CN114518731B - Large-scene industrial field unmarked augmented reality auxiliary manufacturing and operation and maintenance system capable of being remotely applied - Google Patents
Large-scene industrial field unmarked augmented reality auxiliary manufacturing and operation and maintenance system capable of being remotely applied Download PDFInfo
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- CN114518731B CN114518731B CN202210099733.XA CN202210099733A CN114518731B CN 114518731 B CN114518731 B CN 114518731B CN 202210099733 A CN202210099733 A CN 202210099733A CN 114518731 B CN114518731 B CN 114518731B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides a large-scene industrial field unmarked augmented reality auxiliary manufacturing and operation and maintenance system capable of being remotely applied, and belongs to the technical field of advanced manufacturing. The method solves the problems that the existing augmented reality system taking vision as a three-dimensional registration method cannot adapt to a large scene, has strong interference and high complexity because the synchronous superposition display position of a three-dimensional model depends on a method of calculating coordinates by computer vision. The invention only uses a mechanical structure as position feedback, and completes the registration of the space three-dimensional posture through the conversion calculation of a space coordinate system, a camera coordinate system and a touch screen coordinate system of the system. The three-dimensional registration calculation realized by the method can realize the function of synchronously displaying the three-dimensional model and the physical model on the computer touch screen in an augmented reality overlapping way. Compared with the traditional vision augmented reality three-dimensional registration, the system has the characteristics of interference resistance, quick response, long service life, easiness in maintenance and the like.
Description
Technical Field
The invention belongs to the technical field of advanced manufacturing, and particularly relates to a large-scene industrial field unmarked augmented reality auxiliary manufacturing and operation and maintenance system capable of being applied remotely.
Background
Augmented Reality (AR) is an emerging visual augmentation method for human-based control flow and guidance, interaction with complex systems, and the like. The human physical and visual experience, which originates from the signal processing and transmission of digital systems, is the user experience of people to obtain high dimensionality. In industrial production, especially in the assembly process of large mechanical equipment (such as ship manufacturing), the problem of auxiliary manufacturing and operation and maintenance can be effectively solved by using the augmented reality technology of a large scene, for example, the working intensity of the participators in the processes of the production manufacturing process, after-sale maintenance and installation and the like is greatly reduced by scheduling and planning the production field through augmented reality, detecting the state of the equipment in the production field through the augmented reality and the like.
However, in AR display of a large scene, the marking method based on the conventional visual three-dimensional registration has high sensitivity to factors such as illumination, visibility, and the like. For example, at 220lx ray intensity, the maximum recognition distance of the 80 × 80mm custom square markers reaches 1.70m, while the maximum recognition distance of the rectangular two-dimensional code markers displaying the size of 80 × 400mm at 220lx ray intensity is only 1.58m. Therefore, the vision-based three-dimensional registration method in the industrial field has a negative effect on the augmented reality observation in a complex environment, and is not suitable for actual industrial production and operation and maintenance, especially for large-scene and high-complexity manufacturing systems represented by the ship manufacturing industry.
Disclosure of Invention
In view of the above, the present invention is directed to provide a large-scene industrial field markerless augmented reality auxiliary manufacturing and operation and maintenance system capable of being remotely applied, so as to solve the problems that the existing augmented reality system using vision as a three-dimensional registration method cannot adapt to a large scene, strong interference and high complexity because the synchronous superposition display position of a three-dimensional model depends on a computer vision coordinate calculation method. The invention has the advantages of interference resistance, easy maintenance and long service life, and the product performance is obviously improved.
In order to achieve the purpose, the invention adopts the following technical scheme: a three-dimensional information feedback method based on the inverse kinematics feedback of a mechanical structure can realize the function of synchronously displaying a three-dimensional model and an entity model on a computer touch screen in an augmented reality superposition manner,
the specific implementation method comprises the following steps:
(1) Erecting a truss track in the industry, acquiring the size information of the truss track, and taking the size information of the truss track as a reference to acquire a space coordinate system;
(2) The track robot is arranged on the truss track, a rotary encoder is arranged in the track robot, the number of rotation turns of a moving wheel of the track robot can be collected, and the moving direction and the distance on the track of the robot are calculated;
(3) Establishing an inverse kinematics analytical equation according to the coordinate system and the related parameters obtained in the steps (1) and (2), constraining a specific joint position solving sequence, solving by an inverse solution of inverse kinematics, solving the inverse kinematics, and completing software calculation;
(4) Calculating the position coordinate of the track robot through calculation, calculating the central coordinate O of the camera image at the moment, and simultaneously obtaining a touch screen coordinate system taking the point O as the center;
(5) Setting a spatial position relation between a three-dimensional model and a physical model → obtaining position information of the track robot on a truss → calculating a relation between a coordinate system of a touch screen at the moment and a spatial coordinate system → calculating a numerical value of the three-dimensional model at the moment under the coordinate system of the touch screen → carrying out superposition synchronous display of augmented reality on the touch screen, wherein the superposition relation between the three-dimensional model and the physical model is an artificially set parameter and is a known quantity.
Further, the size information of the truss track in the step (1) includes track height, width, length and turning radius.
The influence of light and electromagnetic interference on augmented reality observation of an industrial site is fully considered, and in three-dimensional information registration feedback, the three-dimensional information feedback method based on the mechanical structure inverse kinematics feedback is adopted, so that the system can be normally applied to various industrial sites, is not influenced by environment interference and is suitable for large visual scenes.
Further, including the truss track, the track robot, power supply system, communication system, control system, image system and internet center control system, the track robot is through walking on the truss track, the observation position that changes image system obtains different augmented reality visual angles, it is image system to install under the track robot, power supply system's cable is fixed in the orbital side of truss, power supply system's brush is fixed at the middle part of track robot and is its power supply, communication system and image system and control system's control signal communication, internet center control system control track robot operation, control image system's vision acquisition.
Furthermore, the communication system communicates with wifi video signals of the image system and communicates with Zigbee control signals of the control system.
Furthermore, the networked central control system is operated in a touch screen control mode.
Furthermore, the truss track is a reconfigurable high-performance aluminum alloy anti-bending truss track, can be built according to a set size, and the space coordinate system is obtained according to the building size.
Furthermore, the track robot comprises a power supply system, a communication system, a control system and a lower computer part of an image system; the track robot can move on the track, the moving position is controlled and fed back, the image information of the image system is transmitted through the communication system, and the camera coordinate origin O and the touch screen coordinate system are obtained through calculation.
Furthermore, the internet central control system comprises a communication system, a control system and an upper computer part of an image system, the internet central control system can set parameters of superposition synchronous display of the three-dimensional model and the physical model, the parameters are transmitted to the track robot through the communication system and used for controlling the motion of the track robot, and the internet central control system can be accessed to the internet to realize remote parameter setting and control of the system.
Furthermore, the driving wheel of the track robot is a chain wheel, a chain is arranged on the travelling rack track, the chain wheel drives the track robot to move through the meshing with the chain, and the encoder reads the rotation angle information of the chain wheel to calculate the position of the track robot on the track.
Compared with the prior art, the large-scene industrial field unmarked augmented reality auxiliary manufacturing and operation and maintenance system capable of being remotely applied has the beneficial effects that:
1. the invention relates to a large-scene industrial field unmarked augmented reality auxiliary manufacturing and operation and maintenance system capable of being remotely applied, which is a method for completing spatial three-dimensional attitude registration by using a mechanical structure as position feedback and converting and calculating a spatial coordinate system, a camera coordinate system and a touch screen coordinate system of the system without spatial measurement such as visual identification, optical scanning and the like. The three-dimensional registration calculation realized by the method can realize the function of synchronously displaying the three-dimensional model and the physical model on the computer touch screen in an augmented reality overlapping way. Compared with the traditional vision augmented reality three-dimensional registration, the system has the characteristics of interference resistance, quick response, long service life, easiness in maintenance and the like.
2. The invention relates to a large-scene industrial field unmarked augmented reality auxiliary manufacturing and operation and maintenance system capable of being remotely applied, which is derived from engineering practice, takes augmented reality as a basic module, is synchronously displayed by a three-dimensional model and an entity model superposed on a touch screen, and can be used for auxiliary management of industrial field scheduling, remote guidance and maintenance after sale and the like.
3. The large-scene industrial field unmarked augmented reality auxiliary manufacturing and operation and maintenance system capable of being remotely applied forms different space sizes through modular combination of different reconfigurable truss tracks, and can be widely applied to multiple fields of ship manufacturing, airplane manufacturing, train manufacturing and oil and gas exploitation.
4. The large-scene industrial field unmarked augmented reality auxiliary manufacturing and operation and maintenance system capable of being remotely applied, disclosed by the invention, can also be combined with the situation that a user needs to adjust the structure of a structural module in the using process, such as: the specifications of the chain wheel and the chain are adjusted, and the augmented reality three-dimensional model and the physical model which have different functions, different ranges and different precisions can be overlaid and synchronously displayed. Because the invention adopts the feedback of the mechanical structure to register the three-dimensional information, the invention is not interfered by light, electromagnetic field and the like on a working site, thereby achieving remarkable improvement on interference resistance, easy maintenance and long service life and remarkably improving the product performance.
5. The invention relates to a large-scene industrial field unmarked augmented reality auxiliary manufacturing and operation and maintenance system capable of being remotely applied, wherein a truss track is a module reconfigurable track; in the final combined style, no fixed style exists, the combined style can be designed completely for users, and different specifications and sizes can be combined at will.
6. The invention is suitable for various industrial occasions, especially in the production, manufacture and maintenance of ships, completely conforms to the long distance, light and electromagnetic interference of a production field, and has obvious advantages.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of a truss track according to the present invention;
FIG. 2 is a diagram of a truss track and track robot assembly according to the present invention;
FIG. 3 is a schematic diagram of the power supply system (power supply cable and brushes) of the present invention;
FIG. 4 is a schematic diagram of the power supply system, the communication system, the control system and the image system according to the present invention;
FIG. 5 is a schematic view of an Internet central control system (heavy current part) according to the present invention;
FIG. 6 is a schematic view of an Internet central control system (weak current part) according to the present invention;
fig. 7 is a large-scenario industrial field markerless augmented reality auxiliary manufacturing and operation and maintenance system capable of being remotely applied according to the invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict, and the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments.
1. The first embodiment is described with reference to fig. 1 to 7, and the second embodiment is a large-scene industrial field markerless augmented reality auxiliary manufacturing and operation and maintenance system capable of being remotely applied, which comprises a truss track, a track robot, a power supply system, a communication system, a control system, an image system and an internet central control system, wherein the track robot moves in the air through the truss track, the power supply system (a cable part) is installed on the truss track, the power supply system (an electric brush part) is installed on the track robot, the image system is installed at the lower side of the track robot, the observation position of the image system is changed to obtain different augmented reality viewing angles, the communication system and the control system are respectively installed on the track robot and the internet central control system, and the internet central control system is connected to the internet. The cable of power supply system fixes in the orbital side of truss, and power supply system's brush is fixed at the middle part of orbital robot and is its power supply, and communication system includes the wifi video signal communication with image system and control system's Zigbee's control signal communication, and the mode operation that networking center control system was controlled by the touch screen controls orbital robot operation, control image system's vision collection.
The truss track is a high-performance aluminum alloy anti-bending truss track.
The track robot comprises a power supply system, a communication system, a control system and a lower computer part of an image system.
The central control system comprises a communication system, a control system and an upper computer part of an image system.
The track robot and the truss track are driven by a chain wheel and a chain, and the position is fed back by an encoder.
Under the condition of an industrial large scene, the superposition position of augmented reality can be accurately determined only by stable tracking of a camera without interference of light and electromagnetic environment, dynamic three-dimensional registration is realized, and good visual experience of augmented reality is obtained. The system is used for stably tracking the industrial field environment and controlling and reading the environment through the Internet, so that the large-scene industrial field unmarked augmented reality auxiliary manufacturing and operation and maintenance system capable of being remotely applied has important significance.
The invention fully considers the influence of light and electromagnetic interference on the augmented reality observation in the industrial field, adopts a three-dimensional information feedback method based on the inverse kinematics feedback of the mechanical structure in the three-dimensional information registration feedback, can be normally applied in various industrial fields, is not influenced by environment interference and is very suitable in large visual scenes.
The three-dimensional information feedback method based on the mechanical structure inverse kinematics feedback can realize the function of the augmented reality superposition synchronous display of the three-dimensional model and the physical model on the computer touch screen,
the specific implementation method comprises the following steps:
(1) Erecting the truss track in the industry, acquiring the size information of the truss track, such as: obtaining the dimensional information of the truss track as a reference to obtain a space coordinate system, wherein the dimensional information comprises the height, width, length, turning radius and the like of the track;
(2) The track robot is arranged on the truss track, a rotary encoder is arranged in the track robot, the number of turns of a moving wheel of the track robot can be acquired, and the moving direction and the moving distance on the track of the robot are calculated;
(3) And (3) establishing an inverse kinematics analytical equation according to the coordinate system and the related parameters obtained in the steps (1) and (2), constraining the solving sequence of the specific joint position, solving by the inverse solution of the inverse kinematics, solving the inverse kinematics, and completing software calculation.
(4) Calculating the position coordinate of the track robot through calculation, calculating the central coordinate O of the camera image at the moment, and simultaneously obtaining a touch screen coordinate system taking the point O as the center;
(5) Setting a spatial position relation between a three-dimensional model and a physical model → obtaining position information of the track robot on a truss → calculating a relation between a coordinate system of a touch screen at the moment and a spatial coordinate system → calculating a numerical value of the three-dimensional model at the moment under the coordinate system of the touch screen → carrying out superposition synchronous display of augmented reality on the touch screen, wherein the superposition relation between the three-dimensional model and the physical model is an artificially set parameter and is a known quantity.
The embodiments of the invention disclosed above are intended merely to aid in the explanation of the invention. The examples are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention.
Claims (10)
1. A three-dimensional information feedback method based on mechanical structure inverse kinematics feedback is characterized in that: it can realize the function of the augmented reality superposition synchronous display of the three-dimensional model and the physical model on the computer touch screen,
the specific implementation method comprises the following steps:
(1) Erecting a truss track in the industry, acquiring the size information of the truss track, and acquiring a space coordinate system by taking the size information of the truss track as a reference;
(2) The track robot is arranged on the truss track, a rotary encoder is arranged in the track robot, the number of rotation turns of a moving wheel of the track robot can be collected, and the moving direction and the distance on the track of the robot are calculated;
(3) Establishing an inverse kinematics analytical equation according to the coordinate system and the related parameters obtained in the steps (1) and (2), constraining the solving sequence of the specific joint position, solving by the inverse solution of the inverse kinematics, solving the inverse kinematics, and completing software calculation;
(4) Calculating the position coordinate of the track robot through calculation, calculating the central coordinate O of the camera image at the moment, and simultaneously obtaining a touch screen coordinate system taking the point O as the center;
(5) Setting a spatial position relation between the three-dimensional model and the physical model, obtaining position information of the track robot on the truss, calculating a relation between a coordinate system of the touch screen and the spatial coordinate system at the moment, calculating a numerical value of the three-dimensional model under the coordinate system of the touch screen at the moment, and performing augmented reality superposition synchronous display on the touch screen, wherein the superposition relation between the three-dimensional model and the physical model is a manually set parameter and is a known quantity.
2. The method for feeding back three-dimensional information based on inverse kinematics feedback of a mechanical structure according to claim 1, wherein: the size information of the truss track in the step (1) comprises track height, width, length and turning radius.
3. A large-scene industrial field unmarked augmented reality auxiliary manufacturing and operation and maintenance system capable of being remotely applied, which applies the method for three-dimensional information feedback based on mechanical structure inverse kinematics feedback according to any one of claims 1-2, characterized in that: the influence of industrial field light and electromagnetic interference on augmented reality observation is fully considered, and in three-dimensional information registration feedback, a three-dimensional information feedback method based on mechanical structure inverse kinematics feedback is adopted, so that the method can be normally applied to various industrial fields, is not influenced by environment interference and is suitable for large visual scenes.
4. The remotely applicable large-scenario industrial field markerless augmented reality assisted manufacturing and operation and maintenance system of claim 3, wherein: including the truss track, the track robot, power supply system, communication system, control system, image system and internet center control system, the track robot of institute is through walking on the truss track, the observation position that changes image system obtains different augmented reality visual angles, it is image system under the track robot installation, power supply system's cable is fixed in the orbital side of truss, power supply system's brush is fixed at track robot's middle part and is its power supply, communication system and image system and control system's control signal communication, internet center control system control track robot operation, control image system's vision is gathered.
5. The remotely applicable large-scenario industrial field markerless augmented reality assisted manufacturing and operation and maintenance system according to claim 4, wherein: the communication system is in wifi video signal communication with the image system and in Zigbee control signal communication with the control system.
6. The large-scenario industrial field markerless augmented reality assisted manufacturing and operation and maintenance system capable of remote application according to claim 4, wherein: the networked central control system is operated in a touch screen control mode.
7. The large-scenario industrial field markerless augmented reality assisted manufacturing and operation and maintenance system capable of remote application according to claim 4, wherein: the truss track is a reconfigurable high-performance aluminum alloy bending-resistant truss track, can be built according to set dimensions, and the space coordinate system is obtained according to the building dimensions.
8. The large-scenario industrial field markerless augmented reality assisted manufacturing and operation and maintenance system capable of remote application according to claim 4, wherein: the track robot comprises a power supply system, a communication system, a control system and a lower computer part of an image system; the track robot can move on the track, the moving position is controlled and fed back, the image information of the image system is transmitted through the communication system, and the camera coordinate origin O and the touch screen coordinate system are obtained through calculation.
9. The large-scenario industrial field markerless augmented reality assisted manufacturing and operation and maintenance system capable of remote application according to claim 4, wherein: the internet central control system comprises an upper computer part of a communication system, a control system and an image system, can set parameters of superposition synchronous display of a three-dimensional model and a physical model, is transmitted to the track robot through the communication system and is used for controlling the motion of the track robot, and can access the internet to realize remote parameter setting and control of the system.
10. The large-scenario industrial field markerless augmented reality assisted manufacturing and operation and maintenance system capable of remote application according to claim 4, wherein: the driving wheel of the track robot is a chain wheel, a chain is arranged on the truss track, the chain wheel drives the track robot to move through meshing with the chain, and the encoder reads corner information of the chain wheel to calculate the position of the track robot on the track.
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