters multiaxis unmanned plane assembly manipulation module, determines and carries out operation assembly
Multiaxis unmanned plane；
Selection training grade of difficulty, grade of difficulty are divided into primary, intermediate and advanced, wherein provide under primary grade of difficulty
Every step Assembly part information, rigging position highlights and voice prompting；There is provided rigging position highlighted prompt under intermediate grade of difficulty；
Without any prompt under advanced grade of difficulty；
Multiaxis unmanned plane Virtual assemble scene is generated, multiaxis unmanned plane component to be assembled is interspersed on the table,
And provide a user guidance information；
User calls the component in multiaxis unmanned plane component model library module, one by one by the component of multiaxis unmanned plane
It is grouped together；
Static interference inspection and dynamic interference examination are carried out to assembly multiaxis unmanned plane component, do not pass through interference checking
Component will return on workbench, and the step of repeatedly generating multiaxis unmanned plane Virtual assemble scene；Wherein, the static interference
It whether there is collision between each component of multiaxis unmanned plane and between component and assembly tool when checking static for detection；Institute
Stating dynamic interference examination is detection multiaxis unmanned plane in operation between each component of multiaxis unmanned plane and component and assembly
With the presence or absence of collision between tool.
Wherein, the virtual reality device includes that multiaxis unmanned plane virtual reality display module, multiaxis unmanned plane are virtually existing
Real locating module and multiaxis unmanned plane virtual reality operational module, the multiaxis unmanned plane virtual reality display module are aobvious to wear
Show equipment or virtual glasses；The multiaxis unmanned plane virtual reality locating module is to be installed on space above locating for electronic equipment
Infrared depth transducer；The multiaxis unmanned plane virtual reality operational module is single or multiple body feeling interaction input equipments,
Interface for providing real world to virtual environment for user；The body feeling interaction input equipment includes being provided with orientation sensing
The gesture identification tool or human body temperature type input equipment of device and force snesor.
Wherein, when function choosing-item evaluation function virtual for multiaxis unmanned plane, the execution module 30 is specifically used for:
Obtain assembly manipulation during parameter, the parameter include multiaxis unmanned plane assembly elapsed time, multiaxis nobody
The use of machine assembly tool, multiaxis unmanned plane installation step, multiaxis unmanned plane assembly difficulty, each component assembly error of multiaxis unmanned plane
With multiaxis unmanned plane assembly yield；
Comprehensive assessment is carried out to the parameter using Field Using Fuzzy Comprehensive Assessment, obtains evaluation result.
According to the autonomous learning systems of multiaxis unmanned plane Virtual assemble provided in this embodiment, can by complicated multiaxis without
Man-machine assembly knowledge is presented by multiaxis unmanned plane Virtual assemble scene, by virtual reality technology provide one it is interactive, three
The actual environment of dimension is allowed users to carry out human-computer interaction by sense organ and dedicated unit and be participated in, and realizes teaching, assembly behaviour
Make and assessment multiple function, help user quickly grasp the assembly work of complicated multiaxis unmanned plane, increase the interest of study, greatly
The enthusiasm of user is excited greatly, this method is not limited by spatially, is not necessarily to actual multiaxis unmanned plane product, is avoided safety
Hidden danger.
The other technical characteristics of autonomous learning systems and technical effect for the multiaxis unmanned plane Virtual assemble that the present embodiment proposes
Identical as the method that first embodiment of the invention proposes, it will not be described here.
In addition, another embodiment of the present invention also proposes a kind of readable storage medium storing program for executing, it is stored thereon with computer program, it should
The step of method in first embodiment is realized when program is executed by processor.
In addition, another embodiment of the present invention also proposes a kind of computer equipment, including memory, processor and storage
On a memory and the computer program that can run on a processor, the processor realize that first implements when executing described program
Method in example.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.
The more specific example (non-exhaustive list) of computer-readable medium include the following: there are one or more wirings
Electrical connection section (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: logic gates specifically for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of autonomous learning method of multiaxis unmanned plane Virtual assemble, which is characterized in that the described method includes:
Building integrates multiaxis unmanned plane virtual instruction, multiaxis unmanned plane Virtual assemble operates, multiaxis unmanned plane is virtually assessed
Multiaxis unmanned plane virtual reality, by the multiaxis unmanned plane virtual reality generate multiaxis unmanned plane Virtual assemble field
Scape；
The function choosing-item of user's input is received in the multiaxis unmanned plane Virtual assemble scene, the function choosing-item includes multiaxis
At least one function during unmanned plane virtual instruction, multiaxis unmanned plane Virtual assemble operate, multiaxis unmanned plane is virtually assessed；
In response to the function choosing-item of user's input, corresponding multiaxis unmanned plane virtual instruction or multiaxis unmanned plane Virtual assemble are executed
The function that operation or multiaxis unmanned plane are virtually assessed.
2. the autonomous learning method of multiaxis unmanned plane Virtual assemble according to claim 1, which is characterized in that when function is selected
When item is multiaxis unmanned plane virtual instruction function, the method also includes constructing in the multiaxis unmanned plane virtual reality
Multiaxis unmanned plane assembles teaching mode, specifically includes:
The whole multiaxis unmanned plane model of parts for importing multiaxis unmanned plane product to be assembled, it is virtually existing by multiaxis unmanned plane
Real scenario generating module calls each multiaxis unmanned plane model of parts in multiaxis unmanned plane component model library module, generates more
Axis unmanned plane Virtual assemble scene；
Plan that the initial position of multiaxis unmanned plane whole components, the initial position of the multiaxis unmanned plane whole components are full
Foot: the initial position of multiaxis unmanned plane whole components is randomly generated, and is not overlapped in height；
The operating path and speed of service adaptive algorithm of each components of multiaxis unmanned plane based on feature locations are established one by one
Mathematical model establishes each zero based on feature locations according to the components assemble sequence of multiaxis unmanned plane product to be assembled one by one
The operating path of part and the mathematical model of speed of service adaptive algorithm.
3. the autonomous learning method of multiaxis unmanned plane Virtual assemble according to claim 1, which is characterized in that when function is selected
When item is multiaxis unmanned plane Virtual assemble operating function, the method also includes:
User wears virtual reality device and enters multiaxis unmanned plane assembly manipulation module, determines the multiaxis for carrying out operation assembly
Unmanned plane；
Selection training grade of difficulty, grade of difficulty are divided into primary, intermediate and advanced, wherein every step is provided under primary grade of difficulty
Rapid Assembly part information, rigging position highlights and voice prompting；There is provided rigging position highlighted prompt under intermediate grade of difficulty；It is advanced
Without any prompt under grade of difficulty；
Multiaxis unmanned plane Virtual assemble scene is generated, multiaxis unmanned plane component to be assembled is interspersed on the table, and to
User provides guidance information；
User calls the component in multiaxis unmanned plane component model library module, combines the component of multiaxis unmanned plane one by one
To together；
Static interference inspection and dynamic interference examination are carried out to assembly multiaxis unmanned plane component, do not pass through first portion of interference checking
Part will return on workbench, and the step of repeatedly generating multiaxis unmanned plane Virtual assemble scene；Wherein, the static interference inspection
It whether there is collision between each component of multiaxis unmanned plane and between component and assembly tool when static for detection；It is described dynamic
State interference checking is detection multiaxis unmanned plane in operation between each component of multiaxis unmanned plane and component and assembly tool
Between with the presence or absence of collision.
4. the autonomous learning method of multiaxis unmanned plane Virtual assemble according to claim 3, which is characterized in that described virtual
Real world devices include multiaxis unmanned plane virtual reality display module, multiaxis unmanned plane virtual reality locating module and multiaxis unmanned plane
Virtual reality operational module, the multiaxis unmanned plane virtual reality display module are to wear display equipment or virtual glasses；Institute
Stating multiaxis unmanned plane virtual reality locating module is the infrared depth transducer for being installed on space above locating for electronic equipment；It is described
Multiaxis unmanned plane virtual reality operational module is single or multiple body feeling interaction input equipments, for providing real world for user
To the interface of virtual environment；The body feeling interaction input equipment includes the gesture identification for being provided with alignment sensor and force snesor
Tool or human body temperature type input equipment.
5. the autonomous learning method of multiaxis unmanned plane Virtual assemble according to claim 1, which is characterized in that when function is selected
When being the virtual evaluation function of multiaxis unmanned plane, the method also includes:
The parameter during assembly manipulation is obtained, the parameter includes multiaxis unmanned plane assembly elapsed time, multiaxis unmanned plane dress
With tool use, multiaxis unmanned plane installation step, multiaxis unmanned plane assembly difficulty, each component assembly error of multiaxis unmanned plane and more
Axis unmanned plane assembly yield；
Comprehensive assessment is carried out to the parameter using Field Using Fuzzy Comprehensive Assessment, obtains evaluation result.
6. a kind of autonomous learning systems of multiaxis unmanned plane Virtual assemble, which is characterized in that the system comprises:
Module is constructed, for constructing collection multiaxis unmanned plane virtual instruction, multiaxis unmanned plane Virtual assemble operates, multiaxis unmanned plane is empty
It is quasi- to assess the multiaxis unmanned plane virtual reality that is integrated, by the multiaxis unmanned plane virtual reality generate multiaxis nobody
Machine Virtual assemble scene；
Receiving module, for receiving the function choosing-item of user's input, the function in the multiaxis unmanned plane Virtual assemble scene
During energy option includes multiaxis unmanned plane virtual instruction, multiaxis unmanned plane Virtual assemble operates, multiaxis unmanned plane is virtually assessed extremely
One item missing function；
Execution module, the function choosing-item for inputting in response to user execute corresponding multiaxis unmanned plane virtual instruction or multiaxis
The function that the operation of unmanned plane Virtual assemble or multiaxis unmanned plane are virtually assessed.
7. the autonomous learning systems of multiaxis unmanned plane Virtual assemble according to claim 6, which is characterized in that when function is selected
When item is multiaxis unmanned plane virtual instruction function, the execution module is specifically used for:
The whole multiaxis unmanned plane model of parts for importing multiaxis unmanned plane product to be assembled, it is virtually existing by multiaxis unmanned plane
Real scenario generating module calls each multiaxis unmanned plane model of parts in multiaxis unmanned plane component model library module, generates more
Axis unmanned plane Virtual assemble scene；
Plan that the initial position of multiaxis unmanned plane whole components, the initial position of the multiaxis unmanned plane whole components are full
Foot: the initial position of multiaxis unmanned plane whole components is randomly generated, and is not overlapped in height；
The operating path and speed of service adaptive algorithm of each components of multiaxis unmanned plane based on feature locations are established one by one
Mathematical model establishes each zero based on feature locations according to the components assemble sequence of multiaxis unmanned plane product to be assembled one by one
The operating path of part and the mathematical model of speed of service adaptive algorithm.
8. the autonomous learning systems of multiaxis unmanned plane Virtual assemble according to claim 6, which is characterized in that when function is selected
When item is multiaxis unmanned plane Virtual assemble operating function, the execution module is specifically used for:
User wears virtual reality device and enters multiaxis unmanned plane assembly manipulation module, determines the multiaxis for carrying out operation assembly
Unmanned plane；
Selection training grade of difficulty, grade of difficulty are divided into primary, intermediate and advanced, wherein every step is provided under primary grade of difficulty
Rapid Assembly part information, rigging position highlights and voice prompting；There is provided rigging position highlighted prompt under intermediate grade of difficulty；It is advanced
Without any prompt under grade of difficulty；
Multiaxis unmanned plane Virtual assemble scene is generated, multiaxis unmanned plane component to be assembled is interspersed on the table, and to
User provides guidance information；
User calls the component in multiaxis unmanned plane component model library module, combines the component of multiaxis unmanned plane one by one
To together；
Static interference inspection and dynamic interference examination are carried out to assembly multiaxis unmanned plane component, do not pass through first portion of interference checking
Part will return on workbench, and the step of repeatedly generating multiaxis unmanned plane Virtual assemble scene；Wherein, the static interference inspection
It whether there is collision between each component of multiaxis unmanned plane and between component and assembly tool when static for detection；It is described dynamic
State interference checking is detection multiaxis unmanned plane in operation between each component of multiaxis unmanned plane and component and assembly tool
Between with the presence or absence of collision.
9. the autonomous learning systems of multiaxis unmanned plane Virtual assemble according to claim 8, which is characterized in that described virtual
Real world devices include multiaxis unmanned plane virtual reality display module, multiaxis unmanned plane virtual reality locating module and multiaxis unmanned plane
Virtual reality operational module, the multiaxis unmanned plane virtual reality display module are to wear display equipment or virtual glasses；Institute
Stating multiaxis unmanned plane virtual reality locating module is the infrared depth transducer for being installed on space above locating for electronic equipment；It is described
Multiaxis unmanned plane virtual reality operational module is single or multiple body feeling interaction input equipments, for providing real world for user
To the interface of virtual environment；The body feeling interaction input equipment includes the gesture identification for being provided with alignment sensor and force snesor
Tool or human body temperature type input equipment.
10. the autonomous learning systems of multiaxis unmanned plane Virtual assemble according to claim 6, which is characterized in that work as function
When option is multiaxis unmanned plane virtual evaluation function, the execution module is specifically used for:
The parameter during assembly manipulation is obtained, the parameter includes multiaxis unmanned plane assembly elapsed time, multiaxis unmanned plane dress
With tool use, multiaxis unmanned plane installation step, multiaxis unmanned plane assembly difficulty, each component assembly error of multiaxis unmanned plane and more
Axis unmanned plane assembly yield；
Comprehensive assessment is carried out to the parameter using Field Using Fuzzy Comprehensive Assessment, obtains evaluation result.
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| CN113077679A (en) * | 2021-04-23 | 2021-07-06 | 中国人民解放军海军潜艇学院 | Interactive virtual assembly teaching method and system |
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