增强现实维修诱导系统关键技术研究
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摘要
民用航空发动机是结构极其复杂、技术高度密集的大型复杂机电系统,使用和维修过程对人员技术水平有极高的要求,因此,以提高民航机务人员维修水平,降低维修难度为目标,开展维修技术与方法的研究,具有重要的理论价值和现实意义。本文以航空发动机外场典型维修工作为例,将可穿戴式辅助维修基本理论和增强现实技术相结合,对其中涉及的数字化维修关键技术进行了深入研究,开发了一种以维修人员为中心的人性化、智能化的维修辅助系统,对维修人员进行培训和指导,可以降低维修作业难度、减少作业差错。现将文中的主要工作内容及创新点总结如下:
(1)提出了基于自然特征的增强现实系统注册算法理论模型,将复杂的无标志注册问题分解为特征提取、特征匹配、三维重建、虚实融合四个可操作的具体问题,利用虚拟视觉伺服和从运动中恢复结构的技术,通过跟踪图像序列的点特征和线特征,实现了基于自然特征的增强现实注册算法,实验结果验证了该方法的有效性。
(2)在研究视线跟踪技术基本原理的基础上,通过电磁式位置跟踪器和共面四彩色标志点位置跟踪算法,构建了头部静止和头部自由运动两套视线跟踪系统,通过实验数据分析平均跟踪误差分别为0. 9585和9 .5871mm,满足维修诱导系统精度要求;通过将视线跟踪系统和增强现实光学透视式头盔集成,构建了具有视线跟踪功能的增强现实自然交互式头盔,为增强现实维修诱导系统的研制打下了良好的基础。
(3)增强现实维修诱导系统中诱导信息的组织和表达是个关键问题,本文将维修手册操作步骤、EBOM表和虚拟样机数据对应起来,构建了交互式电子手册(IETM)原型系统,将设计部门的飞机虚拟样机数据转换成增强现实维修诱导系统所需要并能够在增强场景中迅速、逼真展示的样机模型,大大提高了模型质量和建模效率。
(4)利用面向对象和多媒体同步Petri网建模技术构建了包含维修工作描述模型、维修作业指导模型和维修人员能力评估模型的维修诱导任务网(MGTN),较好地解决了维修工作描述,信息同步和用户交互,用户维修能力评估三个关键问题。以MGTN工作流程控制模块为核心,命令解释模块和运动感知模块为数据输入,信息增强模块为输出,通过场景分析模块和信息获取模块的辅助,完成增强现实维修诱导过程。
(5)本文的最后通过典型APU载荷压气机孔探工卡检查的实例,对增强现实维修诱导系统的完整应用进行了验证。利用三维注册技术、人机自然交互技术、交互式电子手册(IETM)和MGTN维修知识描述方法实现了一个增强现实维修诱导原型系统,该实例证实了增强现实维修诱导系统在航空器维修中具有良好的应用效果。
The aero-engine is a complex system with extremely complicated structure and highly concentrated technology, the application and maintenance of which are both greatly demanding proficient technicians. Therefore, this thesis which is aimed to raise the maintenance level of the aero technicians, lower the difficulty level of maintenance and research into the method and technology of maintenance will be of great significance. Taking the typical aero-engine maintenance work in the outside field as an example, combining the basic wearable maintenance aid theory and the augmented reality technology, this paper has done a deep research into the key digital maintenance technique and has developed a personified and intelligent maintenance aid system, centered on the maintenance technicians. This maintenance aid system can be applied to train the technicians and give them directions, lower the difficulty level of the maintenance work and reduce the errors in the process. The main content and innovation in this paper may be summarized as follows:
(1)It has advanced a theoretical model of augmented reality systematical registration algorithm, dividing the complicated markerless registration problem into four manageable stages as features extracting, matching, 3D reconstruction and merging virtual and real scene. Taking the advantage of virtual visual servo and structure from motion technology, tracking the image serials’point features and linear features, this paper has realized augmented reality registration algorithm. The result of the experiment has verified the effectiveness of this approach.
(2)Based on eye gaze tracking technique, through electromagnetic position tracker and the position tracking algorithm using four coplanar markers, this paper has constructed two sets of eye gaze tracking system of head fixed and head unfixed. By the analysis of the experimental data, the average tracking error of the two sets of eye gazing system is 0.9585o and 9.5871mm.By integrating eye gaze tracking system and augmented reality optical see-through HMD, it has constructed augmented reality natural interactive optical see-through HMD equipped with eye gaze tracking function and has laid a good foundation for developing the augmented reality maintenance guiding system.
(3)The organization and expression of augmented reality maintenance guiding system is a key issue. This paper has corresponded aircraft maintenance manual, EBOM figure and virtual prototype data, and transferred aircraft virtual prototype data of the designing section into demanding virtual prototype of augmented reality maintenance guiding system which can be rapidly and lifelikely displayed in augmented situation. It has greatly improved the efficiency of the model construction and the quality of the model.
(4)This paper has constructed maintenance guiding task net model, including maintenance description model, maintenance guiding model and maintenance technicians competence evaluation. It has well solved the three problems of maintenance description, information synchronization and human computer interaction, maintenance capability assessment. Centering on MGTN control model, taking command interpretation module and motion perceptual model as data input, information augmented module as output, with the help of scene analysis module and information retrieval module, the paper has completed the augmented reality maintenance guiding process.
(5)Based on APU load compressor endoscopy work card, applying three divisional registration technology, person-computer natural interactive technique, IETM and MGTN maintenance knowledge description method, this paper has realized an augmented reality maintenance guiding prototype system. Through the maintenance equipment dissembling and installation in the process of work card, endoscopy graph reconstruction and demonstration of evaluation, this paper has displayed that the augmented reality maintenance guiding system will play an important role in aircraft maintenance.
(1)提出了基于自然特征的增强现实系统注册算法理论模型,将复杂的无标志注册问题分解为特征提取、特征匹配、三维重建、虚实融合四个可操作的具体问题,利用虚拟视觉伺服和从运动中恢复结构的技术,通过跟踪图像序列的点特征和线特征,实现了基于自然特征的增强现实注册算法,实验结果验证了该方法的有效性。
(2)在研究视线跟踪技术基本原理的基础上,通过电磁式位置跟踪器和共面四彩色标志点位置跟踪算法,构建了头部静止和头部自由运动两套视线跟踪系统,通过实验数据分析平均跟踪误差分别为0. 9585和9 .5871mm,满足维修诱导系统精度要求;通过将视线跟踪系统和增强现实光学透视式头盔集成,构建了具有视线跟踪功能的增强现实自然交互式头盔,为增强现实维修诱导系统的研制打下了良好的基础。
(3)增强现实维修诱导系统中诱导信息的组织和表达是个关键问题,本文将维修手册操作步骤、EBOM表和虚拟样机数据对应起来,构建了交互式电子手册(IETM)原型系统,将设计部门的飞机虚拟样机数据转换成增强现实维修诱导系统所需要并能够在增强场景中迅速、逼真展示的样机模型,大大提高了模型质量和建模效率。
(4)利用面向对象和多媒体同步Petri网建模技术构建了包含维修工作描述模型、维修作业指导模型和维修人员能力评估模型的维修诱导任务网(MGTN),较好地解决了维修工作描述,信息同步和用户交互,用户维修能力评估三个关键问题。以MGTN工作流程控制模块为核心,命令解释模块和运动感知模块为数据输入,信息增强模块为输出,通过场景分析模块和信息获取模块的辅助,完成增强现实维修诱导过程。
(5)本文的最后通过典型APU载荷压气机孔探工卡检查的实例,对增强现实维修诱导系统的完整应用进行了验证。利用三维注册技术、人机自然交互技术、交互式电子手册(IETM)和MGTN维修知识描述方法实现了一个增强现实维修诱导原型系统,该实例证实了增强现实维修诱导系统在航空器维修中具有良好的应用效果。
The aero-engine is a complex system with extremely complicated structure and highly concentrated technology, the application and maintenance of which are both greatly demanding proficient technicians. Therefore, this thesis which is aimed to raise the maintenance level of the aero technicians, lower the difficulty level of maintenance and research into the method and technology of maintenance will be of great significance. Taking the typical aero-engine maintenance work in the outside field as an example, combining the basic wearable maintenance aid theory and the augmented reality technology, this paper has done a deep research into the key digital maintenance technique and has developed a personified and intelligent maintenance aid system, centered on the maintenance technicians. This maintenance aid system can be applied to train the technicians and give them directions, lower the difficulty level of the maintenance work and reduce the errors in the process. The main content and innovation in this paper may be summarized as follows:
(1)It has advanced a theoretical model of augmented reality systematical registration algorithm, dividing the complicated markerless registration problem into four manageable stages as features extracting, matching, 3D reconstruction and merging virtual and real scene. Taking the advantage of virtual visual servo and structure from motion technology, tracking the image serials’point features and linear features, this paper has realized augmented reality registration algorithm. The result of the experiment has verified the effectiveness of this approach.
(2)Based on eye gaze tracking technique, through electromagnetic position tracker and the position tracking algorithm using four coplanar markers, this paper has constructed two sets of eye gaze tracking system of head fixed and head unfixed. By the analysis of the experimental data, the average tracking error of the two sets of eye gazing system is 0.9585o and 9.5871mm.By integrating eye gaze tracking system and augmented reality optical see-through HMD, it has constructed augmented reality natural interactive optical see-through HMD equipped with eye gaze tracking function and has laid a good foundation for developing the augmented reality maintenance guiding system.
(3)The organization and expression of augmented reality maintenance guiding system is a key issue. This paper has corresponded aircraft maintenance manual, EBOM figure and virtual prototype data, and transferred aircraft virtual prototype data of the designing section into demanding virtual prototype of augmented reality maintenance guiding system which can be rapidly and lifelikely displayed in augmented situation. It has greatly improved the efficiency of the model construction and the quality of the model.
(4)This paper has constructed maintenance guiding task net model, including maintenance description model, maintenance guiding model and maintenance technicians competence evaluation. It has well solved the three problems of maintenance description, information synchronization and human computer interaction, maintenance capability assessment. Centering on MGTN control model, taking command interpretation module and motion perceptual model as data input, information augmented module as output, with the help of scene analysis module and information retrieval module, the paper has completed the augmented reality maintenance guiding process.
(5)Based on APU load compressor endoscopy work card, applying three divisional registration technology, person-computer natural interactive technique, IETM and MGTN maintenance knowledge description method, this paper has realized an augmented reality maintenance guiding prototype system. Through the maintenance equipment dissembling and installation in the process of work card, endoscopy graph reconstruction and demonstration of evaluation, this paper has displayed that the augmented reality maintenance guiding system will play an important role in aircraft maintenance.
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