WO2009036782A1 - Dispositif et procédé de traitement d'informations pour une assistance technique à distance - Google Patents

Dispositif et procédé de traitement d'informations pour une assistance technique à distance Download PDF

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Publication number
WO2009036782A1
WO2009036782A1 PCT/EP2007/008125 EP2007008125W WO2009036782A1 WO 2009036782 A1 WO2009036782 A1 WO 2009036782A1 EP 2007008125 W EP2007008125 W EP 2007008125W WO 2009036782 A1 WO2009036782 A1 WO 2009036782A1
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WO
WIPO (PCT)
Prior art keywords
technician
remote
data
expert
computer
Prior art date
Application number
PCT/EP2007/008125
Other languages
English (en)
Inventor
Franco Tecchia
Sandro Baccinelli
Marcello Carrozzino
Massimo Bergamasco
Original Assignee
Vrmedia S.R.L.
Sidel Participations
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vrmedia S.R.L., Sidel Participations filed Critical Vrmedia S.R.L.
Priority to PCT/EP2007/008125 priority Critical patent/WO2009036782A1/fr
Priority to PCT/EP2008/007879 priority patent/WO2009112063A2/fr
Priority to EP08873216.9A priority patent/EP2203878B1/fr
Publication of WO2009036782A1 publication Critical patent/WO2009036782A1/fr

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Classifications

    • 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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • 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
    • G05B2219/32014—Augmented reality assists operator in maintenance, repair, programming, assembly, use of head mounted display with 2-D 3-D display and voice feedback, voice and gesture command

Definitions

  • the present invention relates to an information processing method for remote assistance during assembly or maintenance operations.
  • the invention relates to an apparatus that carries out such method.
  • Augmented Reality has been used for man-machine interaction, since it presents a major potential for supporting industrial operational processes. It overlays computer-generated graphical information onto a physical (real) world, by means of a see-trough near-eye display controlled by a computer. The field of view of the observer is enriched with the computer-generated images .
  • EP1157314 discloses an AR system for transmitting first information data from a technician at a first location to a remote expert at a second location.
  • a sensor system is provided for data acquisition at the technician' s site, and for evaluating them at the expert's site, assigning then real objects to stored object data, which are provided at the technician's site.
  • US2002010734 disclose an internetworked augmented reality (AR) system, which is mainly dedicated to entertainment and consists of one or more local stations and one or more remote stations networked together.
  • the remote stations can provide resources not available at a local AR Station such as databases, high performance computing (HPC) , and methods by which a human can interact with the person (s) at the local station .
  • HPC high performance computing
  • the above known systems cannot assure that a remote expert has a clear and updated view on the actions to do, since an exchange of a number of high- quality video streams is required.
  • one or more of the participating members can be located at different geographical sites with respect to the machinery, providing remote help to the in-situ technicians.
  • the method comprising the steps of: providing at least one technician at a first location and at least one expert at a second location, exchanging information data between said at least one technician and said at least one expert, through a set of communication channels, including audio, voice and interactive graphics, as well as 3D data, wherein the information data are selected among video images, graphics and speech signals of the technician and wherein additional information data in the form of augmented-reality information are transmitted from the remote expert at the second location to the in situ technician at the first location highlighting specific objects in the field of view of the technician, said expert being equipped with a computer and videoconferencing devices; said technician being equipped with a wearable computer having a WI-FI antenna associated to said wearable computer for data transmission; a headset connected to said computer including headphones, a noise-suppressing microphone, one near-eye see-trough AR display, and a miniature camera mounted on the display itself used to capture what is in the front of view of the technician; characterised in that said
  • an apparatus for remote assistance during assembly or maintenance operations comprises: means for exchanging information data between at least one technician at a first location and at least one expert at a second location through a set of communication channels, including audio, voice and interactive graphics, as well as 3D data, wherein the information data are a collection of video images, graphics and speech signals of the technician and wherein additional information data in the form of augmented-reality information are transmitted from a remote expert at the second location to an in situ technician at the first location highlighting specific objects in the field of view of the technician, a computer and videoconferencing devices to be used by said expert; a unit to be used by said technician comprising a wearable computer having a wi-fi antenna associated to said wearable computer for data transmission; a headset connected to said computer including headphones, a noise-suppressing microphone, one near- eye see-trough AR display, and a miniature camera mounted on the display itself used to capture what is in the front of view of the technician; characterised in that means are provided for communicating and exchanging data between
  • a hand held camera is provided connected to said computer equipped with a light source for lighting desired targets.
  • additional automated remote computing nodes are provided to create additional video feeds, in particular auxiliary fixed cameras that are positioned by the technicians and that can be controlled by the remote experts for pan, zoom and tilt movements.
  • the organisation of a multitude of in- situ technicians and remote experts is established in a distributed virtual community for the exchange of knowledge, wherein at least one on-situ technician at one node and at least one remote expert at another nodes are provided communicating and exchanging data with each other.
  • a virtual community of skilled specialists is created where members communicate by means of internetworked computers and several input/output devices.
  • the virtual community can therefore be conceptualised as a group of technicians each of them equipped with a computer (computing node) plus some automated remote computing node used to provide additional video feeds.
  • Each computing node exchanges data over a wide-area communication network. Some of these nodes can share the same physical space while other can be located at multiple geographical locations .
  • Augmented Reality is provided to overlap special visual markers on the objects falling inside the field of view of the operator .
  • said headset can also be equipped with a 3DOF tracking system, used to measure rotational head moments of the skilled technician, in such a way to compensate such movements in terms of visual displacement of the computer generated graphical markers that are overlapped on the field of view of the technician.
  • a 3DOF tracking system used to measure rotational head moments of the skilled technician, in such a way to compensate such movements in terms of visual displacement of the computer generated graphical markers that are overlapped on the field of view of the technician.
  • said video compression means comprise H.264 Compression Technology.
  • video streaming is associated to VoiceOverIP technology.
  • the hardware-accelerated video compression means are arranged in such a way that the video streams and audio streams are compressed and combined, preferably 384 Kbit/s uplink and 384 Kbit/s down link.
  • figure 1 shows an architecture of a virtual community communication system for remote technical assistance
  • figure 2 shows a particular embodiment of an architecture of a virtual community communication system for remote technical assistance where the nodes are arranged as sub-communities according to affinity criteria
  • figure 3 shows the architecture of figure 1 where at the computing nodes in-situ technicians, remote experts and remotely controlled video-cameras looking at the machinery are indicated
  • figures 4 to 6 show an on-field technician equipped with a wearable computing system and a special head set integrating an Augmented Reality see-trough display
  • - figures 7 to 8 show an on-field technician equipped also with a hand held camera
  • figure 9 shows an an in-situ fixed node, composed by a camera mounted on a tripod
  • figure 10 shows a Graphic Technician Interface of the application running at a technician' s node where to a technician three different streaming video data are presented.
  • figure 11 shows a block diagram of a preferred working unit of an apparatus according to the invention
  • - figure 12 shows a data communication scheme applied to the architecture of the virtual community communication system for remote technical assistance of figure 1 using the preferred working units of figure 11
  • - figure 13 shows a data communication scheme applied to a different embodiment of a virtual community communication system for remote technical assistance, using a peer to peer architecture, and using the preferred working units of figure 11.
  • an information processing apparatus and method are provided to establish a virtual community of geographically distributed experts and technicians for remote assistance during assembly or servicing operations of complex devices.
  • the technician (s) and the expert (s) are arranged at nodes 1-N.
  • Nodes 1-N communicate with one another and exchange data through the internet via a centralised communication server 8.
  • the centralised Communication Server 8 is used for monitoring the data, checking the data traffic, controlling the access rights and storing usage statistics.
  • a centralised server allows for a dynamic management of how the technicians are grouped in sub-teams.
  • multiple virtual teams composed by some in-situ technicians, some automated cameras and some remote experts can operate at the same time on multiple locations.
  • Members of one team can be dynamically be allocated to another team even for a limited amount of time: this maximises the possibility that experts with specific know-how can quickly be contacted and involved in the assembly/servicing operation.
  • in-situ technicians in a particular operation can quickly be transformed in remote experts for another particular operation, changing their roles amongst the teams.
  • This dynamical architecture assures that even the skills and knowledge of the highly trained technicians is at disposal of the collectivity.
  • FIG 3 An example of remote technical assistance through the invention is shown in figure 3, where a network is illustrated managed by centralised communication server 8.
  • Industrial machinery for example large machinery located in an industrial plant, has to be serviced or assembled or inspected by technicians 9 and by auxiliary fixed video cameras 10. The experts 9 advise the technicians on how to operate.
  • the architecture is shown of the virtual community communication system, where the computing nodes, such as one or more remote nodes where experts 12 are present, one or more in-situ mobile nodes where a technician 9 is present, and fixed nodes 10 with remotely controllable video cameras, communicate and exchange data through the internet via centralised communication server 8.
  • the computing nodes such as one or more remote nodes where experts 12 are present, one or more in-situ mobile nodes where a technician 9 is present, and fixed nodes 10 with remotely controllable video cameras, communicate and exchange data through the internet via centralised communication server 8.
  • In-situ technicians 9 use wearable equipment and move freely around the machinery 11.
  • One or more among auxiliary remotely controlled video-cameras 10 can also be placed around the machinery 11 to provide extra video streams of the operations being performed by the technicians.
  • Pan, zoom and tilt of these auxiliary cameras 10 can be controlled by the remote experts 12, who can adjust them in order to obtain desired images of the machine.
  • Remote experts 12 are connected to the internet from one or more remote locations and are equipped with standard laptop computers 14 and videoconferencing devices, such as voice communication headphones 13.
  • the remote experts 12 receive and examine all the information coming from the technicians 9 and the cameras 10 and can consequently send back manipulation instructions by means of voice or by remotely controlling the display of special dynamic graphical markers (described hereafter with reference to figure
  • a on-field technician a wearable computing system 1 and a special head set 4 integrating an Augmented Reality see-trough display.
  • the wearable AR-based apparatus is composed of a backpack 3 containing a portable computer and a helmet 4 where a video camera 5, headphones 6 with a microphone 6A and a see-through display 7 are mounted.
  • an in-situ technician 12 wearing the AR-based apparatus 1 can hold an additional hand-held camera 2, having a lighting system, preferably with white LEDs, connected to the computer and that can be used to show to the remote experts 12 portions of the real scene that would be impractical to show using the video camera mounted on the headset or the fixed video cameras.
  • a lighting system preferably with white LEDs
  • a third additional kind of computing node can be inserted in the community, comprising a remote controlled high-quality video-camera 10. It is mounted on a tripod 15 that can be placed around the machinery 11 (see fig. 4) to provide additional view-points on the operations.
  • a computer station 30 is shown, for example for remotely instructing technicians on how to assemble or service the station, or for training purposes.
  • Each camera 10 is equipped with motorised Pan, Zoom and Tilt support that can be controlled by the remote experts 12.
  • the camera 10 can either be a stand-alone network camera, equipped with video compression and network streaming capabilities, or a device connected to a computer 20, capable of acquiring, compressing and transmitting video data over the network and to the centralized communication server.
  • Figure 10 shows what the remote expert sees on the screen of its laptop, as seen by fixed camera 10 of figure 9, as well as by the micro camera on the headset or the hand held camera, and what kind of visual feedback can produce that will be overlapped on the field of view of the in-situ technician.
  • Figure 10 can be the Graphic Technician Interface of the application running at the expert site.
  • Figure 10 can be however also the Graphic Technician Interface of the application running at the technicians site.
  • the expert can draw enhancing symbols and markers, 37 or 38, using a selected technician interface mouse, pen, touch-screen etc. (not shown) on the active view, causing this information to appear on the see-through display worn by the in-situ operator.
  • the latter in this way, can be guided with extreme precision in actions, since the guidance is contextualized in the physical space on the field of view.
  • the expert can send other kind of useful graphical information that is superimposed on the field of view of the in-situ operator, like cad drawings, text, 3D data, animations etc.
  • the technician at the technician' s site has a see through monitor, so that the technician can see contemporaneously and on a same screen the images of the site and the images sent by the remote expert.
  • the headset can also be equipped with a 3DOF tracking system, used to measure rotational head moments of the skilled technician. This is used to compensate such movements in terms of visual displacement of the computer generated graphical markers that are overlapped on the field of view of the technician.
  • a 3DOF tracking system used to measure rotational head moments of the skilled technician. This is used to compensate such movements in terms of visual displacement of the computer generated graphical markers that are overlapped on the field of view of the technician.
  • the remote expert is pointing the attention to a specific object overlapping graphical markers around it.
  • This correspondence is obviously valid only as long as the in-situ technician does not translate or rotate the head.
  • translational movements are not very frequent in a typical maintenance operation, small rotational movements can occur frequently with a consequent loss of the correspondence between the objects and the overlapped markers.
  • the presence of a 3DOF tracking system on the headset allows to compensate for such rotational movements, helping to track the correct object-marker correspondence.
  • the system also takes in account the inevitable delays occurring in the communication between the in
  • the system make explicit use of video and audio compression technology.
  • the video streams and audio streams are compressed and combined in order to stay within the limits of the standard UMTS data plans (384 Kbit/s uplink and 384 Kbit/s down link) .
  • the system is also equipped with adaptive algorithms that increase the quality of the video-audio-data streams when the availability of larger bandwidth is detected.
  • H.264 Compression Technology can be used.
  • the apparatus has a computing system worn by the user that, in an advantageous embodiment of the invention, controls: a see-trough near eye display or a standard display; an auxiliary standard display; a RFID or barcode reader; two or more video cameras; a H.264 compression technology; input devices (like keyboard, mouse, etc) .
  • FIG 12 illustrates a data communication scheme applied to the architecture of the virtual community communication system for remote technical assistance of figure 1 using the preferred working units of figure 11.
  • a centralised communication server can be virtually organized as shown in figure 12, in an alternative data communication scheme applied to a different embodiment of a virtual community communication system for remote technical assistance, using a peer to peer architecture, and using the preferred working units of figure 11.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)
  • Stored Programmes (AREA)
  • Information Transfer Between Computers (AREA)

Abstract

L'invention concerne un système de communication de communauté virtuelle où deux techniciens ou plus portent ou accèdent à un dispositif amélioré à réalité augmentée (AR) pour communiquer et échanger, sur un LAN ou sur Internet, des informations concernant des opérations d'assemblage ou d'entretien ou de maintenance effectuées sur des machines complexes. L'échange de flux de données entre les pairs de la communauté virtuelle est effectué au moyen d'un serveur centralisé. Divers agencements, qui peuvent être sélectionnés sur la base des besoins de l'opération à effectuer, tels que le nombre des membres de la communauté et le type d'équipement de communication, sont présentés. Le système peut s'utiliser avec toute application du système de communication de communauté virtuelle et est optimisé pour son application aux machines industrielles.
PCT/EP2007/008125 2007-09-18 2007-09-18 Dispositif et procédé de traitement d'informations pour une assistance technique à distance WO2009036782A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/EP2007/008125 WO2009036782A1 (fr) 2007-09-18 2007-09-18 Dispositif et procédé de traitement d'informations pour une assistance technique à distance
PCT/EP2008/007879 WO2009112063A2 (fr) 2007-09-18 2008-09-18 Appareil de traitement d'informations et procédé d'assistance technique à distance
EP08873216.9A EP2203878B1 (fr) 2007-09-18 2008-09-18 Appareil de traitement d'informations et procédé d'assistance technique à distance

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Application Number Priority Date Filing Date Title
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WO2009112063A3 (fr) * 2007-09-18 2009-11-05 Vrmedia S.R.L. Appareil de traitement d'informations et procédé d'assistance technique à distance
WO2011025450A1 (fr) * 2009-08-25 2011-03-03 Xmreality Research Ab Procédés et systèmes pour interaction visuelle
ITTR20100009A1 (it) * 2010-11-11 2012-05-12 Advanced Technology Srl Advanced technology georeferecing of find - georeferenziatore per operatori e reperti sulla scena del crimine o di eventi in genere
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FR2987155A1 (fr) * 2012-02-16 2013-08-23 Univ Paris Curie Procede de mise en evidence d'au moins un element en mouvement dans une scene ainsi qu'un dispositif portatif de realite augmentee mettant en oeuvre ledit procede
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