CN201210356Y - Virtual ship driving system based on stereo panoramic view - Google Patents
Virtual ship driving system based on stereo panoramic view Download PDFInfo
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- CN201210356Y CN201210356Y CNU2008200605432U CN200820060543U CN201210356Y CN 201210356 Y CN201210356 Y CN 201210356Y CN U2008200605432 U CNU2008200605432 U CN U2008200605432U CN 200820060543 U CN200820060543 U CN 200820060543U CN 201210356 Y CN201210356 Y CN 201210356Y
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Abstract
The utility model discloses a virtual ship handling system based on 3D panorama, the system is mainly composed of a synthetic bridge system, a view visual system and a 3D projection system; the view visual system receives various ship motion parameters in the synthetic bridge system via network to process, and simulates ship handling status in virtual set, in order to generate 3D panoramic image to be transmitted to the 3D projection system. The utility model has simple method, being flexible and convenient to realize, in order to enhance biofidelity for ship handling.
Description
Technical field:
The utility model relates to a kind of virtual ship-handling system, particularly a kind of virtual ship-handling system based on stereoscopic full views.
Background technology:
Virtual ship-handling system is through ten years development, and at home and abroad each navigation universities and colleges is popularized substantially, for numerous crewman provide a good training environment, and provides a preliminary analogue test platform for the harbor approach safety demonstration.Present virtual ship-handling system usually with simple steer (comprising carriage clock, steering wheel, compass, anchor hawser operation etc.) as the riding manipulation platform, with graphics workstation as the picture signal generator, output image is to many projector, and be incident upon the horizontal view angle be 40 spend to 270 the degree scopes flat board or arc screen on, by being spliced to form visual system, form a simulation system jointly.The ubiquitous problem of this type systematic is that bridge device emulation degree is not high, the what comes into a driver's angular field of view is too little, virtual scene is untrue, the space length sense is not strong etc., it is too far away with real gap that the crewman generally reacts, particularly at some specialized trainings and decision-making, lean on from pool, maritime search and rescue, ship collision prevention, the research of crewman's psychological characteristics etc. the present very difficult trust of virtual ship-handling system as boats and ships.
Satisfy above demand, at first must set up a real driving platform, allow the crewman that sensation on the spot in person is arranged, secondly build with great visual angle (360 degree) panoramic virtual environment and can solve the too little problem of angular field of view, utilize the stereopsis technology to set up virtual reality center (Virtual Reality Center) at last and can solve the space length sense, the feeling of immersion problem, eliminate the distance of imagination space and realistic space, therefore, in the development of virtual ship-handling system and exploitation, core technology is the emulation of bridge equipment, the exploitation at virtual reality center.But because ship panel functions of the equipments complexity, characteristics such as strongly professional, and be generally import equipment, be difficult for simulation, cause the bridge device emulation degree of virtual ship-handling system not high; In addition for the arc screen prjection system that surpasses 180 degree horizontal view angles, since the reflection of light and scattering dried around, be difficult to set up virtual reality center, just do not have the basic reason of the virtual ship-handling system of stereoscopic full views all the time based on the stereopsis technology.
The utility model content:
The purpose of this utility model is the deficiency at existing system, and a kind of virtual ship-handling system based on novel simulated bridge and stereoscopic full views virtual reality center is provided.
In order to achieve the above object, the virtual ship-handling system that the utility model is related based on stereoscopic full views, this system mainly is made up of composite ship bridge system, what comes into a driver's visualization system and stereo projection system; Described what comes into a driver's visualization system is handled by the various ship motion parameter values that network receives in the composite ship bridge system, and the driving condition of simulation boats and ships in virtual scene produces stereoscopic panoramic image and be transferred to stereo projection system.
A plurality of graphics workstations are realized connecting by serial network in the described what comes into a driver's visualization system, also connect composite ship bridge system and stereo projection system simultaneously.
Be provided with in the described graphics workstation by 3D outdoor scene modeling software instrument and produce model of place, with the 3D engine for playing up instrument real-time rendering image, it is right that the asymmetric perspective projection module of the imagery exploitation axis of parallax of playing up is produced stereo-picture, and output to the stereoscopic panoramic image generation program module of stereo projection system respectively.
The asymmetric perspective projection module of described axis of parallax is respectively that axis generation stereo-picture is right with the right and left eyes for utilizing asymmetric perspective projection method, make the visual field vector keeping parallelism of right and left eyes, and the projection plane of the view frustums of right and left eyes is overlapping, avoids the functional module of parallax on the vertical direction.
Described serial network is the InfiniBand network that the transfer rate of one-way transmission reaches 2.5GB/s.
Described stereo projection system is made up of the arc-shaped projection curtain of a plurality of projector that are connected with the graphics workstation system and 360 °, and described projector is installed in composite ship bridge system top, with the arc-shaped projection curtain on a concentric circles, and toward tiltedly below projection.
Embedding in the described projector utilizes transit that screen space positions is positioned, and the position is demarcated with laser beam or mark, on screen, form the position dot matrix, the lopsided image and the position dot matrix of projector projects are mated, reach the geometry correction of image, utilize blending algorithm that the image of projector overlay region is carried out brightness and color adjustment simultaneously, make color balancing, realize that seamless spliced image geometry proofreaies and correct and Fusion Module.
The spectral separation chip that makes projector produce stereopsis is installed on the described projector.
The screen gain of described 360 ° arc-shaped projection curtain is 1.0.
Method of the present utility model is simple, flexibly, realize easily, the utility model utilizes the composite ship bridge system to be the bridge emulation platform first, improved the fidelity of Ship Controling, in the 360 degree stereoscopic full views virtual reality system schemes that the utility model proposes, utilize spectral unmixing technology and control projection screen yield value to realize the stereopsis projection, efficiently solve the mutual interference problem of stereoprojection light, solved the sense of virtual scene space length by stereopsis technology effect, the feeling of immersion problem, in the distributed emulation based on the PC cluster that the utility model adopts, it is unified to have solved the program that exists in the ultra-large type virtual reality system, uniform data, the sequential stationary problem.
Description of drawings:
Further specify the utility model below in conjunction with the drawings and specific embodiments.
Fig. 1 is a system architecture synoptic diagram of the present utility model.
Fig. 2 is a stereo-picture imaging schematic diagram of the present utility model.
Fig. 3 is a composite ship bridge system emulation bridge synoptic diagram of the present utility model.
Fig. 4 is projection screen of the present utility model and projector installation site synoptic diagram.
The dot chart of screen space location when Fig. 5 installs for the utility model.
Embodiment:
For technological means, creation characteristic that the utility model is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the utility model.
Fig. 1 is a system architecture synoptic diagram of the present utility model, according on the figure as can be known, the utility model is mainly real-time distributed system, adopts based on the PC cluster topology, mainly is made up of composite ship bridge system, what comes into a driver's visualization system and stereo projection system; The various ship motion parameter values that described what comes into a driver's visualization system will receive from the composite ship bridge system are handled, and the generation stereoscopic panoramic image also is transferred on the stereo projection system.What comes into a driver's visualization system in this system is made up of 12 high performance graphics workstation1s, and each graphics workstation 1 has control desk control 3 respectively, and corresponding projector 4; 12 high performance graphics workstation1s are realized the network interconnection by serial network technology (InfiniBand) 2, receive the simulated data from the various ship's navigations in the composite ship bridge system simultaneously.The InfiniBand network can guarantee that the microsecond level of 12 passage distributed systems is synchronous, and has satisfied the transmission of big data quantity, guarantees data and image unitarity logically; Serial network technology used herein is meant than traditional Ethernet to have network interconnection technique faster, and the transfer rate of one-way transmission reaches 2.5GB/s.
Fig. 2 is a stereo-picture image-forming principle of the present utility model, the high performance graphics workstation produces model of place by 3D outdoor scene modeling software instrument, with the 3D engine for playing up instrument real-time rendering image, it is right that the asymmetric perspective projection method of the imagery exploitation axis of parallax of playing up is produced more comfortable stereo-picture, and output to projector respectively.The asymmetric perspective projection method of described axis of parallax, utilizing asymmetric perspective projection method is respectively that axis generation stereo-picture is right with the right and left eyes, make the visual field vector keeping parallelism of right and left eyes, and the projection plane of the view frustums of right and left eyes is overlapping, avoids the parallax on the vertical direction.
Fig. 3 is the composite ship bridge system in the utility model, it is a composite ship bridge system emulation bridge, M1 panel: comprise compass diplopia device, the follow-up steering handwheel, the rudder angle amplifier, the steering mode selection switch, the bimodulus emergency tiller, the steering apparatus control panel, two car carriage clocks, the bow thruster control panel, the stern thruster control panel, cabin operating system, control signal element, control control lever, emergency stop push button, the security system internal connecting elements, the broadcast main control platform, call out master station, automatic telephone, the siren signal controller, alarm buzzer, porthole wiper control panel, trace ball, the siren button, the siren X button, siren Morse signal key.M2 panel: comprise RAI brightness regulation, the brightness of magnetic compass 24V power supply, magnetic compass 220V power supply brightness and rotating speed and startup air pressure lamp brightness regulation on integrated alarm panel, CONNING display, TRACKPILOT/CONNING computing machine, rudder angle meter, host-initiated air manometer, main engine revolution speedometer, duty alarm panel, compass numeral diplopia device brightness regulation, the bridge.P1 panel: X-band ARPA radar.Adopt the ARPA radarscope true peculiar to vessel of import, the self-control Radar Signal Generator produces simulating signal.Comprise X-band radar 23 ＂ TFT displays, X-band radar electronic unit, the inner connecting box of X-band radar, radar and TRACKPILOT control panel and self-control guinea pig signal generator.S1 panel: self-control simulation S-band ARPA radar.Comprise the inner connecting box of triband radar 21 ＂ TFT displays, S-band guinea pig electronic unit, S-band radar, with self-control guinea pig keyboard and TRACKPILOT control panel.CP1 left-hand rotation edged surface plate: comprise DGPS display unit, digital selector switch, VHF transceiver, ann reset button.CS1 right turn angle panel: comprise bridge warning panel, bridge expansion warning panel, duty alarm panel, ann reset key.S2 panel: comprise simulation 21 ＂ TFT electronic Chart Display devices, electronic chart electronic unit, ASCII keyboard, PS/2 trace ball.S3 panel: comprise OWS 21 ＂ TFT displays (cabin automatic monitored control system), OWS keyboard, OWS trace ball, cabin automatic monitored control system workstation unit.P3 panel: anchor, hawser operator's console.P2 panel: comprise, compass operating unit, GMDSS alarm unit, AIS display unit, panel button, running lights control panel, signal lamp control panel, sound power telephone, carbon dioxide smoke detection diplopia device panel, steering apparatus warning panel, porthole wiper control panel, fire alarm control/diplopia device panel, security system testing button, security system switch, cargo lamp control panel, sidelight control panel.Each unit by using serial ports in this bridge is gathered its signal respectively and is transferred in the ship motion model control computer, and this computing machine and data transmission are handled in connected what comes into a driver's visualization system.
Fig. 4 is projection screen and the projector installation site synoptic diagram in the stereo projection system of the present utility model, column construction is a projection screen 5, screen surface is controlled optical gain by dope layer, remain on about 1.0, because the central authorities of column construction are boats and ships emulation pilothouse 6, therefore projector 8 can only be installed on the top and the body concentric circle of cylindricality of column construction, and projector keeps toward oblique below projection 7 on screen 5.Spectral unmixing technology to separating, in projector or the outer chip with spectral unmixing technology of installing, makes projector generation stereopsis to the stereo-picture of projector projects.
The dot chart of screen space location when Fig. 5 is the utility model installation, because projector is toward tiltedly below projection, and screen is an arc, therefore image can distort, need geometry correction, native system at first utilizes transit that screen space is positioned, and mark is carried out in the position with laser spots, form the dot chart on Fig. 5, the projector output image utilizes the nonlinear geometry deformation method that the image and the dot chart of output are mated then, obtain normal what comes into a driver's image, there is the overlay region in image after the geometry correction between projector, utilize the image co-registration of image interfusion method to the overlay region, obtains image unified on the color.
The utility model that obtains according to technique scheme is when operation, hardware module on the composite ship bridge system emulation bridge is used to simulate various sensors on the ship, collect various analog sensor signals by ship motion model control computer, calculate various ship motion parameter values in real time in conjunction with operation ship motion mathematical model on computers, comprise accommodation, course, the speed of a ship or plane, six degree of freedom value etc.Adopt real-time distributed system hardware module to constitute the virtual reality system platform simultaneously in the what comes into a driver's visualization system, utilize computer network to be transferred in the virtual reality system that constitutes thus the ship motion data that emulation bridge hardware module produces, be used for controlling virtual reality system ship motion state; And in virtual reality system, embed the stereoscopic panoramic image generation program module, so that produce stereoscopic full views; Then the stereoscopic panoramic image that produces is transported to the stereo projection apparatus module by vision cable, the image in the projection is carried out conversion, be incident upon on the annular screen at last by geometry correction and the Fusion Module that is embedded in the stereo projection apparatus.
More than show and described ultimate principle of the present utility model and principal character and advantage of the present utility model.The technician of the industry should understand; the utility model is not restricted to the described embodiments; that describes in the foregoing description and the instructions just illustrates principle of the present utility model; under the prerequisite that does not break away from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall in claimed the utility model scope.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (9)
1, based on the virtual ship-handling system of stereoscopic full views, this system mainly is made up of composite ship bridge system, what comes into a driver's visualization system and stereo projection system; It is characterized in that described what comes into a driver's visualization system is handled by the various ship motion parameter values that network receives in the composite ship bridge system, the driving condition of simulation boats and ships in virtual scene produces stereoscopic panoramic image and is transferred to stereo projection system.
2, the virtual ship-handling system based on stereoscopic full views according to claim 1 is characterized in that, a plurality of graphics workstations are realized connecting by serial network in the described what comes into a driver's visualization system, also connect composite ship bridge system and stereo projection system simultaneously.
3, the virtual ship-handling system based on stereoscopic full views according to claim 2, it is characterized in that, be provided with in the described graphics workstation by 3D outdoor scene modeling software instrument and produce model of place, with the 3D engine for playing up instrument real-time rendering image, it is right that the asymmetric perspective projection module of the imagery exploitation axis of parallax of playing up is produced stereo-picture, and output to the stereoscopic panoramic image generation program module of stereo projection system respectively.
4, the virtual ship-handling system based on stereoscopic full views according to claim 3, it is characterized in that, the asymmetric perspective projection module of described axis of parallax is respectively that axis generation stereo-picture is right with the right and left eyes for utilizing asymmetric perspective projection method, make the visual field vector keeping parallelism of right and left eyes, and the projection plane of the view frustums of right and left eyes is overlapping, avoids the functional module of parallax on the vertical direction.
5, the virtual ship-handling system based on stereoscopic full views according to claim 2 is characterized in that described serial network is the InfiniBand network that the transfer rate of one-way transmission reaches 2.5GB/s.
6, the virtual ship-handling system based on stereoscopic full views according to claim 1, it is characterized in that, described stereo projection system is made up of the arc-shaped projection curtain of a plurality of projector that are connected with the graphics workstation system and 360 °, described projector is installed in composite ship bridge system top, with the arc-shaped projection curtain on a concentric circles, and toward tiltedly below projection.
7, the virtual ship-handling system based on stereoscopic full views according to claim 6, it is characterized in that, embedding in the described projector utilizes transit that screen space positions is positioned, and the position is demarcated with laser beam or mark, on screen, form the position dot matrix, the lopsided image and the position dot matrix of projector projects are mated, reach the geometry correction of image, utilize blending algorithm that the image of projector overlay region is carried out brightness and color adjustment simultaneously, make color balancing, realize that seamless spliced image geometry proofreaies and correct and Fusion Module.
8, the virtual ship-handling system based on stereoscopic full views according to claim 6 is characterized in that, the spectral separation chip that makes projector produce stereopsis is installed on the described projector.
9, the virtual ship-handling system based on stereoscopic full views according to claim 6 is characterized in that, the screen gain of described 360 ° arc-shaped projection curtain is 1.0.
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2008200605432U CN201210356Y (en) | 2008-05-07 | 2008-05-07 | Virtual ship driving system based on stereo panoramic view |
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| CNU2008200605432U CN201210356Y (en) | 2008-05-07 | 2008-05-07 | Virtual ship driving system based on stereo panoramic view |
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| CN201210356Y true CN201210356Y (en) | 2009-03-18 |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101819678A (en) * | 2010-03-16 | 2010-09-01 | 昆明理工大学 | Calibration method of three-dimensional virtual image of driving analog system |
| CN101923793A (en) * | 2010-07-27 | 2010-12-22 | 中兴通讯股份有限公司 | Method and system for realizing driving simulation |
| CN102184655A (en) * | 2011-05-03 | 2011-09-14 | 四川省绵阳西南自动化研究所 | Portable processing platform of false or true scene signals |
| CN102087465B (en) * | 2009-12-02 | 2012-09-26 | 西安费斯达自动化工程有限公司 | Method for directly assigning and displaying true three-dimensional simulation regions |
| CN103106817A (en) * | 2013-03-06 | 2013-05-15 | 上海海事大学 | Navigation scientific and technological simulation system based on enhanced virtual reality system |
| CN103136978A (en) * | 2013-03-01 | 2013-06-05 | 上海海事大学 | Ship traffic management and ship driving comprehensive imitator system |
| CN101968890B (en) * | 2009-07-27 | 2013-07-10 | 西安费斯达自动化工程有限公司 | 360-degree full-view simulation system based on spherical display |
| CN103631148A (en) * | 2013-08-28 | 2014-03-12 | 中国人民解放军海军大连舰艇学院 | AIS-based ship driving real-time virtual augmentation simulation system and method |
| CN104503257A (en) * | 2014-11-04 | 2015-04-08 | 中国人民解放军海军工程大学 | Scene simulation anti-corona system and method |
| CN105387856A (en) * | 2015-11-23 | 2016-03-09 | 欧阳泰山 | Multi-light-spot tracking device and method |
| CN106710361A (en) * | 2017-01-22 | 2017-05-24 | 山东交通学院 | Ship control simulator driving control cabin lighting system |
| CN106710348A (en) * | 2016-12-20 | 2017-05-24 | 江苏前景信息科技有限公司 | Civil air defense interactive experience method and system |
| CN106781827A (en) * | 2017-03-14 | 2017-05-31 | 长江涪陵航道管理处 | Ship-handling training system and method |
| CN106781874A (en) * | 2016-10-25 | 2017-05-31 | 上海悉德信息科技有限公司 | Vehicle driver three-dimensional live road conditions examination system |
| WO2017088361A1 (en) * | 2015-11-26 | 2017-06-01 | 乐视控股（北京）有限公司 | View frustum culling method and apparatus based on virtual reality device |
| CN106846969A (en) * | 2017-04-17 | 2017-06-13 | 安徽汇宜智信科技有限公司 | Control method is led for ship naval training simulation system |
| CN106981231A (en) * | 2016-10-25 | 2017-07-25 | 上海悉德信息科技有限公司 | Vehicle driver real vehicle panorama is around optical projection system |
| CN108873898A (en) * | 2018-06-26 | 2018-11-23 | 武汉理工大学 | A kind of long-range Ride Control System of immersion and method based on real time data interaction |
| CN109935131A (en) * | 2019-04-26 | 2019-06-25 | 哈尔滨工程大学 | A kind of VR simulation device for marine navigator's training |
| CN110853453A (en) * | 2019-12-18 | 2020-02-28 | 武汉理工大学 | Navigation simulator system based on cloud platform |
| CN111223353A (en) * | 2020-01-21 | 2020-06-02 | 福建船政交通职业学院 | Ship magnetic compass deviation correction training system and method based on VR |
| TWI725677B (en) * | 2019-12-20 | 2021-04-21 | 財團法人船舶暨海洋產業研發中心 | Autonomous vessel simulation system and operating method thereof |
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2008
- 2008-05-07 CN CNU2008200605432U patent/CN201210356Y/en not_active Expired - Fee Related
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101968890B (en) * | 2009-07-27 | 2013-07-10 | 西安费斯达自动化工程有限公司 | 360-degree full-view simulation system based on spherical display |
| CN102087465B (en) * | 2009-12-02 | 2012-09-26 | 西安费斯达自动化工程有限公司 | Method for directly assigning and displaying true three-dimensional simulation regions |
| CN101819678A (en) * | 2010-03-16 | 2010-09-01 | 昆明理工大学 | Calibration method of three-dimensional virtual image of driving analog system |
| CN101923793A (en) * | 2010-07-27 | 2010-12-22 | 中兴通讯股份有限公司 | Method and system for realizing driving simulation |
| CN102184655A (en) * | 2011-05-03 | 2011-09-14 | 四川省绵阳西南自动化研究所 | Portable processing platform of false or true scene signals |
| CN103136978A (en) * | 2013-03-01 | 2013-06-05 | 上海海事大学 | Ship traffic management and ship driving comprehensive imitator system |
| CN103106817A (en) * | 2013-03-06 | 2013-05-15 | 上海海事大学 | Navigation scientific and technological simulation system based on enhanced virtual reality system |
| CN103631148A (en) * | 2013-08-28 | 2014-03-12 | 中国人民解放军海军大连舰艇学院 | AIS-based ship driving real-time virtual augmentation simulation system and method |
| CN103631148B (en) * | 2013-08-28 | 2017-03-15 | 中国人民解放军海军大连舰艇学院 | A kind of ship-handling real-time virtual based on AIS strengthens analogue system and method |
| CN104503257A (en) * | 2014-11-04 | 2015-04-08 | 中国人民解放军海军工程大学 | Scene simulation anti-corona system and method |
| CN104503257B (en) * | 2014-11-04 | 2017-07-07 | 中国人民解放军海军工程大学 | The anti-corona system and method for vision simulation |
| CN105387856A (en) * | 2015-11-23 | 2016-03-09 | 欧阳泰山 | Multi-light-spot tracking device and method |
| WO2017088361A1 (en) * | 2015-11-26 | 2017-06-01 | 乐视控股（北京）有限公司 | View frustum culling method and apparatus based on virtual reality device |
| CN106981231A (en) * | 2016-10-25 | 2017-07-25 | 上海悉德信息科技有限公司 | Vehicle driver real vehicle panorama is around optical projection system |
| CN106781874A (en) * | 2016-10-25 | 2017-05-31 | 上海悉德信息科技有限公司 | Vehicle driver three-dimensional live road conditions examination system |
| CN106710348A (en) * | 2016-12-20 | 2017-05-24 | 江苏前景信息科技有限公司 | Civil air defense interactive experience method and system |
| CN106710361A (en) * | 2017-01-22 | 2017-05-24 | 山东交通学院 | Ship control simulator driving control cabin lighting system |
| CN106781827A (en) * | 2017-03-14 | 2017-05-31 | 长江涪陵航道管理处 | Ship-handling training system and method |
| CN106846969A (en) * | 2017-04-17 | 2017-06-13 | 安徽汇宜智信科技有限公司 | Control method is led for ship naval training simulation system |
| CN108873898A (en) * | 2018-06-26 | 2018-11-23 | 武汉理工大学 | A kind of long-range Ride Control System of immersion and method based on real time data interaction |
| CN109935131A (en) * | 2019-04-26 | 2019-06-25 | 哈尔滨工程大学 | A kind of VR simulation device for marine navigator's training |
| CN110853453A (en) * | 2019-12-18 | 2020-02-28 | 武汉理工大学 | Navigation simulator system based on cloud platform |
| TWI725677B (en) * | 2019-12-20 | 2021-04-21 | 財團法人船舶暨海洋產業研發中心 | Autonomous vessel simulation system and operating method thereof |
| CN111223353A (en) * | 2020-01-21 | 2020-06-02 | 福建船政交通职业学院 | Ship magnetic compass deviation correction training system and method based on VR |
| CN111223353B (en) * | 2020-01-21 | 2023-11-17 | 福建船政交通职业学院 | VR-based ship magnetic compass self-correction training system and method |
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Granted publication date: 20090318 Termination date: 20100507 |