增强现实环境下车间布局设计的注册与协同交互研究
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摘要
传统车间布局辅助设计的研究主要是从定量的指标上对生成车间进行最优求解,如设备或单元之间的材料流、工件流以及空间利用率等问题上进行最优求解。本文立足于定性分析的角度在传统车间布局辅助设计的基础上引入增强现实(Augmented Reality, AR)技术,针对在增强现实环境下的网络协同式车间布局系统的特点,着重对混合环境下的注册技术、人机交互技术以及网络协同三个关键技术问题进行研究,以望能突破目前车间布局系统难以进行定性分析的瓶颈。本文主要的研究内容及相应的研究方法有以下几个方面：
首先根据增强现实环境下车间布局系统布局范围的特点,选定相应注册算法,该算法既要保证注册的精度又要满足注册范围的要求。基于以上的事实本文将基于视觉注册与电磁跟踪的注册结合在一起组成了一种混合注册算法。在推导混合注册算法的过程中本文做了两个假设：一是磁跟踪设备不受周边环境的影响；二是发射器和标志物的坐标系完全重合。为了解决假设导致注册精度下降的问题,本文提出了自适应区域基准法来控制误差使其满足增强现实环境下车间布局设计系统的要求。
其次本文设计了一种在增强现实环境下能被计算机视觉所识别的标志工具—魔法棒。这种魔法棒的正反两面都带有能被计算机所识别的不同标志物等特点,本文充分地利用这一特点来定义并实现了车间布局操作过程中所用到的四种语义模型(选定、平移、旋转、删除)。此外,为了让魔法棒与虚拟模型之间能够正确显示它们之间遮挡关系,采用虚拟替身的方法并贴合到真实的魔法棒中把虚实遮挡问题转化为虚拟物体之间的遮挡问题。
协同设计被誉为是一种“以人为本”的设计方法,本文将这种思想引入车间布局系统中。首先为多用户协同通信设计了格式统一的通信命令,利用资源锁的方法解决了多用户对同一虚拟模型竞争所产生的冲突问题。通过实验测试并着重解决协同通信过程中所遇到的网络异常(丢包、断网、延时等)问题。
最后,本文建立了一个基于增强现实硬件和软件系统平台,并通过运行实例验证了本文所提出的注册算法、交互方式和协同通信理论在车间布局系统中的有效性与可行性。
Traditional computer aided workshop layout was attached important to the optimal solution base on quantitative indicators:such as the flow of material, the flow of workpiece and space utilization. We are starting from the view of qualitative analysis and introducing the concept of Augmented Reality (Augmented Reality, AR) on the basis of traditional workshop layout-aided design. Aim at the characteristics of workshop layout system for network collaboration in augmented reality environment, three key issues were focused:registration under the mixed environment technology, human-computer interaction technology and network research in collaboration, and hope to break through the bottleneck that the workshop layout system is unable to conduct qualitative analysis. This paper's main research contents and research methods in the following areas:
First of all, according to the characteristics of the range in workshop layout system, we will select the corresponding registration algorithm which must ensure the accuracy of registration and also meet the requirements of the scope of registration. Based on above-mentioned fact that we combined computer vision-based registration and the registration method of the electromagnetic tracking to form a hybrid registration algorithm. We made two assumptions in the process of derivation of hybrid algorithm: the one is magnetic tracking device has no errors; the other one is entirely coincidence of the coordinate system between the transmitter and the markers. of course, these two assumptions also caused some impact to the registration accuracy. In order to solve the above problems, this paper presents adaptive regional benchmarks to control error to make it meet the requirements of the workshop layout system.
Second, an interactive tool was designed magic wand that can be identified by computer vision in augmented reality environment. The magic wand has two-sided with different markers that can be identified by the computer, this feature was used to define and implement our four semantic model that be used in the operation of the workshop layout (selection, translation, rotation. delete). In order to solve problem of occlusion handling, an virtual magic wand were used to fit the real magic wand, Therefore, this problem is transformed into the occlusion handling between the virtual objects and virtual objects.
Collaborative design is well known as a "people-oriented" design method, this idea will be used into our workshop layout system. We first designed format unified communicative commands for multi-user cooperative communication. Then, make use of lock and unlock to solve multi-user competition conflicts on the same virtual model, the last thing is focus on solving network anomaly problems (such as:packet loss, broken network, delay, etc.) in the process collaborative communication.
Finally, hardware and software platform of workshop layout system were established based on augmented reality, we are running this platform to validate the theories (registration, interactive and collaborative communication) are effectiveness and feasibility in the workshop layout system.
首先根据增强现实环境下车间布局系统布局范围的特点,选定相应注册算法,该算法既要保证注册的精度又要满足注册范围的要求。基于以上的事实本文将基于视觉注册与电磁跟踪的注册结合在一起组成了一种混合注册算法。在推导混合注册算法的过程中本文做了两个假设：一是磁跟踪设备不受周边环境的影响；二是发射器和标志物的坐标系完全重合。为了解决假设导致注册精度下降的问题,本文提出了自适应区域基准法来控制误差使其满足增强现实环境下车间布局设计系统的要求。
其次本文设计了一种在增强现实环境下能被计算机视觉所识别的标志工具—魔法棒。这种魔法棒的正反两面都带有能被计算机所识别的不同标志物等特点,本文充分地利用这一特点来定义并实现了车间布局操作过程中所用到的四种语义模型(选定、平移、旋转、删除)。此外,为了让魔法棒与虚拟模型之间能够正确显示它们之间遮挡关系,采用虚拟替身的方法并贴合到真实的魔法棒中把虚实遮挡问题转化为虚拟物体之间的遮挡问题。
协同设计被誉为是一种“以人为本”的设计方法,本文将这种思想引入车间布局系统中。首先为多用户协同通信设计了格式统一的通信命令,利用资源锁的方法解决了多用户对同一虚拟模型竞争所产生的冲突问题。通过实验测试并着重解决协同通信过程中所遇到的网络异常(丢包、断网、延时等)问题。
最后,本文建立了一个基于增强现实硬件和软件系统平台,并通过运行实例验证了本文所提出的注册算法、交互方式和协同通信理论在车间布局系统中的有效性与可行性。
Traditional computer aided workshop layout was attached important to the optimal solution base on quantitative indicators:such as the flow of material, the flow of workpiece and space utilization. We are starting from the view of qualitative analysis and introducing the concept of Augmented Reality (Augmented Reality, AR) on the basis of traditional workshop layout-aided design. Aim at the characteristics of workshop layout system for network collaboration in augmented reality environment, three key issues were focused:registration under the mixed environment technology, human-computer interaction technology and network research in collaboration, and hope to break through the bottleneck that the workshop layout system is unable to conduct qualitative analysis. This paper's main research contents and research methods in the following areas:
First of all, according to the characteristics of the range in workshop layout system, we will select the corresponding registration algorithm which must ensure the accuracy of registration and also meet the requirements of the scope of registration. Based on above-mentioned fact that we combined computer vision-based registration and the registration method of the electromagnetic tracking to form a hybrid registration algorithm. We made two assumptions in the process of derivation of hybrid algorithm: the one is magnetic tracking device has no errors; the other one is entirely coincidence of the coordinate system between the transmitter and the markers. of course, these two assumptions also caused some impact to the registration accuracy. In order to solve the above problems, this paper presents adaptive regional benchmarks to control error to make it meet the requirements of the workshop layout system.
Second, an interactive tool was designed magic wand that can be identified by computer vision in augmented reality environment. The magic wand has two-sided with different markers that can be identified by the computer, this feature was used to define and implement our four semantic model that be used in the operation of the workshop layout (selection, translation, rotation. delete). In order to solve problem of occlusion handling, an virtual magic wand were used to fit the real magic wand, Therefore, this problem is transformed into the occlusion handling between the virtual objects and virtual objects.
Collaborative design is well known as a "people-oriented" design method, this idea will be used into our workshop layout system. We first designed format unified communicative commands for multi-user cooperative communication. Then, make use of lock and unlock to solve multi-user competition conflicts on the same virtual model, the last thing is focus on solving network anomaly problems (such as:packet loss, broken network, delay, etc.) in the process collaborative communication.
Finally, hardware and software platform of workshop layout system were established based on augmented reality, we are running this platform to validate the theories (registration, interactive and collaborative communication) are effectiveness and feasibility in the workshop layout system.
引文
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[6]冉洋,朱飞,陈康.虚拟现实及增强现实技术在工业设计中的应用[J].激光杂志,2010,31(1)：4-6.
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[8]王红,周雅,马晋涛.光学透视式增强现实显示系统虚实遮挡问题研究[J].中国图象图形学报,2008,13(8)：1566-1569.
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