CN104916182B - A kind of immersive VR maintenance and Training Simulation System - Google Patents
A kind of immersive VR maintenance and Training Simulation System Download PDFInfo
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Abstract
Include the invention discloses a kind of maintenance of immersive VR 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；Position tracking subsystem, by the spatial positional information of user, is output to node administration subsystem；Node administration subsystem, by threedimensional model and the spatial positional information of user, is sent to node rendering subsystem；Node rendering subsystem, threedimensional model is rendered, and the image after rendering is sent to projection subsystem；Node rendering subsystem, according to the head position of eye point of the user received and operation by human hand information, obtains the image information that human eye should be shown within sweep of the eye, the image of renewal is sent to projection subsystem；Projection subsystem, by image information and is shown.Training and Training scene can be presented in the present invention with intuitive manner, reach participant's purpose on the spot in person.
Description
Technical field
The invention belongs to space product Design of digital and system emulation field, the present invention relates to virtual reality technology in void
Intend the application in maintenance field.
Background technology
Virtual reality (Virtual Reality, abbreviation VR) technology is computer graphics, artificial intelligence, computer network
The product of the technological synthesis such as network, information processing development.It generates a kind of simulated environment using computer technology, passes through various sensings
Equipment be user's " input " into simulated environment, make user naturally with environment direct interaction.Virtual reality is a kind of computer
Interface tech.In essence, virtual reality is exactly a kind of advanced computer user interface, and it to user by providing simultaneously
Vision, the sense of hearing, tactile etc. be various directly perceived and natural real-time, interactive means, facilitates the operation of user to greatest extent,
So as to mitigate the burden of user, the operating efficiency of whole system is improved.
Carry out Virtual Maintenance Simulation using reality environment and there has been many systems, carry out in fields such as automobile, aircrafts
Application.These system design schemes are varied, and many problems faceds are also not quite similar with the problem of solution.It is the most frequently used at present
Although maintenance simulation system based on threedimensional model carry out, be show progresss on the computer screen mostly, lack three-dimensional truly
Feeling of immersion, show inadequate in terms of degree of verisimilitude, it is impossible to reflect actual scene authentic and validly, can not build the three-dimensional of immersion
Virtual environment, versatility is poor.
The content of the invention
The purpose that the technology of the present invention solves problem is：The technology of the present invention solves problem：Overcome prior art not
Foot can be presented training and instructed in directly perceived, three-dimensional mode there is provided a kind of Virtual Maintenance of immersion and virtual reality
Practice scene and content, reach participant's purpose on the spot in person.
The present invention technical solution be：
A kind of immersive VR maintenance includes 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 threedimensional model is called for node administration subsystem；
Position tracking subsystem, obtains the spatial positional information of user, and the information is output into node administration subsystem
System；Head position of eye point and operation by human hand information of the described spatial positional information including the use of person；
Node administration subsystem, reads threedimensional model from three-dimensional modeling data storehouse, and threedimensional model is passed into node wash with watercolours
Subsystem, and head position of eye point and the operation by human hand information of the user that position tracking subsystem is provided are contaminated, section is sent to
Point rendering subsystem；
Node rendering subsystem, in default indication range, by the threedimensional model received according to threedimensional model it is left,
In, it is right, lower four part rendered, the image after rendering is sent to projection subsystem and shown so that user see it is whole
Individual virtual threedimensional model；Node rendering subsystem, believes according to the head position of eye point of the user received and operation by human hand
Breath, obtains the image information that human eye should be shown within sweep of the eye, the image of renewal is sent to projection subsystem；
Projection subsystem, the image information that receiving node rendering subsystem is sent, and shown, user is seen more
Threedimensional model image after new.
Position tracking subsystem includes position processing main frame, optical camera, tracking rigid-object；
Rigid-object is tracked, major joint, head and the ocular vicinity of user is fixed on；
Optical camera launches infrared light, and by gathering the light that tracking rigid-object reflects, the data of collection are passed
Pass position processing main frame；
Position processing main frame is received after data, and the spatial positional information of user is determined by position tracking, and will
Spatial positional information passes to node administration subsystem；
Projection subsystem includes four stereo projectors and four display screens；
Four display screens are presented 90 degree respectively, according to the position with user, respectively left, center, right, under；Four
Projection screen is while a part of image of projected virtual scene, collectively constitutes a complete virtual environment.
The present invention has the following advantages that compared with prior art：
(1) present invention realizes the stereoscopic three-dimensional virtual environment of an immersion, is that user carries out virtual training and void
Intend maintenance and provide a very intuitively platform, be conducive to personnel to operation, the understanding of training process, strengthen sense of participation, energy
Training or training effect are enough significantly increased,.
(2) present invention realizes 3 D stereo by the collaborative work of node administration subsystem and node rendering subsystem
The collaboration of scene image shows that the virtual scene for formation immersion provides technical foundation, ingenious in design, realizes simply, leads to
It is stronger with property.
(3) present invention realizes the real-time capture to user head, hand position by positioning control system, further
3-D view is realized to the processing of user's positional information using management software with the difference and operation of user position to believe
Cease and make Real-time Feedback, realize man-machine interaction, user is upgraded to " roaming is browsed " impression of virtual reality scenario
" interactive operation ", improves the sense of reality and acceptance level of virtual training and training.
Brief description of the drawings
Fig. 1 schemes for the system composition of the present invention；
Fig. 2 is position tracking implementation process schematic diagram of the invention；
Fig. 3 is target point of the present invention and anchor point and camera position coordinate schematic diagram；
Fig. 4 is projection subsystem's structural representation of the invention；
Fig. 5 is projection subsystem's structural representation of the invention.
Embodiment
The specific embodiment of the invention is described further below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of immersive VR maintenance of the invention and Training Simulation System, including position tracking subsystem
System, three-dimensional modeling data storehouse, node administration subsystem, node rendering subsystem, projection subsystem；Three-dimensional modeling data storehouse, it is main
Three-dimensional modeling data is stored, and threedimensional model is called for node administration subsystem.In order to meet the sense of reality of vision and fast
Speed display, threedimensional model uses tri patch form, and there is the different surface material such as metal, composite on surface according to actual object
Matter.
Position tracking subsystem, obtains the spatial positional information of user, and the information is output into node administration subsystem
System；Head position of eye point and operation by human hand information of the described spatial positional information including the use of person；
Position tracking subsystem includes position processing main frame, optical camera, tracking rigid-object；
Rigid-object is tracked, major joint, head and the ocular vicinity of user is fixed on；For indicating user's hand
The tracking rigid-object of position and head position is each made up of two parts, and a part is target point, and another part is fixed
Site, anchor point is mainly used to the movement locus that auxiliary determines target point.
Optical camera launches infrared light, and by gathering the light that tracking rigid-object reflects, the data of collection are passed
Pass position processing main frame；
Position processing main frame is received after data, and the spatial positional information of user is determined by position tracking, and will
Spatial positional information passes to node administration subsystem；
As shown in Figure 2,3, the specific implementation of position tracking is as follows：
(1) each reference point locations are determined；Reference point is the locus of optical camera, in user's head in the present embodiment
An optical camera is respectively installed in four positions before top top is left front, left back, right, behind the right side；
(2) K moment each reference point is obtained to target point and anchor point present range；In initial time K, by optical camera
Infrared light, anchor point and target point reflection light are sent, is received by optical camera, return is passed the information on and puts processing main frame,
Framework computing draws each reference point to target point and the present range of anchor point；
(3) spatial value of K moment target point and anchor point is obtained according to maximum likelihood method；Concrete mode is as follows：
If the coordinate system of n (n >=4) individual reference point of three dimensions is (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)…
(xn,yn,zn), the coordinate X of target point or anchor point is set to (x, y, z), point X to the 1st, the 2nd ..., n-th reference point
Distance respectively d1、d1、…、d1, then equation group is had according to space distance between two points formula：
In above formula, last equation is individually subtracted since first equation and transplants, nonhomogeneous linear equation can be obtained
Group：
Above formula is represented by AX=b
Wherein
The coordinate that target point or anchor point X can then be obtained is：
(4) moment renewal is carried out：K=K+i, i=i+t, t represent a sampling interval duration, just
Begin moment i=0；
(5) at the K moment, the spatial value of K moment target point and anchor point is obtained according to maximum likelihood method；
(6) whether the locating point position that judgment step (5) is obtained occurs relative to the locating point position obtained in step (3)
Change, if not changing, carries out step (7), if being changed, then it is assumed that target point is translated, into step (10)；
(7) whether the aiming spot that judgment step (5) is obtained occurs relative to the aiming spot obtained in step (3)
Change, if not changing, then it is assumed that target point is not rotated or translated, into step (12), if being changed, recognizes
Rotated for target point around orientational vector reference axis, into step (8)；
(8) according to the position of target point and orientational vector reference axis, calculate what target point rotated around orientational vector reference axis
Angle；
(9) update around locating shaft rotate after aiming spot information, into step (12)；
Update around locating shaft rotate after aiming spot information concrete mode it is as follows：
The coordinate of new point of the point after Vector Rotation in three dimensions
The coordinate of point point new after X-axis Y-axis Z axis rotation certain radian is easily calculated in three dimensions,
And the point around rotary shaft be any vector (x, y, z), (x, y, z) is positioning point vector, concrete implementation mode
For：
Following matrix is realized by the function glRotatef (angle, x, y, z) in OPENGL：
It is assumed herein that reference axis is right-handed system, and wherein c=cos (angle), s=sin (angle), angle is from arrow
The forward direction of amount (x, y, z) looks counterclockwise rotates angulation (namely in right-hand rule, thumb pointing vector
Direction, four to refer to circular angle in the counterclockwise direction be positive angle for remaining), vector (x, y, z) must be unitization
And pass through origin, then can obtain postrotational coordinate of ground point using above-mentioned matrix：
x1=(x2(1-c)+c)*x0+(xy(1-c)-zs)*y0+(xz(1-c)+ys)*z0
y1=(yx (1-c)+zs) * x0+(y2(1-c)+c)*y0+(yz(1-c)-xs)*z0
z1=(xz (1-c)-ys) * x0+(yz(1-c)+xs)*y0+(z2(1-c)+c)*z0
(x0,y0,z0) be former target point coordinate, (x1,y1,z1) be postrotational new target point coordinate.
(10) according to aiming spot and orientational vector reference axis, the distance that target point is translated along three reference axis is calculated；
(11) aiming spot information is updated；
(12) judge whether user is continuing with system, if entering subsequent time into step (4) if, otherwise tie
Beam system.
Node administration subsystem, reads threedimensional model from three-dimensional modeling data storehouse, and threedimensional model is passed into node wash with watercolours
Subsystem, and head position of eye point and the operation by human hand information of the user that position tracking subsystem is provided are contaminated, section is sent to
Point rendering subsystem；
Node rendering subsystem, in default indication range, by the threedimensional model received according to threedimensional model it is left,
In, it is right, lower four part rendered, the image after rendering is sent to projection subsystem and shown so that user see it is whole
Individual virtual threedimensional model；Node rendering subsystem, believes according to the head position of eye point of the user received and operation by human hand
Breath, obtains the image information that human eye should be shown within sweep of the eye, the image of renewal is sent to projection subsystem；
Projection subsystem, the image information that receiving node rendering subsystem is sent, and shown, user is seen more
Threedimensional model image after new.Projection subsystem includes four stereo projectors and four display screens；Four display screens point
Cheng Xian not be 90 degree, according to the position with user, be respectively it is left, in (front), the right side, under (ground)；Four projection screens are same
When projected virtual scene a part of image, collectively constitute a complete virtual environment.Every projector's one face screen of correspondence,
Four projectors project the three-dimensional modeling data of different angles jointly, and the stereoscopic three-dimensional for collectively constituting a complete immersion is empty
Near-ring border.User can be with wearing stereoscopic glasses, the threedimensional model watched in three-dimensional virtual environment.
As shown in Figure 4,5, each screen size is 3520mm × 2200mm in the present embodiment, and display specification is 16：10, throw
The projected resolution of shadow machine is 1920 × 1200.Every piece of rear projection screen is both needed to using a monoblock thickness not less than 12mm, super flat, low
Gain compound glass host material, ground screen throws mode using positive, and material is wear-resisting white material.Four projection screens are simultaneously
A part of image of projected virtual scene, collectively constitutes a complete virtual environment.
(7) user watches virtual scene in the square region that projection subsystem's screen is constituted, as needed can be right
Model is operated, and operation is carried out by the 3D mouse of position tracking subsystem.Position tracking system is bundled on 3D mouse
System tracking rigid-object, the hand position for indicating user.Position tracking is bundled on the anaglyph spectacles that user wears
System tracks rigid-object, the head position for indicating user.User is operated in viewing area, positioning control system
Optical camera catch collect user head and hand position data, be sent to position processing main frame.At position
Reason main frame is sent to the multichannel scene management software of management node computer after position data is handled.
Unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (4)
1. a kind of immersive VR maintenance and Training Simulation System, it is characterised in that including：Position tracking subsystem, three-dimensional
Model database, node administration subsystem, node rendering subsystem, projection subsystem；
Three-dimensional modeling data storehouse, stores three-dimensional modeling data, and threedimensional model is called for node administration subsystem；
Position tracking subsystem, obtains the spatial positional information of user, and the information is output into node administration subsystem；Institute
Head position of eye point and operation by human hand information of the spatial positional information stated including the use of person；
Node administration subsystem, reads threedimensional model from three-dimensional modeling data storehouse, and threedimensional model is passed into node renders son
System, and head position of eye point and the operation by human hand information of the user that position tracking subsystem is provided, are sent to node wash with watercolours
Contaminate subsystem；
Node rendering subsystem, in default indication range, by the threedimensional model received according to threedimensional model it is left, in,
Right, lower four parts are rendered, and the image after rendering is sent to projection subsystem and shown, so that user sees whole void
The threedimensional model of plan；Node rendering subsystem, according to the head position of eye point of the user received and operation by human hand information, is obtained
The image information that should be shown within sweep of the eye to human eye, the image of renewal is sent to projection subsystem；
Projection subsystem, the image information that receiving node rendering subsystem is sent, and shown, user is seen after renewal
Threedimensional model image.
2. a kind of immersive VR maintenance according to claim 1 and Training Simulation System, it is characterised in that：It is described
Position tracking subsystem include position processing main frame, optical camera, tracking rigid-object；
Rigid-object is tracked, major joint, head and the ocular vicinity of user is fixed on；
Optical camera launches infrared light, and by gathering the light that tracking rigid-object reflects, the data transfer of collection is given
Position handles main frame；
After position processing main frame receives data, the spatial positional information of user is determined by position tracking, and by space
Positional information passes to node administration subsystem.
3. a kind of immersive VR maintenance according to claim 1 and Training Simulation System, it is characterised in that：It is described
Projection subsystem include four stereo projectors and four display screens；
Four display screens are presented 90 degree respectively, according to the position with user, respectively left, center, right, under；Four projections
Screen is while a part of image of projected virtual scene, collectively constitutes a complete virtual environment.
4. a kind of immersive VR maintenance according to claim 2 and Training Simulation System, it is characterised in that：It is described
Position tracking specific implementation it is as follows：
(1) each reference point locations are determined；Reference point is the locus of optical camera, in the present embodiment on the user crown
Fang Zuoqian, it is left back, right before, it is right after four positions one optical camera is respectively installed；
(2) K moment each reference point is obtained to target point and anchor point present range；In initial time K, sent by optical camera
Infrared light, anchor point and target point reflection light, are received by optical camera, are passed the information on return and are put processing main frame, main frame
Each reference point is calculated to target point and the present range of anchor point；
(3) spatial value of K moment target point and anchor point is obtained according to maximum likelihood method；Concrete mode is as follows：
If the coordinate system of n (n >=4) individual reference point of three dimensions is (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)…(xn,
yn,zn), the coordinate X of target point or anchor point is set to (x, y, z), point X to the 1st, the 2nd ..., the distance of n-th reference point
Respectively d1、d1、…、d1, then equation group is had according to space distance between two points formula：
In above formula, last equation is individually subtracted since first equation and transplants, Linear Equations can be obtained：
Above formula is represented by AX=b
Wherein
The coordinate that target point or anchor point X can then be obtained is：
(4) moment renewal is carried out：K=K+i, i=i+t, t represent a sampling interval duration, initial time i=0；
(5) at the K moment, the spatial value of K moment target point and anchor point is obtained according to maximum likelihood method；
(6) whether the locating point position that judgment step (5) is obtained becomes relative to the locating point position obtained in step (3)
Change, if not changing, step (7) is carried out, if being changed, then it is assumed that target point is translated, into step (10)；
(7) whether the aiming spot that judgment step (5) is obtained becomes relative to the aiming spot obtained in step (3)
Change, if not changing, then it is assumed that target point is not rotated or translated, into step (12), if being changed, then it is assumed that
Target point is rotated around orientational vector reference axis, into step (8)；
(8) according to the position of target point and orientational vector reference axis, the angle that target point rotates around orientational vector reference axis is calculated；
(9) update around locating shaft rotate after aiming spot information, into step (12)；
(10) according to aiming spot and orientational vector reference axis, the distance that target point is translated along three reference axis is calculated；
(11) aiming spot information is updated；
(12) judge whether user is continuing with system, if entering subsequent time into step (4) if, otherwise terminate be
System.
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| CN106227352B (en) * | 2016-07-28 | 2019-11-08 | 北京国承万通信息科技有限公司 | Virtual reality scenario rendering method and system |
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