CN104916182A - Immersion type virtual reality maintenance and training simulation system - Google Patents

Immersion type virtual reality maintenance and training simulation system Download PDF

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Publication number
CN104916182A
CN104916182A CN201510278780.0A CN201510278780A CN104916182A CN 104916182 A CN104916182 A CN 104916182A CN 201510278780 A CN201510278780 A CN 201510278780A CN 104916182 A CN104916182 A CN 104916182A
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subsystem
point
user
dimensional model
information
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CN104916182B (en
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罗军
赵博
陈仁越
李澍
郭逸婧
李莉
张启程
皮赞
聂蓉梅
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China Academy of Launch Vehicle Technology CALT
Beijing Institute of Astronautical Systems Engineering
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Beijing Institute of Astronautical Systems Engineering
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Abstract

Disclosed in the invention is an immersion type virtual reality maintenance and training simulation system comprising a position tracking sub system, a three-dimensional model database, a node management sub system, a node rendering sub system, and a projection sub system. The three-dimensional model database stores three-dimensional model data; the position tracking sub system outputs spatial position information of a user to the node management sub system; the node management sub system sends spatial position information of the three-dimensional model and the user to the node rendering sub system; the node rendering sub system carries out rendering on the three-dimensional model and sends a rendered image to the projection sub system, obtains image information that should be displayed in a human-eye vision field according to received information of head and eyespot location of the user and hand operation information, and sends the updated image to the projection sub system. The projection sub system receives and displays image information. According to the invention, the training scene can be presented visually and an objective of realization of an immersive effect for participants can be achieved.

Description

A kind of immersive VR maintenance and Training Simulation System
Technical field
The invention belongs to space product Design of digital and system emulation field, the present invention relates to the application of virtual reality technology in Virtual Maintenance field.
Background technology
Virtual reality (Virtual Reality is called for short VR) technology is the product of the technological synthesis development such as computer graphics, artificial intelligence, computer network, information processing.It utilizes computer technology to generate a kind of simulated environment, by various sensing equipment be user's " input " in simulated environment, make user naturally with environment direct interaction.Virtual reality is a kind of computer interface technology.In essence, virtual reality is exactly the computer user interface of a kind of advanced person, it is by providing the various real-time, interactive means directly perceived and natural such as such as vision, the sense of hearing, sense of touch to user simultaneously, user friendly operation to greatest extent, thus alleviate the burden of user, improve the work efficiency of whole system.
Utilize reality environment to carry out Virtual Maintenance Simulation and there has been many systems, carry out application in the field such as automobile, aircraft.These system design schemes are varied, and the problem of many problems faced and solution is also not quite similar.Although maintenance simulation system the most frequently used is at present carried out based on three-dimensional model, but be mostly to show on the computer screen and carry out, lack three-dimensional real feeling of immersion, in degree of verisimilitude, performance not, actual scene cannot be reflected authentic and validly, can not build the three-dimensional virtual environment of immersion, versatility is poor.
Summary of the invention
The object that technology of the present invention is dealt with problems is: technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, a kind of Virtual Maintenance and virtual reality of immersion are provided, training and Training scene and content can be presented in directly perceived, three-dimensional mode, reach the object that participant is on the spot in person.
Technical solution of the present invention is:
A kind of immersive VR maintenance comprises with Training Simulation System: position tracking subsystem, three-dimensional modeling data storehouse, node administration subsystem, node rendering subsystem, projection subsystem;
Three-dimensional modeling data storehouse, stores three-dimensional modeling data, and is called for node administration subsystem by three-dimensional model;
Position tracking subsystem, obtains the spatial positional information of user, and this information is outputted to node administration subsystem; Described spatial positional information comprises head position of eye point and the operation by human hand information of user;
Node administration subsystem, reads three-dimensional model from three-dimensional modeling data storehouse, three-dimensional model is passed to node rendering subsystem, and the head position of eye point of the user that position tracking subsystem is provided and operation by human hand information, be sent to node rendering subsystem;
Node rendering subsystem, in the indication range preset, played up according to the left, center, right of three-dimensional model, lower four parts by the three-dimensional model received, the image after playing up is sent to projection subsystem's display, thus makes user see whole virtual three-dimensional model; Node rendering subsystem, according to head position of eye point and the operation by human hand information of the user received, obtains the image information that human eye should show within sweep of the eye, the image of renewal is sent to projection subsystem;
Projection subsystem, the image information that receiving node rendering subsystem sends, and show, the three-dimensional model image after making user see renewal.
Position tracking subsystem comprises position processing host, optical camera, tracking rigid-object;
Follow the tracks of rigid-object, be fixed on the major joint of user, head and ocular vicinity;
Optical camera launches Infrared, by gathering the light following the tracks of rigid-object reflection, the data of collection is passed to position processing host;
After position processing host receives data, followed the tracks of the spatial positional information determining user by position, and spatial positional information is passed to node administration subsystem;
Projection subsystem comprises four stereo projectors and four display screens;
Four display screens present 90 degree respectively, according to the position with user, be respectively left, center, right, under; A part of image of projected virtual scene while of four projection screens, the virtual environment that common composition one is complete.
The present invention compared with prior art tool has the following advantages:
(1) present invention achieves the stereoscopic three-dimensional virtual environment of an immersion, virtual training is carried out and Virtual Maintenance provides a platform very intuitively for user, be conducive to the understanding of personnel to operation, training process, strengthen sense of participation, can enhancement training or training effect significantly.
(2) the present invention passes through the collaborative work of node administration subsystem and node rendering subsystem, achieve the collaborative display of 3 D stereo scene image, for the virtual scene forming immersion provides technical foundation, design ingenious, realize simple, versatility is stronger.
(3) the present invention achieves real-time seizure to user's head, hand position by positioning control system, utilize the process of management software to user's positional information to achieve 3-D view further and make Real-time Feedback along with the difference of user position and operation information, achieve man-machine interaction, user is upgraded to " interactive operation " " roaming is browsed " impression of virtual reality scenario, improves the sense of reality and the acceptance level of virtual training and training.
Accompanying drawing explanation
Fig. 1 is system composition diagram of the present invention;
Fig. 2 is that realization flow schematic diagram is followed the tracks of in position of the present invention;
Fig. 3 is impact point of the present invention and anchor point and camera position coordinate schematic diagram;
Fig. 4 is projection subsystem of the present invention structural representation;
Fig. 5 is projection subsystem of the present invention structural representation.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the invention is described further.
As shown in Figure 1, a kind of immersive VR maintenance of the present invention and Training Simulation System, comprise position tracking subsystem, three-dimensional modeling data storehouse, node administration subsystem, node rendering subsystem, projection subsystem; Three-dimensional modeling data storehouse, mainly stores three-dimensional modeling data, and is called for node administration subsystem by three-dimensional model.In order to meet the sense of reality and the display fast of vision, three-dimensional model adopts tri patch form, the Facing material that surface has metal, compound substance etc. different according to actual object.
Position tracking subsystem, obtains the spatial positional information of user, and this information is outputted to node administration subsystem; Described spatial positional information comprises head position of eye point and the operation by human hand information of user;
Position tracking subsystem comprises position processing host, optical camera, tracking rigid-object;
Follow the tracks of rigid-object, be fixed on the major joint of user, head and ocular vicinity; For indicate user's hand position and head position tracking rigid-object each be made up of two parts, a part is impact point, and another part is anchor point, and anchor point is mainly used to the auxiliary movement locus determining impact point.
Optical camera launches Infrared, by gathering the light following the tracks of rigid-object reflection, the data of collection is passed to position processing host;
After position processing host receives data, followed the tracks of the spatial positional information determining user by position, and spatial positional information is passed to node administration subsystem;
As shown in Figure 2,3, the specific implementation of position tracking is as follows:
(1) each reference point locations is determined; Reference point is the locus of optical camera, respectively installs an optical camera in the present embodiment in left front, left back, right front, right back four positions of user's overhead;
(2) K moment each reference point is obtained to impact point and anchor point present range; At initial time K, send infrared light by optical camera, anchor point and impact point reflection ray, received by optical camera, information transmitted return and puts processing host, and Framework computing draws the present range of each reference point to impact point and anchor point;
(3) spatial value of K moment impact point and anchor point is obtained according to maximum likelihood method; Concrete mode is as follows:
If the coordinate of three-dimensional n (n>=4) individual reference point is (x 1, y 1, z 1), (x 2, y 2, z 2), (x 3, y 3, z 3) ... (x n, y n, z n), the coordinate X of impact point or anchor point is set to (x, y, z), some X to the 1st, the 2nd ..., the n-th reference point distance be respectively d 1, d 1..., d 1, then there is system of equations according to space distance between two points formula:
( x 1 - x ) 2 + ( y 1 - y ) 2 + ( z 1 - z ) 2 = d 1 2 ( x 2 - x ) 2 + ( y 2 - y ) 2 + ( z 2 - z ) 2 = d 2 2 . . . . . . ( x n - x ) 2 + ( y n - y ) 2 + ( z n - z ) 2 = d n 2
In above formula, from first equation, deduct last equation respectively and transplant, can Linear Equations be obtained:
2 ( x 1 - x n ) x + 2 ( y 1 - y n ) y + 2 ( z 1 - z n ) z = ( x 1 2 + y 1 2 + z 1 2 ) - ( x n 2 + y n 2 + z n 2 ) - ( d 1 2 - d n 2 ) 2 ( x 2 - x n ) x + 2 ( y 2 - y n ) y + 2 ( z 2 - z n ) z = ( x 2 2 + y 2 2 + z 2 2 ) - ( x n 2 + y n 2 + z n 2 ) - ( d 2 2 - d n 2 ) . . . . . . 2 ( x n - 1 - x n ) x + 2 ( y n - 1 - y n ) y + 2 ( z n - 1 - z n ) z = ( x n - 1 2 + y n - 1 2 + z n - 1 2 ) - ( x n 2 + y n 2 + z n 2 ) - ( d n - 1 2 - d n 2 )
Above formula can be expressed as AX=b
Wherein
A = 2 ( x 1 - x n ) 2 ( y 1 - y n ) 2 ( z 1 - z n ) 2 ( x 2 - x n ) 2 ( y 2 - y n ) 2 ( z 2 - z n ) . . . . . . 2 ( x n - 1 - x n ) 2 ( y n - 1 - y n ) 2 ( z n - 1 - z n )
b = ( x 1 2 + y 1 2 + z 1 2 ) - ( x n 2 + y n 2 + z n 2 ) - ( d 1 2 - d n 2 ) ( x 2 2 + y 2 2 + z 2 2 ) - ( x n 2 + y n 2 + z n 2 ) - ( d 2 2 - d n 2 ) . . . . . . ( x n - 1 2 + y n - 1 2 + z n - 1 2 ) - ( x n 2 + y n 2 + z n 2 ) - ( d n - 1 2 - d n 2 )
The coordinate that then can obtain impact point or anchor point X is:
(4) moment renewal is carried out: K=K+i, i=i+t, t represent a sampling interval duration, initial time i=0;
(5) in the K moment, the spatial value of K moment impact point and anchor point is obtained according to maximum likelihood method;
(6) whether the locating point position that determining step (5) obtains changes relative to the locating point position obtained in step (3), if do not change, carry out step (7), if there occurs change, then think and impact point generation translation enter step (10);
(7) whether the aiming spot that determining step (5) obtains changes relative to the aiming spot obtained in step (3), if do not change, then think that impact point does not rotate or translation, enter step (12), if there occurs change, then think that impact point there occurs rotation around orientational vector coordinate axis, enter step (8);
(8) according to position and the orientational vector coordinate axis of impact point, the angle of impact point around orientational vector X-axis rotate is calculated;
(9) upgrade the aiming spot information after locating shaft rotates, enter step (12);
The concrete mode upgrading the aiming spot information after locating shaft rotates is as follows:
The coordinate of the new point of a point after Vector Rotation in three dimensions
In three dimensions, the coordinate of the point that point is new after X-axis Y-axis Z axis rotates certain radian easily calculates, and this point around turning axle be any vector (x, y, z), (x, y, z) be anchor point vector, concrete implementation is:
Following matrix is realized by the function glRotatef (angle, x, y, z) in OPENGL:
x 2 ( 1 - c ) + c xy ( 1 - c ) - zs xz ( 1 - c ) + ys yx ( 1 - c ) + zs y 2 ( 1 - c ) + c yz ( 1 - c ) - xs xz ( 1 - c ) - ys yz ( 1 - c ) + xs z 2 ( 1 - c ) + c
Here Assumed coordinate axle is right-handed system, wherein c=cos (angle), s=sin (angle), angle is from vector (x, y, z) forward is looked and is counterclockwise rotated angulation (namely in right-hand rule, thumb pointing vector direction, all the other four refer in the counterclockwise direction around angle be positive angle), vector (x, y, z) must be unitization and through initial point, then utilize above-mentioned matrix can obtain postrotational coordinate of ground point:
x 1＝(x 2(1-c)+c)*x 0+(xy(1-c)-zs)*y 0+(xz(1-c)+ys)*z 0
y 1＝(yx(1-c)+zs)*x 0+(y 2(1-c)+c)*y 0+(yz(1-c)-xs)*z 0
z 1＝(xz(1-c)-ys)*x 0+(yz(1-c)+xs)*y 0+(z 2(1-c)+c)*z 0
(x 0, y 0, z 0) be the coordinate of former impact point, (x 1, y 1, z 1) be the coordinate of postrotational new impact point.
(10) according to aiming spot and orientational vector coordinate axis, the distance of impact point along three coordinate axis translations is calculated;
(11) aiming spot information is upgraded;
(12) judge whether user continues use system, if use, enter step (4) and enter subsequent time, otherwise ends with system.
Node administration subsystem, reads three-dimensional model from three-dimensional modeling data storehouse, three-dimensional model is passed to node rendering subsystem, and the head position of eye point of the user that position tracking subsystem is provided and operation by human hand information, be sent to node rendering subsystem;
Node rendering subsystem, in the indication range preset, played up according to the left, center, right of three-dimensional model, lower four parts by the three-dimensional model received, the image after playing up is sent to projection subsystem's display, thus makes user see whole virtual three-dimensional model; Node rendering subsystem, according to head position of eye point and the operation by human hand information of the user received, obtains the image information that human eye should show within sweep of the eye, the image of renewal is sent to projection subsystem;
Projection subsystem, the image information that receiving node rendering subsystem sends, and show, the three-dimensional model image after making user see renewal.Projection subsystem comprises four stereo projectors and four display screens; Four display screens present 90 degree respectively, according to the position with user, be respectively left, in (front), right, under (ground); A part of image of projected virtual scene while of four projection screens, the virtual environment that common composition one is complete.The corresponding screen of Mei Tai projector, four projectors project the three-dimensional modeling data of different angles jointly, the stereoscopic three-dimensional virtual environment of the immersion that common composition one is complete.User can wearing stereoscopic glasses, watches the three-dimensional model in three-dimensional virtual environment.
As shown in Figure 4,5, in the present embodiment, each screen size is 3520mm × 2200mm, and display specification is 16:10, and the projected resolution of projector is 1920 × 1200.Every block rear projection screen all needs employing one monoblock thickness to be not less than 12mm, super flat, low gain compound glass host material, and ground screen adopts and just throws mode, and material is wear-resisting white material.A part of image of projected virtual scene while of four projection screens, the virtual environment that common composition one is complete.
(7) user watches virtual scene in the square region of projection subsystem's screen composition, can operate as required, operate and undertaken by the 3D mouse of position tracking subsystem model.3D mouse bundlees positioning control system and follows the tracks of rigid-object, for indicating the hand position of user.The anaglyph spectacles that user wears bundlees positioning control system and follows the tracks of rigid-object, for indicating the head position of user.User operates in viewing area, and the optical camera of positioning control system catches and collects the head of user and the position data of hand, is sent to position processing host.Position processing host will be sent to the hyperchannel scene management software of management node computing machine after position data process.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.

Claims (4)

1. immersive VR maintenance and a Training Simulation System, is characterized in that comprising: position tracking subsystem, three-dimensional modeling data storehouse, node administration subsystem, node rendering subsystem, projection subsystem;
Three-dimensional modeling data storehouse, stores three-dimensional modeling data, and is called for node administration subsystem by three-dimensional model;
Position tracking subsystem, obtains the spatial positional information of user, and this information is outputted to node administration subsystem; Described spatial positional information comprises head position of eye point and the operation by human hand information of user;
Node administration subsystem, reads three-dimensional model from three-dimensional modeling data storehouse, three-dimensional model is passed to node rendering subsystem, and the head position of eye point of the user that position tracking subsystem is provided and operation by human hand information, be sent to node rendering subsystem;
Node rendering subsystem, in the indication range preset, played up according to the left, center, right of three-dimensional model, lower four parts by the three-dimensional model received, the image after playing up is sent to projection subsystem's display, thus makes user see whole virtual three-dimensional model; Node rendering subsystem, according to head position of eye point and the operation by human hand information of the user received, obtains the image information that human eye should show within sweep of the eye, the image of renewal is sent to projection subsystem;
Projection subsystem, the image information that receiving node rendering subsystem sends, and show, the three-dimensional model image after making user see renewal.
2. a kind of immersive VR maintenance according to claim 1 and Training Simulation System, is characterized in that: described position tracking subsystem comprises position processing host, optical camera, tracking rigid-object;
Follow the tracks of rigid-object, be fixed on the major joint of user, head and ocular vicinity;
Optical camera launches Infrared, by gathering the light following the tracks of rigid-object reflection, the data of collection is passed to position processing host;
After position processing host receives data, followed the tracks of the spatial positional information determining user by position, and spatial positional information is passed to node administration subsystem;
3. a kind of immersive VR maintenance according to claim 1 and Training Simulation System, is characterized in that: described projection subsystem comprises four stereo projectors and four display screens;
Four display screens present 90 degree respectively, according to the position with user, be respectively left, center, right, under; A part of image of projected virtual scene while of four projection screens, the virtual environment that common composition one is complete.
4. a kind of immersive VR maintenance according to claim 2 and Training Simulation System, is characterized in that: described position tracking specific implementation is as follows:
(1) each reference point locations is determined; Reference point is the locus of optical camera, respectively installs an optical camera in the present embodiment in left front, left back, right front, right back four positions of user's overhead;
(2) K moment each reference point is obtained to impact point and anchor point present range; At initial time K, send infrared light by optical camera, anchor point and impact point reflection ray, received by optical camera, information transmitted return and puts processing host, and Framework computing draws the present range of each reference point to impact point and anchor point;
(3) spatial value of K moment impact point and anchor point is obtained according to maximum likelihood method; Concrete mode is as follows:
If the coordinate of three-dimensional n (n>=4) individual reference point is (x 1, y 1, z 1), (x 2, y 2, z 2), (x 3, y 3, z 3) ... (x n, y n, z n), the coordinate X of impact point or anchor point is set to (x, y, z), some X to the 1st, the 2nd ..., the n-th reference point distance be respectively d 1, d 1..., d 1, then there is system of equations according to space distance between two points formula:
( x 1 - x ) 2 + ( y 1 - y ) 2 + ( z 1 - z ) 2 = d 1 2 ( x 2 - x ) 2 + ( y 2 - y ) 2 + ( z 2 - z ) 2 = d 2 2 . . . . . . ( x n - x ) 2 + ( y n - y ) 2 + ( z n - z ) 2 = d n 2
In above formula, from first equation, deduct last equation respectively and transplant, can Linear Equations be obtained:
2 ( x 1 - x n ) x + 2 ( y 1 - y n ) y + 2 ( z 1 - z n ) z = ( x 1 2 + y 1 2 + z 1 2 ) - ( x n 2 + y n 2 + z n 2 ) - ( d 1 2 - d n 2 ) 2 ( x 2 - x n ) x + 2 ( y 2 - y n ) y + 2 ( z 2 - z n ) z = ( x 2 2 + y 2 2 + z 2 2 ) - ( x n 2 + y n 2 + z n 2 ) - ( d 2 2 - d n 2 ) . . . . . . 2 ( x n - 1 - x n ) x + 2 ( y n - 1 - y n ) y + 2 ( z n - 1 - z n ) z = ( x n - 1 2 + y n - 1 2 + z n - 1 2 ) - ( x n 2 + y n 2 + z n 2 ) - ( d n - 1 2 - d n 2 )
Above formula can be expressed as AX=b
Wherein
A = 2 ( x 1 - x n ) 2 ( y 1 - y n ) 2 ( z 1 - z n ) 2 ( x 2 - x n ) 2 ( y 2 - y n ) 2 ( z 2 - z n ) . . . . . . 2 ( x n - 1 - x n ) 2 ( y n - 1 - y n ) 2 ( z n - 1 - z n )
b = ( x 1 2 + y 1 2 + z 1 2 ) - ( x n 2 + y n 2 + z n 2 ) - ( d 1 2 - d n 2 ) ( x 2 2 + y 2 2 + z 2 2 ) - ( x n 2 + y n 2 + z n 2 ) - ( d 2 2 - d n 2 ) . . . . . . ( x n - 1 2 + y n - 1 2 + z n - 1 2 ) - ( x n 2 + y n 2 + z n 2 ) - ( d n - 1 2 - d n 2 )
The coordinate that then can obtain impact point or anchor point X is:
carry out moment renewal: K=K+i, i=i+t, t represent a sampling interval duration, initial time i=0;
(5) in the K moment, the spatial value of K moment impact point and anchor point is obtained according to maximum likelihood method;
(6) whether the locating point position that determining step (5) obtains changes relative to the locating point position obtained in step (3), if do not change, carry out step (7), if there occurs change, then think and impact point generation translation enter step (10);
(7) whether the aiming spot that determining step (5) obtains changes relative to the aiming spot obtained in step (3), if do not change, then think that impact point does not rotate or translation, enter step (12), if there occurs change, then think that impact point there occurs rotation around orientational vector coordinate axis, enter step (8);
(8) according to position and the orientational vector coordinate axis of impact point, the angle of impact point around orientational vector X-axis rotate is calculated;
(9) upgrade the aiming spot information after locating shaft rotates, enter step (12);
(10) according to aiming spot and orientational vector coordinate axis, the distance of impact point along three coordinate axis translations is calculated;
(11) aiming spot information is upgraded;
(12) judge whether user continues use system, if use, enter step (4) and enter subsequent time, otherwise ends with system.
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