CN115314474B - Communication emergency equipment assists maintenance system based on AR - Google Patents
Communication emergency equipment assists maintenance system based on AR Download PDFInfo
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- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/40—Support for services or applications
- H04L65/401—Support for services or applications wherein the services involve a main real-time session and one or more additional parallel real-time or time sensitive sessions, e.g. white board sharing or spawning of a subconference
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- 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
- G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
- G06F3/1454—Digital output to display device ; Cooperation and interconnection of the display device with other functional units involving copying of the display data of a local workstation or window to a remote workstation or window so that an actual copy of the data is displayed simultaneously on two or more displays, e.g. teledisplay
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- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
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- G06Q10/00—Administration; Management
- G06Q10/20—Administration of product repair or maintenance
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- H04L65/1066—Session management
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- H—ELECTRICITY
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- H04N7/141—Systems for two-way working between two video terminals, e.g. videophone
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- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
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Abstract
The invention discloses an AR-based communication emergency equipment auxiliary maintenance system, and relates to the technical field of AR auxiliary maintenance. The first browser and the second browser carry out audio and video communication through a direct communication path established by the WebRTC server; the background display module synchronously displays a video picture during audio and video communication and a background video picture acquired by the acquisition module; the second shared display module collects and displays the assistance data, and sends the assistance data to the first shared display module through the WebSocket server; the first sharing display module is used for determining target display coordinates and target display sizes of the assistance data; and the projection module is used for projecting a virtual screen at a preset distance in front of the AR terminal and displaying the assistance data on the virtual screen in a target display size. The system improves the maintenance efficiency of emergency maintenance personnel and avoids the delay condition.
Description
Technical Field
The invention relates to the technical field of AR (augmented reality) assisted maintenance, in particular to an AR-based communication emergency equipment assisted maintenance system.
Background
Communication emergency equipment has the following problems in daily use and maintenance:
firstly, emergent personnel open the inefficiency problem when carrying out emergency operation in the open air, normally require personnel's equipment to accomplish after targetting in place that multiple equipment opens fast, the functional parameter configuration to various emergency equipment, use the operation flow must be accurate, in the face of some complicated equipment operation flows, its operation process can rely on the manifest, the tradition is based on paper, electronic document, record video show mode, whole operating efficiency is not high, misoperation appears more easily under the condition that does not have the manifest, lead to appearing opening the operation delay condition.
And secondly, an unknown sudden problem occurs in the emergency opening process, and the problem of low efficiency caused by seeking external assistance is solved. If the equipment is not successfully opened, some equipment is in hardware failure, some equipment is in manual operation error, the equipment can be communicated in modes of video or telephone and the like by seeking help background technical support or qualified experts, the assistance process needs to provide field conditions, meanwhile, according to prompt operation, the communication and the operation are difficult to be simultaneously and effectively carried out, the communication is slightly higher in a video mode than a telephone mode, but the accurate operation equipment mark is lacked, and the efficiency is low.
Disclosure of Invention
The present invention is directed to solving the above problems of the background art, and provides an AR-based communication emergency device assisted repair system.
The purpose of the invention can be realized by the following technical scheme:
the embodiment of the invention provides an AR-based communication emergency equipment assisting and overhauling system, which comprises an AR terminal, an assisting terminal, a WebSocket server and a WebRTC server; the AR terminal comprises a first browser, an acquisition module, a projection module and a first shared display module; the assistance terminal comprises a second browser, a background display module and a second shared display module;
the WebRTC server is configured to perform NAT traversal between the first browser and the second browser, and establish a direct communication path between the first browser and the second browser;
the first browser and the second browser are used for audio and video communication through the direct communication path;
the background display module is used for synchronously displaying a video picture during audio and video communication and a background video picture acquired by the acquisition module;
the second shared display module is used for acquiring and displaying assistance data and sending the assistance data to the first shared display module through the WebSocket server;
the first shared display module is configured to determine a target display coordinate and a target display size of the assistance data;
the projection module is used for projecting a virtual screen at a preset distance in front of the AR terminal and displaying the assistance data on the virtual screen in the target display size.
Optionally, the first shared display module includes a coordinate conversion sub-module and a scaling sub-module;
the coordinate conversion sub-module is configured to convert the coordinates of the assistance data in the second shared display module into coordinates on the virtual screen, where the coordinates are used as the target display coordinates;
the scaling submodule is configured to calculate, according to the size of the assistance data in the second shared display module and the size parameters of the second shared display module, the virtual screen, and the acquisition module, the size of the assistance data on the virtual screen as the target display size.
Optionally, the target display size comprises a target length and a target width;
the scaling submodule is specifically configured to:
calculating the target length of the assistance data on the virtual screen:
calculating the target width of the assistance data on the virtual screen:
Optionally, the AR terminal further comprises a positioning and tracking module and an inertial sensor; the positioning and tracking module comprises an instant positioning and mapping SLAM sub-module and an inertial navigation sub-module;
the SLAM submodule is used for carrying out initial positioning on an initial picture when the assistance data is collected to create an initial coordinate system;
the inertial navigation sub-module is used for acquiring data of the inertial sensor and determining the offset of the current picture relative to the initial coordinate system;
the first shared display module is further configured to adjust a real-time position of the assistance data according to the offset.
Optionally, the positioning and tracking module further comprises an offset correction module;
the SLAM submodule is also used for positioning the current picture to obtain correction information when the offset is detected to be smaller than a preset threshold;
and the deviation correction module is used for determining the static deviation of the inertial sensor according to the correction information and adjusting the real-time position of the assistance data according to the static deviation.
Optionally, the deviation rectification module is an extended kalman filter.
Optionally, the WebRTC server includes a signaling server and a traversal server; the traversal server is any one of a STUN server, a TURN server and an ICE server;
the signaling server is used for signaling interaction between the first browser and the second browser;
the traversal server is configured to perform NAT traversal between the first browser and the second browser, and establish a direct communication path between the first browser and the second browser;
optionally, the background display module and the second shared display module have the same size, and the second shared display module is covered on the background display module.
Optionally, the assistance data includes at least one of a text and an image.
Optionally, the AR terminal further includes a video display module;
and the video display module is used for synchronously displaying video pictures during audio and video communication.
The embodiment of the invention provides an AR-based communication emergency equipment assisting and overhauling system, which comprises an AR terminal, an assisting terminal, a WebSocket server and a WebRTC server; the AR terminal comprises a first browser, an acquisition module, a projection module and a first shared display module; the assistance terminal comprises a second browser, a background display module and a second shared display module; the WebRTC server is used for performing NAT traversal between the first browser and the second browser and establishing a direct communication path between the first browser and the second browser; the first browser and the second browser are used for audio and video communication through a direct communication path; the background display module is used for synchronously displaying a video picture during audio and video communication and a background video picture acquired by the acquisition module; the second shared display module is used for acquiring and displaying the assistance data and sending the assistance data to the first shared display module through the WebSocket server; the first sharing display module is used for determining target display coordinates and target display sizes of the assistance data; and the projection module is used for projecting a virtual screen at a preset distance in front of the AR terminal and displaying the assistance data on the virtual screen in a target display size. The AR terminal and the assistance terminal are in audio and video communication through the WebRTC technology, a backstage technical support or a qualified expert can know the maintenance field situation through the assistance terminal, remote assistance can be carried out on field emergency maintenance personnel through voice and/or assistance data, the assistance data is displayed through the AR technology, the maintenance efficiency of the emergency maintenance personnel is improved, and the delay situation is avoided.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a system block diagram of an AR-based communication emergency device assisted overhaul system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides an AR-based communication emergency equipment auxiliary overhaul system. Referring to fig. 1, fig. 1 is a system block diagram of an AR-based communication emergency device assisted overhaul system according to an embodiment of the present invention. The system comprises an AR terminal, an assistance terminal, a WebSocket server and a WebRTC server; the AR terminal comprises a first browser, an acquisition module, a projection module and a first shared display module; the assistance terminal comprises a second browser, a background display module and a second shared display module;
the WebRTC server is configured to perform NAT traversal between the first browser and the second browser, and establish a direct communication path between the first browser and the second browser;
the first browser and the second browser are used for audio and video communication through the direct communication path;
the background display module is used for synchronously displaying a video picture during audio and video communication and a background video picture acquired by the acquisition module;
the second shared display module is used for acquiring and displaying assistance data and sending the assistance data to the first shared display module through the WebSocket server;
the first shared display module is configured to determine a target display coordinate and a target display size of the assistance data;
the projection module is used for projecting a virtual screen at a preset distance in front of the AR terminal and displaying the assistance data on the virtual screen in the target display size.
Based on the AR-based communication emergency equipment auxiliary maintenance system provided by the embodiment of the invention, the audio and video communication between the AR terminal and the auxiliary terminal is realized through the WebRTC technology, a backstage technical support or a senior specialist can know the maintenance field condition through the auxiliary terminal, can remotely assist field emergency maintenance personnel through voice and/or auxiliary data, and can display the auxiliary data through the AR technology, thereby improving the maintenance efficiency of the emergency maintenance personnel and avoiding the delay condition.
In one implementation, a WebRTC server establishes a direct communication path between a first browser and a second browser, so that transmission delay of audio/video communication between an AR terminal and an assistant terminal can be reduced.
In one implementation, the first shared display module and the second shared display module may be HTML 5-based virtual shared whiteboards.
In one implementation, the acquisition module may be a camera for acquiring video data of a maintenance site.
In one embodiment, the AR terminal includes a binocular light-guiding transparent holographic lens.
In one embodiment, the first shared display module includes a coordinate conversion sub-module and a zoom sub-module;
the coordinate conversion sub-module is used for converting the coordinates of the assistance data on the second sharing display module into coordinates on the virtual screen, and the coordinates are used as the target display coordinates;
the scaling submodule is configured to calculate, according to the size of the assistance data in the second shared display module and the size parameters of the second shared display module, the virtual screen, and the acquisition module, the size of the assistance data on the virtual screen as the target display size.
In one embodiment, the target display size comprises a target length and a target width;
the scaling submodule is specifically configured to:
calculating the target length of the assistance data on the virtual screen:
calculating the target width of the assistance data on the virtual screen:
In one implementation, the length width of the virtual screen, the length width of the second shared display module, and the distance between the acquisition module and the virtual screen are constants set by a technician.
The current focal length of the acquisition module can be obtained from the acquisition module.
In one embodiment, the AR terminal further comprises a positioning tracking module and an inertial sensor; the positioning and tracking module comprises an instant positioning and mapping (SLAM) sub-module and an inertial navigation sub-module;
the SLAM sub-module is used for initially positioning an initial picture when the assistance data is collected to create an initial coordinate system;
the inertial navigation sub-module is used for acquiring data of the inertial sensor and determining the offset of the current picture relative to the initial coordinate system;
the first shared display module is further configured to adjust a real-time position of the assistance data according to the offset.
In one implementation, the inertial sensors may be high-precision gyroscopes, acceleration sensors, distance sensors, and the like.
In one implementation, on the basis of positioning of the SLAM submodule, if a person wearing the AR terminal performs operations such as moving and rotating, the real-time position of the assistance data can be adjusted through the inertial navigation submodule, and seamless fusion of virtual display content and a real scene is guaranteed.
In one embodiment, the location tracking module further comprises an offset rectification module;
the SLAM submodule is further used for positioning the current picture to obtain correction information when the detected offset is smaller than a preset threshold;
and the deviation correction module is used for determining the static deviation of the inertial sensor according to the correction information and adjusting the real-time position of the assistance data according to the static deviation.
In one implementation, when the detected offset is smaller than the preset threshold, the AR terminal may be regarded as a stationary state, and at this time, the integral error accumulated over time in the inertial navigation may be corrected by the SLAM sub-module.
In one embodiment, the bias remediation module is an extended kalman filter.
In one embodiment, the WebRTC server comprises a signaling server and a traversal server; the traversal server is any one of a STUN server, a TURN server and an ICE server;
the signaling server is used for signaling interaction between the first browser and the second browser;
the traversal server is configured to perform NAT traversal between the first browser and the second browser, and establish a direct communication path between the first browser and the second browser;
in one embodiment, the background display module and the second shared display module are the same size, and the second shared display module is overlaid on the background display module.
In one implementation, the background technical support or the senior expert may use a mouse or a finger to draw or input text on the second shared display module according to the video content of the background display module, and may add text, send a file, and erase content on the second shared display module.
In one embodiment, the assistance data includes at least one of text and images.
In one implementation, objects or required maintenance steps in the video are marked through characters and images, so that on-site emergency maintenance personnel can more clearly understand the provided maintenance suggestions of the background technical support or the qualification experts, and the communication efficiency between the emergency maintenance personnel and the background technical support or the qualification experts is improved.
In one embodiment, the AR terminal further comprises a video display module;
and the video display module is used for synchronously displaying video pictures during audio and video communication.
Although one embodiment of the present invention has been described in detail, the description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (9)
1. The communication emergency equipment assisting maintenance system based on the AR is characterized by comprising an AR terminal, an assisting terminal, a WebSocket server and a WebRTC server; the AR terminal comprises a first browser, an acquisition module, a projection module and a first shared display module; the assistance terminal comprises a second browser, a background display module and a second shared display module; the first sharing display module and the second sharing display module are virtual sharing white boards based on HTML 5;
the WebRTC server is configured to perform NAT traversal between the first browser and the second browser, and establish a direct communication path between the first browser and the second browser;
the first browser and the second browser are used for audio and video communication through the direct communication path;
the background display module is used for synchronously displaying a video picture during audio and video communication and a background video picture acquired by the acquisition module;
the second shared display module is used for acquiring and displaying assistance data and sending the assistance data to the first shared display module through the WebSocket server;
the first shared display module is configured to determine a target display coordinate and a target display size of the assistance data;
the projection module is used for projecting a virtual screen at a preset distance in front of the AR terminal and displaying the assistance data on the virtual screen in the target display size;
the AR terminal also comprises a video display module;
and the video display module is used for synchronously displaying video pictures during audio and video communication.
2. The AR-based communication emergency device assisted repair system of claim 1, wherein the first shared display module comprises a coordinate transformation sub-module and a scaling sub-module;
the coordinate conversion sub-module is configured to convert the coordinates of the assistance data in the second shared display module into coordinates on the virtual screen, where the coordinates are used as the target display coordinates;
the scaling sub-module is configured to calculate, according to the size of the assistance data in the second shared display module and the size parameters of the second shared display module, the virtual screen, and the acquisition module, the size of the assistance data on the virtual screen as the target display size.
3. The AR-based communication emergency equipment assisted services system of claim 2, wherein the target display size comprises a target length and a target width;
the scaling submodule is specifically configured to:
calculating the target length of the assistance data on the virtual screen:
calculating the target width of the assistance data on the virtual screen:
4. The AR-based communication emergency device assisted repair system of claim 1, wherein the AR terminal further comprises a location tracking module and an inertial sensor; the positioning and tracking module comprises an instant positioning and mapping SLAM sub-module and an inertial navigation sub-module;
the SLAM submodule is used for carrying out initial positioning on an initial picture when the assistance data is collected to create an initial coordinate system;
the inertial navigation sub-module is used for acquiring data of the inertial sensor and determining the offset of the current picture relative to an initial coordinate system;
the first shared display module is further configured to adjust a real-time position of the assistance data according to the offset.
5. The AR based communication emergency device assisted repair system of claim 4, wherein the position tracking module further comprises an offset rectification module;
the SLAM submodule is further used for positioning the current picture to obtain correction information when the detected offset is smaller than a preset threshold;
and the deviation correction module is used for determining the static deviation of the inertial sensor according to the correction information and adjusting the real-time position of the assistance data according to the static deviation.
6. The AR-based communication emergency device assisted overhaul system of claim 5, wherein the deviation rectification module is an extended Kalman filter.
7. The AR-based communication emergency device assisted overhaul system of claim 1, wherein the WebRTC server comprises a signaling server and a traversal server; the traversal server is any one of a STUN server, a TURN server and an ICE server;
the signaling server is used for signaling interaction between the first browser and the second browser;
and the traversing server is used for performing NAT traversal between the first browser and the second browser and establishing a direct communication path between the first browser and the second browser.
8. The AR based communication emergency device assisted overhaul system of claim 1, wherein the background display module and the second shared display module are the same size and the second shared display module overlays the background display module.
9. The AR-based communication emergency device assisted overhaul system of claim 1, wherein the assistance data comprises at least one of text and images.
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| CN111260084A (en) * | 2020-01-09 | 2020-06-09 | 长安大学 | Remote system and method based on augmented reality collaborative assembly maintenance |
| CN114662714A (en) * | 2022-02-25 | 2022-06-24 | 南京邮电大学 | Machine room operation and maintenance management system and method based on AR equipment |
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| CN110189416B (en) * | 2019-05-29 | 2023-05-05 | 国家电网有限公司 | Remote guiding method and system for overhaul site |
| CN110381111A (en) * | 2019-06-03 | 2019-10-25 | 华为技术有限公司 | A kind of display methods, location determining method and device |
| US11475661B2 (en) * | 2020-02-10 | 2022-10-18 | Fujifilm Business Innovation Corp. | Systems and methods for augmented reality application for annotations and adding interfaces to control panels and screens |
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| CN111260084A (en) * | 2020-01-09 | 2020-06-09 | 长安大学 | Remote system and method based on augmented reality collaborative assembly maintenance |
| CN114662714A (en) * | 2022-02-25 | 2022-06-24 | 南京邮电大学 | Machine room operation and maintenance management system and method based on AR equipment |
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