WO2022126425A1 - Experiment observation method and system - Google Patents

Abstract

An experiment observation method and system. The experiment observation method comprises: acquiring the position of an observation test tube rack (20), and acquiring the position of the observation test tube rack (20) in a virtual scene of perspective augmented reality glasses (70); acquiring real-time collected data of turbidity sensors (244) and image collection apparatuses (246); when facing the front face of the observation test tube rack (20), with a center point of the front-view observation test tube rack (20) being located at the center of a virtual front view, controlling cells (90), which correspond to the positions of test tubes (242), to be displayed in the virtual front view, wherein the cells (90) comprise test tube image display portions (92) and test tube solution turbidity representation portions (94); according to the virtual front view, transforming a virtual scene which can be superimposed onto the observation test tube rack (20); and controlling the virtual scene, which can be superimposed onto the observation test tube rack (20), to be transmitted to the augmented reality glasses (70), so as to perform reality output, and displaying the virtual scene in a reality scene in a superimposed manner. By means of the experiment observation method and system, augmented reality display technology, real-time photography technology and real-time turbidity sensing technology are combined, such that real-time states of a large number of experiment test tubes (242) can be displayed to the eyes of a user in a unified manner, thereby greatly improving the experiment observation efficiency.

Description

Experimental observation method and system technical field

The invention relates to experimental observation technology, in particular to an augmented reality experimental observation method and system.

Background technique

In the process of experimental research, it is very important to judge the progress of the experiment in each test tube. It is usually observed whether there is solid precipitation in each test tube, how the color changes, and what the appearance is, so that the next experimental strategy can be determined.

At present, this process is mainly manual direct observation. No system has yet provided direct human-computer interaction in this link.

When the scale of the experiment is small and the number of test tubes to be inspected is small, manual observation is possible. However, with the development of research, the scale of simultaneous experiments has become larger and larger, and it is very time-consuming and labor-intensive when it is necessary to check the experimental conditions in hundreds or even thousands of test tubes each time.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide an experimental observation method that can improve the efficiency.

At the same time, an experimental observation system with improved efficiency is provided.

An experimental observation method comprising:

Obtaining the position: Control to receive the transmission signal of the transmitter installed at the four corners of the observation tube rack, locate according to the emission signal, obtain the position of the observation test tube rack, and obtain the position of the observation test tube rack in the virtual scene of the see-through augmented reality glasses;

Obtaining and collecting data: control the turbidity sensor on the test tube rack to collect the turbidity of the test tube in real time, control the image acquisition device on the test tube rack to collect the test tube image in real time, and obtain the real-time acquisition of the test tube by the turbidity sensor and the image acquisition device data;

Rendering the virtual front view: When obtaining the frontal view of the test tube rack, observe the positions of the four corners of the test tube rack, form the vertices A, B, C, and D of the virtual front view, connect the four sides of the virtual front view in turn, and observe the width of the test tube rack. The center point of the height is located in the center of the virtual front view, and the control is to display the cell corresponding to the position of the test tube in the observation test tube rack in the virtual front view, and the center of the cell corresponds to the center of the test tube position in the front view, and the cell includes: according to the image the image display part of the test tube formed by the pictures collected by the collecting device, and the turbidity representation part of the test tube solution formed according to the turbidity data collected by the turbidity sensor;

Transformation: Transform the virtual scene that can be superimposed on the real test tube rack according to the virtual front view, obtain the spatial position of the four corners of the observed test tube rack in real time, and control the corresponding conversion to the virtual scene of the augmented reality glasses, convert the pixel point P in the virtual front view. (a ₁ , b ₁ ) P*(x ₁ , y ₁ , z ₁ ) in the virtual scene that can be superimposed on the real test tube rack is obtained through coordinate transformation, and the transformation rules are A, B, C, The pixels at the four corners of D are transformed and directly mapped to the four spatial points A*, B*, C*, and D* in the virtual scene that can be superimposed on the real test tube rack. , CD sides intersect at P _h1 , P _h2 , and the straight line parallel to AB side through P point intersects AC and BD sides at P _w1 , P _w2 ,

P _h1 , P _h2 , P _w1 , and P _w2 are mapped to P* _h1 , P* _h2 , P* _w1 , and P* _w2 points, satisfying

P* _h1 is on the A*B* side, and AP _h1 :AB=A*P* _h1 *:A*B*,

P* _w1 is on the A*C* side, and AP _w1 :AC=A*P* _w1 *:A*C*,

P* _h2 is on the C*D* side, and CP _h2 :CD=C*P* _h2 *:C*D*,

P* _w2 is on the B*D* side, and _BPw2 :BD=B*P* _w2 *:B*D*,

P points are mapped to P*, satisfying

P* is on P* _h1 P* _h2 , and PP _h1 :P _h1 P _h2 =P*P* _h1 :P* _h1 P* _h2 ,

P* is on P* _w1 P* _w2 , and PP _w1 :P _w1 P _w2 =P*P* _w1 :P* _w1 P* _w2 , the pixels in the virtual front view except four vertices are processed according to the above rules Coordinate transformation, a virtual scene that can be superimposed on a real test tube rack is obtained;

Display output: Control the transmission of the virtual scene that can be superimposed on the real test tube rack to the augmented reality glasses for reality output, and superimpose the virtual scene on the real scene.

In a preferred embodiment, the test tube image display part and the test tube solution turbidity display part are arranged correspondingly up and down, the test tube image display part is an image obtained by photographing the corresponding test tube, and the test tube solution turbidity display part is composed of a translucent Grayscale means that the grayscale value = the turbidity value of the current test tube solution/the maximum value of the turbidity of all test tube solutions, and the width of the cell is 1-5 times the width of the test tube. The height of the grid varies between 1-4 times the width.

In a preferred embodiment, the height of the cell is 1.5 times the height of the test tube, and the width of the cell is 4 times the width of the test tube; 1 pixel of the virtual front view corresponds to 1×1 of the real-life electronic observation test tube rack In the area of square millimeter, if the width of the corresponding test tube rack is obtained according to the distance between the two launchers in the horizontal direction and the height of the corresponding test tube rack obtained according to the distance between the two launchers in the longitudinal direction is L _w mm and L _h mm respectively , then the pixel coordinates of vertex A of the virtual front view are (0, 0), the pixel coordinates of vertex B are (L _w , 0), the pixel coordinates of vertex C are (0, L _h ), and the pixel coordinates of vertex D is (L _w , L _h ).

In a preferred embodiment, the observation test tube rack comprises: a frame, test tube units arranged on the frame, transmitters arranged at four corners of the frame, and a test tube rack controller arranged on the frame, the frame comprising : a vertical plate, a test tube rack layer plate and a circuit control groove arranged on the vertical plate, the test tube rack layer plate is provided with a test tube groove for placing test tubes, and the test tube unit includes: a test tube, a turbidity set on both sides of the test tube a sensor, a picture acquisition unit arranged at the bottom of the test tube;

The augmented reality glasses are see-through AR glasses, and the augmented reality glasses are provided with receivers corresponding to the transmitters on the observation test tube rack, and the receivers include: arranged in the center of two lenses of the augmented reality glasses The first receiver on the connecting frame of the augmented reality glasses, the second receiver and the third receiver which are respectively arranged on the two temples of the augmented reality glasses and are symmetrically arranged, and the connection between the second receiver and the third receiver is The line forms the X-axis of the virtual coordinate system, the straight line passing through the first receiver and perpendicularly intersecting the X-axis forms the Y-axis, and the intersection of the X-axis and the Y-axis forms the virtual origin of the virtual coordinate system, which is perpendicular to the plane where the XY-axis is located, and passes through The straight line of the virtual origin is the Z axis, and the spatial coordinates of the three receivers are respectively recorded as R1(a, 0, 0), R2(-a, 0, 0), R3(0, b, 0), where a is a virtual The distance from the origin to the receiver on the mirror frame, and b is the distance from the virtual origin to the receiver in the center. These two distances are determined by actual measurement. When working, the three receivers obtain the distances d1, d2, and d3 of the transmitter at the same time. The coordinates of the transmitter in space are S(x, y, z), solve the system of equations

The value of S(x, y, z) can be obtained to locate the absolute position of the transmitter relative to the receiver in space.

In a preferred embodiment, the transmitter is arranged on the vertical plate of the observation tube rack, the transmitter is an ultrasonic generator, the receiver is an ultrasonic receiver, and the ultrasonic generator has a built-in electronic clock to set The time is a generated bit for ultrasonic encoding; the receiver has a built-in clock, which converts the received ultrasonic waves into electrical signals and transmits them to the processor for reverse decoding according to a unit of set time. If there is a set signal within the set time, decoding It is 1. If the set signal is not received within the set time, it will be decoded as 0. According to the current clock time of the ultrasonic receiver minus the sent clock time, plus the completion time of encoding, the time of sound wave transmission in the air is obtained. Time multiplied by the speed of sound gives the distance between the ultrasonic generator and the ultrasonic receiver.

An experimental observation system, comprising: an interactive control system, an observation test tube rack communicatively connected to the interactive control system, and augmented reality glasses communicatively connected to the observation test tube rack and the interactive control system, the interactive control system comprising:

Connection module: search and observe the test tube rack, and communicate with it;

Obtaining the position module: Control the augmented reality glasses to receive the transmitted signals from the transmitters installed at the four corners of the observation test tube rack, locate according to the transmitted signals, obtain the position of the observation test pipe rack, and obtain the position of the observation test pipe rack in the virtual scene of the perspective augmented reality glasses ;

Acquisition and acquisition data module: control the turbidity sensor set on the observation test tube rack corresponding to the test tube to collect the turbidity of the test tube in real time, and control the image acquisition device corresponding to the test tube on the observation test tube rack to collect the test tube image in real time, and obtain the turbidity sensor Real-time data collection of the test tube by the image collection device;

Rendering virtual front view module: When obtaining the front view of the test tube rack, observe the positions of the four corners of the test tube rack, form the vertices A, B, C, and D of the virtual front view, connect the four sides of the virtual front view in turn, and view the test tube rack from the front. The center points of the width and height are located in the center of the virtual front view, and the cells corresponding to the positions of the test tubes in the observation tube rack are controlled to be displayed in the virtual front view, and the center of the cells corresponds to the center of the test tube positions in the front view, and the cells include: a test tube image display part formed by pictures collected by the image acquisition device, and a test tube solution turbidity display part formed according to the turbidity data collected by the turbidity sensor;

Transformation module: transform the virtual scene that can be superimposed on the real test tube rack according to the virtual front view, obtain the spatial position of the four corners of the observed test tube rack in real time, and control the corresponding conversion to the virtual scene of augmented reality glasses to convert the pixels in the virtual front view. P(a ₁ , b ₁ ) obtains P*(x ₁ , y ₁ , z ₁ ) in the virtual scene that can be superimposed on the real test tube rack through coordinate transformation, and the transformation rules are A, B, C on the virtual front view , The pixels at the four corners of D are transformed and directly mapped to the four spatial points A*, B*, C*, and D* in the virtual scene that can be superimposed on the real test tube rack. Sides AB and CD intersect at P _h1 , P _h2 , and the straight line parallel to side AB through point P intersects sides AC and BD at P _w1 , P _w2 ,

P _h1 , P _h2 , P _w1 , and P _w2 are mapped to P* _h1 , P* _h2 , P* _w1 , and P* _w2 points, satisfying

P* _h1 is on the A*B* side, and AP _h1 :AB=A*P* _h1 *:A*B*,

P* _w1 is on the side of A*C*, and _APw1 :AC=A*P* _w1 *:A*C*,

P* _h2 is on the C*D* side, and CP _h2 :CD=C*P* _h2 *:C*D*,

P* _w2 is on the B*D* side, and BP _w2 :BD=B*P* _w2 *:B*D*,

P points are mapped to P*, satisfying

P* is on P* _h1 P* _h2 , and PP _h1 :P _h1 P _h2 =P*P* _h1 :P* _h1 P* _h2 ,

P* is on P* _w1 P* _w2 , and PP _w1 :P _w1 P _w2 =P*P* _w1 :P* _w1 P* _w2 , the pixels in the virtual front view except four vertices are processed according to the above rules Coordinate transformation, a virtual scene that can be superimposed on a real test tube rack is obtained;

Display output module: control the transmission of the virtual scene that can be superimposed on the real test tube rack to the augmented reality glasses for reality output, and superimpose the virtual scene on the real scene.

In a preferred embodiment, the observation test tube rack comprises: a frame, test tube units arranged on the frame, transmitters arranged at four corners of the frame, and a test tube rack controller arranged on the frame, the frame It includes: a vertical plate, a test tube rack layer plate and a circuit control groove arranged on the vertical plate. The test tube rack layer plate is provided with a test tube groove for placing test tubes. A degree sensor and a picture acquisition unit arranged at the bottom of the test tube.

In a preferred embodiment, the test tube image display part and the test tube solution turbidity display part are arranged correspondingly up and down, the test tube image display part is an image obtained by photographing the corresponding test tube, and the test tube solution turbidity display part is made of translucent The gray scale of , the gray value = the turbidity value of the current test tube solution/the maximum value of the turbidity of all test tube solutions, and the width of the cell is 1-5 times the width of the test tube. The height of the cells varies between 1-4 times the width.

In a preferred embodiment, the height of the cell is 1.5 times the height of the test tube, and the width of the cell is 4 times the width of the test tube; 1 pixel of the virtual front view corresponds to 1× of the actual electronic observation tube rack For an area of 1 square millimeter, if the width of the corresponding test tube rack is obtained according to the distance between the two launchers in the lateral direction and the height of the corresponding test tube rack obtained according to the distance between the two launchers in the longitudinal direction is L _w mm and L _h respectively mm, the pixel coordinates of vertex A of the virtual front view are (0, 0), the pixel coordinates of vertex B are (L _w , 0), the pixel coordinates of vertex C are (0, L _h ), and the pixel coordinates of vertex D is (L _w , L _h ).

In a preferred embodiment, the augmented reality glasses are see-through AR glasses, and the augmented reality glasses are provided with receivers corresponding to the transmitters on the observation test tube rack, and the receivers include: The first receiver on the connecting frame in the center of the two lenses of the augmented reality glasses, the second receiver and the third receiver respectively arranged on the two temples of the augmented reality glasses and symmetrically arranged, the second receiver The connection line between the receiver and the third receiver forms the X-axis of the virtual coordinate system, the straight line passing through the first receiver and perpendicularly intersecting the X-axis forms the Y-axis, the intersection of the X-axis and the Y-axis forms the virtual origin of the virtual coordinate system, and the vertical On the plane where the XY axis is located, and the straight line passing through the virtual origin is the Z axis, the spatial coordinates of the three receivers are respectively recorded as R1(a, 0, 0), R2 (-a, 0, 0), R3 (0, b , 0), where a is the distance from the virtual origin to the receiver on the mirror frame, and b is the distance from the virtual origin to the receiver in the center. These two distances are determined by actual measurement. When working, the three receivers simultaneously obtain the transmitter’s Distances d1, d2, d3, let the coordinates of the transmitter in space be S(x, y, z), solve the equations

The value of S(x, y, z) can be obtained to locate the absolute position of the transmitter relative to the receiver in space.

The above-mentioned experimental observation method and system, combined with augmented reality display technology, real-time camera technology and real-time turbidity sensing technology, can display the real-time status of a large number of experimental test tubes in front of the user, greatly improving the efficiency of experimental observation.

Description of drawings

1 is a partial flowchart of an experimental observation method according to an embodiment of the present invention;

2 is a partial structural schematic diagram of an observation test tube rack according to an embodiment of the present invention;

3 is a schematic diagram of a partial structure of a test tube unit according to an embodiment of the present invention;

4 is a partial structural schematic diagram of the test tube unit from another perspective according to an embodiment of the present invention;

5 is a schematic diagram of a partial structure of augmented reality glasses according to an embodiment of the present invention;

6 is a schematic diagram of a virtual front view of an embodiment of the present invention;

7 is a schematic transformation diagram of a virtual scene that can be superimposed on a real test tube rack according to a virtual front view transformation according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a virtual scene being superimposed and displayed on a real scene according to an embodiment of the present invention.

Detailed ways

An experimental observation system according to an embodiment of the present invention includes an observation test tube rack 20 , augmented reality glasses 70 , and an interactive control system.

As shown in FIG. 2 to FIG. 4 , the observation tube rack 20 is a rack that can store general-purpose test tubes. The observation tube rack 20 of this embodiment includes: a frame 22 , a test tube unit 24 disposed on the frame 22 , transmitters 26 disposed on the four corners of the frame 22 , and a test tube rack controller 28 disposed on the frame 22 .

Further, the frame 22 of this embodiment includes: a vertical plate 222 , a test tube rack layer plate 224 arranged on the vertical plate 222 , and a circuit control groove 226 arranged on the vertical plate 222 . Further, the test tube rack layer plate 224 of this embodiment is provided with a test tube slot for placing and limiting test tubes.

The test tube unit 24 in this embodiment includes: a test tube 242 , a turbidity sensor 244 disposed on both sides of the test tube 242 , and a picture acquisition unit 246 disposed at the bottom of the test tube 242 . Preferably, the picture acquisition unit 246 in this embodiment may use a camera to perform image acquisition.

In a preferred embodiment, a turbidity sensor and a camera are added to the position of each test tube 242 . The turbidity sensor 244 and the camera are connected with the line control slot 226 , which aggregates and connects these lines to the test tube rack controller 28 . The turbidity sensor 244 in this embodiment includes: a turbidity module transmitter 2442 and a turbidity module receiver 2444 .

For each test tube position, there is a turbidity sensor (including a turbidity module transmitter, a turbidity module receiver) and an observation unit composed of a camera to monitor the solution in the test tube.

Turbidity is caused by suspended particles in the water. Suspended particles will diffusely reflect incident light. Usually, the scattered light in the direction of 90 degrees is used as the test signal. The scattered light and turbidity have a multi-segment linear relationship, so the sensor needs to be calibrated at multiple points. And light source intensity and temperature changes will affect the accuracy of the measurement results. After many experimental studies and theoretical calculations, it is found that the ratio of scattered light to transmitted light is in a linear relationship with turbidity. The turbidity sensor 244 in this embodiment uses the ratio of scattered light to transmitted light to measure turbidity instead of simple scattered light, so the accuracy and reliability of the sensor are improved, the maintenance is simpler, and the pollution resistance is enhanced.

The turbidity sensor 244 in this embodiment is an infrared pair tube encapsulated by IR958 and PT958. When light passes through a certain amount of water, the amount of light transmission depends on the degree of turbidity of the water. less. The light receiving end converts the transmitted light intensity into the corresponding current. By measuring the magnitude of the current at the receiving end, the pollution degree of the water can be calculated.

The turbidity current signal is converted into a 0V-5V voltage signal through the resistor R1, and the A/D converter is used for sampling processing, and the single-chip microcomputer can know the current turbidity of the water.

The light from the turbidity module transmitter 2442 passes through the glass tube and reaches the turbidity module receiver 2444 so that the turbidity sensor can detect the turbidity of the solution in the glass tube as NTU.

The camera in this embodiment is installed at the bottom of the test tube, and directly collects video images in the test tube from the bottom of the test tube.

The line control slot 226 has a built-in wired circuit, which can transmit the serial number ID corresponding to the turbidity sensor and the camera and the collected signal to the test tube rack controller 28 in real time.

Preferably, the test tube rack controller 28 in this embodiment has a built-in motherboard, memory, hard disk, processor and Wi-Fi module. The operation of the test tube rack controller 28 can use the Android system, and the system will store the collected signals returned by the lines in the line control slot 226 in the hard disk, allowing the user to directly copy the signal data from the hard disk. The controller will also send signals to an interactive control system such as a computer with supporting software installed through the Wi-Fi module in real time.

On the basis of AR glasses, the augmented reality glasses of this embodiment add an ultrasonic receiver and a built-in Bluetooth module. The augmented reality glasses exchange information through the Bluetooth module and the Bluetooth module of an interactive control system such as a computer, so as to complete the augmented reality glasses and interactive control. system information exchange.

The augmented reality glasses in this embodiment are see-through, and both the real external world and virtual information need to be seen, so the imaging system cannot be blocked in front of the line of sight. By adding one or a group of optical combiners, the virtual information and the real scene are integrated in the form of "stacking", complementing each other and "enhancing" each other.

The optical display system of the augmented reality glasses in this embodiment includes: a micro display screen and an optical waveguide optical element.

A tiny display used to provide display content to a device. It can be a self-luminous active device, such as a light-emitting diode panel like micro-OLED and now very popular micro-LED, or it can be a liquid crystal display (including transmissive LCD and reflective LCOS) that requires external light source illumination , as well as digital micromirror arrays (DMDs, the core of DLPs) and laser beam scanners (LBSs) based on microelectromechanical systems (MEMS) technology.

The optical waveguide component adopts optical waveguide technology. After the optical machine completes the imaging process, the waveguide couples the light into its own glass base, and transmits the light to the front of the eye through the principle of "total reflection" and then releases it. In this process, the waveguide is only responsible for transmitting the image. Generally, it does not do any "work" (such as zooming in and out) on the image itself. It can be understood as "parallel light in and parallel light out", so it exists independently of the imaging system. a single element.

This characteristic of the optical waveguide has great advantages for optimizing the design and beautifying the appearance of the headgear. Because of the transmission channel of the waveguide, the display screen and imaging system can be moved away from the glasses to the top or side of the forehead, which greatly reduces the blocking of the optical system to the outside world, and makes the weight distribution more ergonomic, thereby improving the Device wearing experience.

Augmented reality glasses can project virtual display content on transparent glasses lenses through optical waveguide technology, and users can see the effect of superimposed display of virtual content and real world through glasses.

A transmitter 26 for communicating with the augmented reality glasses 70 is disposed at each of the four corners of the observation tube holder of the present embodiment.

As shown in FIG. 5 , the augmented reality glasses 70 of this embodiment are provided with a receiver that communicates with the transmitter 26 . The receivers include: a first receiver 72 arranged on a connecting frame in the center of two lenses of the augmented reality glasses 70 , a second receiver 74 and a third receiver 76 respectively arranged on the two temples of the AR glasses and symmetrically arranged . The line connecting the second receiver 74 and the third receiver 76 forms the X-axis of the virtual coordinate system, the line passing through the first receiver 72 and perpendicularly intersecting the X-axis forms the Y-axis, and the intersection of the X-axis and the Y-axis forms the virtual coordinate The virtual origin 75 of the system. A line perpendicular to the plane on which the X-Y axis lies and passing through the virtual origin 75 forms the Z axis.

The launcher 26 is arranged on the vertical plate of the observation tube rack. The transmitter is preferably an ultrasonic generator. The receiver is preferably an ultrasonic receiver. The ultrasonic generator has a built-in electronic clock, which uses the set time as a generated bit to perform ultrasonic coding. The receiver has a built-in clock, which converts the received ultrasonic waves into electrical signals and transmits them to the processor for reverse decoding according to the set time unit. If there is a set signal within the set time, the decoding will be 1. Set the signal, decode it to 0; subtract the clock time sent from the current clock time of the ultrasonic receiver, and add the time when the encoding is completed to obtain the time for the sound wave to transmit in the air, which is multiplied by the speed of sound to obtain the ultrasonic generator and the ultrasonic receiver. distance between the devices.

The specific ultrasonic generator has a built-in electronic clock, and its microprocessor reads the current clock time, and controls the ultrasonic generating circuit to encode the clock time into 40KHZ ultrasonic waves to send out to the outside world. The clock time is timed according to the Unix timestamp, that is, the current time minus January 1, 1970 0:00:00 seconds, and the timing unit is 0.001 seconds. The current time is a 13-bit value after the Unix timestamp. Converting this number to a binary representation is a 48-bit binary number. Reserve a 1 at the front and add a parity bit at the end to get a 50-bit binary number. Then take 0.001 second as a sounding bit, and perform ultrasonic coding, that is, if the current bit is 1, the ultrasonic wave of 40KHZ will be sent out for 0.001 second, and if the current bit is 0, then 0.001 second will not happen. In this way, 50-bit binary numbers can be encoded and sounded in 0.05 seconds.

The ultrasonic generator sends out the current time code every 0.1 seconds, so in every 0.1 seconds, the first 0.05 seconds will send out the time code, and the last 0.05 seconds will be silent.

The ultrasonic receiver also has a built-in clock. The receiver can receive 40KHZ ultrasonic waves and convert the ultrasonic waves into electrical signals, which are then decoded by the microprocessor in units of 0.001 seconds. If there is a 40KHZ signal within 0.001 seconds, it will be decoded as 1, decoded to 0 if there is no signal. In this way, the ultrasonic receiver can obtain the clock time sent by the ultrasonic generator. Subtract the time of the clock in the current receiver, subtract the time of the clock sent, and add 0.05 seconds to get the time for the sound wave to travel in the air. Multiplying this time by the speed of sound in air gives the distance between the sonotrode and receiver.

The ultrasonic generator can be fixed on the control socket of the observation tube rack, and the specific fixing method can be glue, inlay or other physical fixing methods.

The ultrasonic receivers are respectively installed on the two symmetrical temples of the augmented reality glasses 70 and the connecting frame in the center of the two lenses of the glasses. The plane where the three ultrasonic receivers are located is parallel to the cross-section of the head when the glasses are worn on the head. The line connecting the two receivers on the frame constitutes a virtual X-axis. The line passing through the receiver in the center and perpendicular to the X-axis is the Y-axis, and the intersection of the two axes is the virtual origin 75 . The line perpendicular to the plane of the X-Y axis and passing through the virtual origin is the Z axis. In this way, a virtual space coordinate system is constructed, and the space coordinates of the three ultrasonic receivers are also uniquely determined. They are denoted as R1 (a, 0, 0), R2 (-a, 0, 0), R3 (0, b, 0), respectively. Where a is the distance from the virtual origin to the receiver on the frame, and b is the distance from the virtual origin to the center receiver. These two distances can be determined by actual measurements.

When the system is working, the three ultrasonic receivers obtain the distances d1, d2, d3 of the ultrasonic generator at the same time. Let the coordinates of the ultrasonic generator in space be S(x, y, z), and solve the equations

The value of S(x, y, z) can be obtained to locate the absolute position of the generator relative to the receiver in space.

As shown in Figure 1, an experimental observation method according to an embodiment of the present invention includes:

Step S101, obtaining the position: control to receive the transmission signal of the transmitter installed at the four corners of the observation test tube rack, locate according to the transmission signal, obtain the position of the observation test tube rack, and obtain the position of the observation test tube rack in the virtual scene of the perspective augmented reality glasses;

Step S103, acquiring the collection data: controlling the turbidity sensor on the test tube rack corresponding to the test tube to collect the turbidity of the test tube in real time, and controlling the image acquisition device corresponding to the test tube on the test tube rack to collect the image of the test tube in real time to obtain the turbidity. The real-time data collection of the test tube by the sensor and the image collection device;

Step S105, rendering the virtual front view: when obtaining the front view of the test tube rack, observe the positions of the four corners of the test tube rack to form the vertices A, B, C, and D of the virtual front view, and connect the four sides forming the virtual front view in turn, and view the test tube from the front. The center point of the width and height of the rack is located in the center of the virtual front view, and the control is to display the cell corresponding to the position of the test tube in the observation tube rack in the virtual front view, and the center of the cell corresponds to the center of the position of the test tube in the front view, and the cell 90 includes: The test tube image display part 92 formed according to the picture collected by the image acquisition device, and the test tube solution turbidity display part 94 formed according to the turbidity data collected by the turbidity sensor, as shown in FIG. 6 ;

Step S107, transform: transform the virtual scene that can be superimposed on the real test tube rack according to the virtual front view, acquire the spatial positions of the four corners of the observed test tube rack in real time, and control the corresponding conversion to the virtual scene of the augmented reality glasses, convert the virtual scene in the virtual front view. The pixel point P(a ₁ , b ₁ ) is obtained by coordinate transformation to P*(x ₁ , y ₁ , z ₁ ) in the virtual scene that can be superimposed on the real test tube rack, and the transformation rules are A, B on the virtual front view The pixels at the four corners of , C and D are transformed and directly mapped to the four spatial points A*, B*, C*, D* in the virtual scene that can be superimposed on the real test tube rack, and the point P is parallel to the side of AC. The straight line intersects the sides AB and CD at P _h1 and P _h2 , and the straight line passing through the point P and parallel to the side AB intersects the sides AC and BD at P _w1 and P _w2 .

P _h1 , P _h2 , P _w1 , and P _w2 are mapped to P* _h1 , P* _h2 , P* _w1 , and P* _w2 points, satisfying

P* _h1 is on the A*B* side, and AP _h1 :AB=A*P* _h1 *:A*B*,

P* _w1 is on the side of A*C*, and _APw1 :AC=A*P* _w1 *:A*C*,

P* _h2 is on the C*D* side, and CP _h2 :CD=C*P* _h2 *:C*D*,

P* _w2 is on the B*D* side, and _BPw2 :BD=B*P* _w2 *:B*D*,

P points are mapped to P*, satisfying

P* is on P* _h1 P* _h2 , and PP _h1 :P _h1 P _h2 =P*P* _h1 :P* _h1 P* _h2 ,

P* is on P* _w1 P* _w2 , and PP _w1 :P _w1 P _w2 =P*P* _w1 :P* _w1 P* _w2 ,

Perform coordinate transformation on the pixel points except four vertices in the virtual front view according to the above rules, and obtain a virtual scene that can be superimposed on the real test tube rack, as shown in Figure 7, wherein Figure (e) in Figure 7 is the representation Points of the virtual front view, panel (f) in Figure 7 represents points that can be superimposed on a virtual scene of a real test tube rack;

Step S109 , display output: control to transmit the virtual scene that can be superimposed on the real test tube rack to the augmented reality glasses for real output, and superimpose the virtual scene on the real scene, as shown in FIG. 8 .

The acquisition of the position in step S101 and the acquisition of the acquisition data in step S103 are in no particular order, as long as step S105 is completed before rendering the virtual front view.

Further, the width of the cell in this embodiment is 1-5 times the width of the test tube, and when the width is constant, the height of the cell varies between 1-4 times the width.

Further, preferably, the height of the cell in this embodiment is 1.5 times the height of the test tube, and the width of the cell is 4 times the width of the test tube.

Further, the test tube image display part and the test tube solution turbidity display part in the present embodiment are arranged in parallel and correspondingly up and down. The test tube image display part is the image obtained by shooting the corresponding test tube. The turbidity display part of the test tube solution in this embodiment is represented by a translucent gray scale, where the gray value = the turbidity value of the current test tube solution/the maximum value of the turbidity of all the test tube solutions.

Further, 1 pixel of the virtual front view of the present embodiment corresponds to an area of 1×1 square millimeters of the actual observation test tube rack. The heights of the corresponding test tube racks obtained by the distance between the emitters are L _w mm and L _h mm respectively, then the pixel coordinates of vertex A of the virtual front view are (0, 0), and the pixel coordinates of vertex B are (L _w , 0), the C pixel coordinates of the vertex are (0, L _h ), and the pixel coordinates of the vertex D are (L _w , L _h ).

Further, the interactive control system of this embodiment includes:

Connection module: search and observe the test tube rack, and communicate with it;

Obtaining the position module: control to receive the transmission signal of the transmitter installed at the four corners of the observation test tube rack, locate according to the transmission signal, obtain the position of the observation test tube rack, and obtain the position of the observation test tube rack in the virtual scene of the perspective augmented reality glasses;

Acquisition and acquisition data module: control the turbidity sensor set on the observation test tube rack corresponding to the test tube to collect the turbidity of the test tube in real time, and control the image acquisition device corresponding to the test tube on the observation test tube rack to collect the test tube image in real time, and obtain the turbidity sensor Real-time data collection of the test tube by the image collection device;

Rendering virtual front view module: When obtaining the front view of the test tube rack, observe the positions of the four corners of the test tube rack, form the vertices A, B, C, and D of the virtual front view, connect the four sides of the virtual front view in turn, and view the test tube rack from the front. The center points of the width and height are located in the center of the virtual front view, and the cell corresponding to the position of the test tube in the observation tube rack is controlled to be displayed in the virtual front view, and the center of the cell corresponds to the center of the position of the test tube in the front view. The cell 90 includes: The test tube image display part 92 formed by the pictures collected by the collecting device, and the test tube solution turbidity display part 94 formed according to the turbidity data collected by the turbidity sensor, as shown in FIG. 6 ;

Transformation module: transform the virtual scene that can be superimposed on the real test tube rack according to the virtual front view, obtain the spatial position of the four corners of the observed test tube rack in real time, and control the corresponding conversion to the virtual scene of augmented reality glasses to convert the pixels in the virtual front view. P(a ₁ , b ₁ ) obtains P*(x ₁ , y ₁ , z ₁ ) in the virtual scene that can be superimposed on the real test tube rack through coordinate transformation, and the transformation rules are A, B, C on the virtual front view , The pixels at the four corners of D are transformed and directly mapped to the four spatial points A*, B*, C*, and D* in the virtual scene that can be superimposed on the real test tube rack. Sides AB and CD intersect at P _h1 , P _h2 , and the straight line parallel to side AB through point P intersects sides AC and BD at P _w1 , P _w2 ,

P _h1 , P _h2 , P _w1 , and P _w2 are mapped to P* _h1 , P* _h2 , P* _w1 , and P* _w2 points, satisfying

P* _h1 is on the A*B* side, and AP _h1 :AB=A*P* _h1 *:A*B*,

P* _w1 is on the side of A*C*, and _APw1 :AC=A*P* _w1 *:A*C*,

P* _h2 is on the C*D* side, and CP _h2 :CD=C*P* _h2 *:C*D*,

P* _w2 is on the B*D* side, and _BPw2 :BD=B*P* _w2 *:B*D*,

P points are mapped to P*, satisfying

P* is on P* _h1 P* _h2 , and PP _h1 :P _h1 P _h2 =P*P* _h1 :P* _h1 P* _h2 ,

P* is on P* _w1 P* _w2 , and PP _w1 :P _w1 P _w2 =P*P* _w1 :P* _w1 P* _w2 ,

Perform coordinate transformation on the pixel points except the four vertices in the virtual front view according to the above rules, and obtain a virtual scene that can be superimposed on the real test tube rack, as shown in Figure 7, wherein Figure (e) in Figure 7 is a representation of Points of the virtual front view, panel (f) in Figure 7 represents points that can be superimposed on a virtual scene of a real test tube rack;

Display output module: control the transmission of the virtual scene that can be superimposed on the real test tube rack to the augmented reality glasses for reality output, and superimpose the virtual scene on the real scene, as shown in Figure 8.

Further, the width of the cell in this embodiment is 1-5 times the width of the test tube, and when the width is constant, the height of the cell varies between 1-4 times the width.

Further, preferably, the height of the cell in this embodiment is 1.5 times the height of the test tube, and the width of the cell is 4 times the width of the test tube.

Further, the test tube image display part and the test tube solution turbidity display part in the present embodiment are arranged in parallel and correspondingly up and down. The test tube image display part is the image obtained by shooting the corresponding test tube. The turbidity display part of the test tube solution in this embodiment is represented by a translucent gray scale, where the gray value = the turbidity value of the current test tube solution/the maximum value of the turbidity of all the test tube solutions.

Further, 1 pixel of the virtual front view of the present embodiment corresponds to an area of 1×1 square millimeters of the actual observation test tube rack. The heights of the corresponding test tube racks obtained by the distance between the emitters are L _w mm and L _h mm respectively, then the pixel coordinates of vertex A of the virtual front view are (0, 0), and the pixel coordinates of vertex B are (L _w , 0), the C pixel coordinates of the vertex are (0, L _h ), and the pixel coordinates of the vertex D are (L _w , L _h ).

The augmented reality glasses of this embodiment are superimposed and displayed, so that the real viewing test tube rack and the virtual scene are completely overlapped. The function of overlapping is to make the virtual scene and the real scene visually correspond to each other, so as to achieve the realistic effect of augmented reality. When it is determined that the cells set corresponding to the test tubes in the virtual scene and the test tubes in the real scene need to overlap, the positions of other displayed information in the virtual scene are completely determined. The specific process of superimposition is through the optical waveguide system of augmented reality glasses, and the virtual scene is projected on the glasses. Because the glasses are transparent, the user can see the effect of superimposed display of the virtual scene and the real scene through the glasses.

The invention combines augmented reality display technology, real-time camera technology and real-time turbidity sensing technology. The real-time status of a large number of experimental test tubes can be uniformly displayed in front of the user, which greatly improves the efficiency of experimental observation.

Taking the above ideal embodiments according to the present application as inspiration, and through the above descriptions, relevant personnel can make various changes and modifications without departing from the technical idea of the present application. The technical scope of the present application is not limited to the content in the description, and the technical scope must be determined according to the scope of the claims.

As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

Claims (10)

1. An experimental observation method, characterized in that, comprising:

   Obtaining the position: Control to receive the transmission signal of the transmitter installed at the four corners of the observation tube rack, locate according to the emission signal, obtain the position of the observation test tube rack, and obtain the position of the observation test tube rack in the virtual scene of the see-through augmented reality glasses;

   Acquisition of collected data: control the turbidity sensor set on the observation test tube rack corresponding to the test tube to collect the turbidity of the test tube in real time, control the image acquisition device corresponding to the test tube on the observation test tube rack to collect the test tube image in real time, and obtain the turbidity sensor and the test tube. Real-time data collection of the test tube by the image collection device;

   Rendering the virtual front view: When obtaining the frontal view of the test tube rack, observe the positions of the four corners of the test tube rack, form the vertices A, B, C, and D of the virtual front view, connect the four sides of the virtual front view in turn, and observe the width of the test tube rack. The center point of the height is located in the center of the virtual front view, and the control is to display the cell corresponding to the position of the test tube in the observation test tube rack in the virtual front view, and the center of the cell corresponds to the center of the test tube position in the front view, and the cell includes: according to the image the image display part of the test tube formed by the pictures collected by the collecting device, and the turbidity representation part of the test tube solution formed according to the turbidity data collected by the turbidity sensor;

   Transformation: Transform the virtual scene that can be superimposed on the real test tube rack according to the virtual front view, obtain the spatial position of the four corners of the observed test tube rack in real time, and control the corresponding conversion to the virtual scene of the augmented reality glasses, convert the pixel point P in the virtual front view. (a ₁ , b ₁ ) P*(x ₁ , y ₁ , z ₁ ) in the virtual scene that can be superimposed on the real test tube rack is obtained through coordinate transformation, and the transformation rules are A, B, C, The pixels at the four corners of D are transformed and directly mapped to the four spatial points A*, B*, C*, and D* in the virtual scene that can be superimposed on the real test tube rack. , CD edge intersects P _h1 , P _h2 , the line parallel to AB side through P point intersects AC and BD edges at P _w1 , P _w2 , P _h1 , P _h2 , P _w1 , P _w2 map to P* _h1 , P* _h2 , P* _w1 , P* _w2 points, satisfying

   P* _h1 is on the A*B* side, and AP _h1 :AB=A*P* _h1 *:A*B*,

   P* _w1 is on the side of A*C*, and _APw1 :AC=A*P* _w1 *:A*C*,

   P* _h2 is on the C*D* side, and CP _h2 :CD=C*P* _h2 *:C*D*,

   P* _w2 is on the B*D* side, and _BPw2 :BD=B*P* _w2 *:B*D*,

   P points are mapped to P*, satisfying

   P* is on P* _h1 P* _h2 , and PP _h1 :P _h1 P _h2 =P*P* _h1 :P* _h1 P* _h2 ,

   P* is on P* _w1 P* _w2 , and PP _w1 :P _w1 P _w2 =P*P* _w1 :P* _w1 P* _w2 ,

   Perform coordinate transformation on the pixel points except four vertices in the virtual front view according to the above rules, and obtain a virtual scene that can be superimposed on the real test tube rack;

   Display output: Control the transmission of the virtual scene that can be superimposed on the real test tube rack to the augmented reality glasses for reality output, and superimpose the virtual scene on the real scene.
2. The experimental observation method according to claim 1, wherein the test tube image display part and the test tube solution turbidity display part are set up and down correspondingly relative to each other, and the test tube image display part is an image obtained by photographing a corresponding test tube. The turbidity display part of the solution is represented by translucent grayscale, the grayscale value = the turbidity value of the current test tube solution/the maximum value of the turbidity of all test tube solutions, and the width of the cell is 1-5 times the width of the test tube , in the case of a certain width, the height of the cell varies between 1-4 times the width.
3. The experimental observation method according to claim 1, wherein the height of the cell is 1.5 times the height of the test tube, and the width of the cell is 4 times the width of the test tube; 1 pixel of the virtual front view Corresponding to the area of 1×1 square millimeter of the actual electronic observation tube rack, if the width of the corresponding observation test tube rack is obtained according to the distance between the two transmitters in the horizontal direction and the height of the corresponding test tube rack is obtained according to the distance between the two transmitters in the longitudinal direction are L _w mm and L _h mm respectively, then the pixel coordinate of vertex A of the virtual front view is (0, 0), the pixel coordinate of vertex B is (L _w , 0), and the pixel coordinate of vertex C is (0, L _h ), and the pixel coordinates of vertex D are (L _w , L _h ).
4. The experimental observation method according to any one of claims 1 to 3, wherein the observation test tube rack comprises: a frame, a test tube unit arranged on the frame, a transmitter arranged at four corners of the frame, and A test tube rack controller arranged on a frame, the frame includes: a vertical plate, a test tube rack layer plate and a circuit control groove arranged on the vertical plate, the test tube rack layer plate is provided with a test tube groove for placing test tubes, the The test tube unit includes: a test tube, a turbidity sensor arranged on both sides of the test tube, and a picture acquisition unit arranged at the bottom of the test tube;

   The augmented reality glasses are see-through AR glasses, and the augmented reality glasses are provided with receivers corresponding to the transmitters on the observation test tube rack, and the receivers include: arranged in the center of two lenses of the augmented reality glasses The first receiver on the connecting frame of the augmented reality glasses, the second receiver and the third receiver which are respectively arranged on the two temples of the augmented reality glasses and are symmetrically arranged, and the connection between the second receiver and the third receiver is The line forms the X-axis of the virtual coordinate system, the straight line passing through the first receiver and perpendicularly intersecting the X-axis forms the Y-axis, and the intersection of the X-axis and the Y-axis forms the virtual origin of the virtual coordinate system, which is perpendicular to the plane where the XY-axis is located, and passes through The straight line of the virtual origin is the Z axis, and the spatial coordinates of the three receivers are respectively recorded as R1(a, 0, 0), R2(-a, 0, 0), R3(0, b, 0), where a is a virtual The distance from the origin to the receiver on the mirror frame, and b is the distance from the virtual origin to the receiver in the center. These two distances are determined by actual measurement. When working, the three receivers obtain the distances d1, d2, and d3 of the transmitter at the same time. The coordinates of the transmitter in space are S(x, y, z), solve the system of equations

   

   The value of S(x, y, z) can be obtained to locate the absolute position of the transmitter relative to the receiver in space.
5. The experimental observation method according to claim 4, wherein the transmitter is arranged on the vertical plate of the observation test tube rack, the transmitter is an ultrasonic generator, the receiver is an ultrasonic receiver, and the ultrasonic wave The generator has a built-in electronic clock, which uses the set time as a generating bit to perform ultrasonic coding; the receiver has a built-in clock, which converts the received ultrasonic waves into electrical signals and transmits them to the processor for reverse decoding according to the set time unit. If there is a setting signal within a certain time, the decoding is 1. If the setting signal is not received within the setting time, the decoding is 0; according to the current clock time of the ultrasonic receiver minus the sent clock time, plus the completion time of encoding, Get the time the sound wave travels in the air, and multiply this time by the speed of sound to get the distance between the ultrasonic generator and the ultrasonic receiver.
6. An experimental observation system, characterized in that it includes: an interactive control system, an observation test tube rack communicatively connected to the interactive control system, and augmented reality glasses communicatively connected to the observation test tube rack and the interactive control system, the interactive control system include:

   Connection module: search and observe the test tube rack, and communicate with it;

   Position acquisition module: control the augmented reality glasses to receive the transmitted signals from the transmitters installed at the four corners of the observation tube rack, locate according to the transmitted signals, obtain the position of the observation test pipe rack, and obtain the position of the observation test pipe rack in the virtual scene of the perspective augmented reality glasses ;

   Acquisition and acquisition data module: control the turbidity sensor installed on the observation tube rack corresponding to the test tube to collect the turbidity of the test tube in real time, control the image acquisition device corresponding to the test tube on the observation test tube rack to collect the test tube image in real time, and obtain the turbidity sensor Real-time data collection of the test tube by the image collection device;

   Rendering virtual front view module: When obtaining the front view of the test tube rack, observe the positions of the four corners of the test tube rack, form the vertices A, B, C, and D of the virtual front view, connect the four sides of the virtual front view in turn, and view the test tube rack from the front. The center points of the width and height are located in the center of the virtual front view, and the cells corresponding to the positions of the test tubes in the observation tube rack are controlled to be displayed in the virtual front view, and the center of the cells corresponds to the center of the test tube positions in the front view, and the cells include: a test tube image display part formed by pictures collected by the image acquisition device, and a test tube solution turbidity display part formed according to the turbidity data collected by the turbidity sensor;

   Transformation module: transform the virtual scene that can be superimposed on the real test tube rack according to the virtual front view, obtain the spatial position of the four corners of the observed test tube rack in real time, and control the corresponding conversion to the virtual scene of augmented reality glasses to convert the pixels in the virtual front view. P(a ₁ , b ₁ ) obtains P*(x ₁ , y ₁ , z ₁ ) in the virtual scene that can be superimposed on the real test tube rack through coordinate transformation, and the transformation rules are A, B, C on the virtual front view , The pixels at the four corners of D are transformed and directly mapped to the four spatial points A*, B*, C*, and D* in the virtual scene that can be superimposed on the real test tube rack. The AB and CD edges intersect at P _h1 and P _h2 , and the line parallel to the AB side through the P point intersects the AC and BD edges at P _w1 , P _w2 , and P _h1 , P _h2 , P _w1 , and P _w2 are mapped to P* _h1 , P* _h2 , P* _w1 , P* _w2 points, satisfying

   P* _h1 is on the A*B* side, and AP _h1 :AB=A*P* _h1 *:A*B*,

   P* _w1 is on the side of A*C*, and _APw1 :AC=A*P* _w1 *:A*C*,

   P* _h2 is on the C*D* side, and CP _h2 :CD=C*P* _h2 *:C*D*,

   P* _w2 is on the B*D* side, and _BPw2 :BD=B*P* _w2 *:B*D*,

   P points are mapped to P*, satisfying

   P* is on P* _h1 P* _h2 , and PP _h1 :P _h1 P _h2 =P*P* _h1 :P* _h1 P* _h2 ,

   P* is on P* _w1 P* _w2 , and PP _w1 :P _w1 P _w2 =P*P* _w1 :P* _w1 P* _w2 ,

   Perform coordinate transformation on the pixel points except four vertices in the virtual front view according to the above rules, and obtain a virtual scene that can be superimposed on the real test tube rack;

   Display output module: control the transmission of the virtual scene that can be superimposed on the real test tube rack to the augmented reality glasses for reality output, and superimpose the virtual scene on the real scene.
7. The experimental observation system according to claim 6, wherein the observation test tube rack comprises: a frame, a test tube unit arranged on the frame, a transmitter arranged at four corners of the frame, and a test tube unit arranged on the frame A test tube rack controller, the frame includes: a vertical plate, a test tube rack layer plate and a circuit control groove arranged on the vertical plate, the test tube rack layer plate is provided with a test tube groove for placing test tubes, and the test tube unit includes: a test tube , a turbidity sensor set on both sides of the test tube, and a picture acquisition unit set on the bottom of the test tube.
8. The experimental observation system according to claim 6, wherein the test tube image display part and the test tube solution turbidity display part are set up and down corresponding to each other, and the test tube image display part is an image obtained by photographing a corresponding test tube. The turbidity display part of the solution is represented by a translucent grayscale, the grayscale value = the turbidity value of the current test tube solution/the maximum value of the turbidity of the solution in all test tubes, and the width of the cell is 1-5 times the width of the test tube , in the case of a certain width, the height of the cell varies between 1-4 times the width.
9. The experimental observation system according to any one of claims 6 to 8, wherein the height of the cell is 1.5 times the height of the test tube, and the width of the cell is 4 times the width of the test tube; 1 pixel in the figure corresponds to the area of 1×1 square millimeter of the actual electronic observation tube rack. If the width of the corresponding observation tube rack is obtained according to the distance between the two emitters in the horizontal direction and the distance between the two emitters in the longitudinal direction is obtained. The heights of the corresponding test tube racks are L _w mm and L _h mm respectively, then the pixel coordinates of vertex A of the virtual front view are (0, 0), the pixel coordinates of vertex B are (L _w , 0), and the pixel coordinates of vertex C are is (0, L _h ), and the pixel coordinates of vertex D are (L _w , L _h ).
10. The experimental observation system according to any one of claims 6 to 8, wherein the augmented reality glasses are see-through AR glasses, and the augmented reality glasses are provided with a transmitter corresponding to the transmitter on the observation test tube rack. A receiver, the receiver includes: a first receiver arranged on a connecting frame in the center of two lenses of the augmented reality glasses, a second receiver arranged on the two temples of the augmented reality glasses and symmetrically arranged receiver and third receiver, the connection line between the second receiver and the third receiver forms the X axis of the virtual coordinate system, the straight line passing through the first receiver and perpendicularly intersecting the X axis forms the Y axis, and the X axis and the Y axis The intersection of the axes forms the virtual origin of the virtual coordinate system, which is perpendicular to the plane where the XY axis is located, and the straight line passing through the virtual origin is the Z axis. a, 0, 0), R3 (0, b, 0), where a is the distance from the virtual origin to the receiver on the mirror frame, and b is the distance from the virtual origin to the center receiver. These two distances are actually measured and determined, When working, the three receivers obtain the distances d1, d2, d3 of the transmitter at the same time. Let the coordinates of the transmitter in space be S(x, y, z), and solve the equation system

    

    

    The value of S(x, y, z) can be obtained to locate the absolute position of the transmitter relative to the receiver in space.

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