技术领域Technical field
本发明涉及增强现实技术领域，特别涉及一种基于体素化AR投影交互的机器人系统及控制方法。The present invention relates to the field of augmented reality technology, and in particular to a robot system and control method based on voxelized AR projection interaction.
背景技术Background technique
AR(Augmented Real ity)即增强现实，是一种将虚拟信息与真实世界巧妙融合的技术，通常通过在现实空间中进行全息投影实现，而全息投影属于3D技术的一种，原指利用干涉原理记录并再现物体真实的三维图像的技术。而后随着科幻电影与商业宣传的引导，全息投影的概念逐渐延伸到舞台表演、展览展示等商用活动中。AR (Augmented Reality) is a technology that cleverly integrates virtual information with the real world. It is usually realized through holographic projection in real space. Holographic projection is a type of 3D technology and originally refers to the use of interference principles. Technology that records and reproduces true three-dimensional images of objects. Then, with the guidance of science fiction movies and commercial promotions, the concept of holographic projection gradually extended to commercial activities such as stage performances and exhibitions.
但我们平时所了解到的全息往往并非严格意义上的全息投影，其在空间组合的表现上能力有限，并且需要通过实体幕布实现，使得其通常使用在舞台静态展示中，无法实现实际意义上的交互效果，在技术的应用拓展中十分受限。However, the hologram we usually know is often not a holographic projection in the strict sense. Its ability to perform spatial combinations is limited, and it needs to be realized through a physical curtain, making it usually used in static displays on the stage and unable to achieve practical effects. The interactive effect is very limited in the application expansion of technology.
鉴于此，急需一种基于体素化AR投影交互的机器人系统及控制方法，用于解决在现有技术中的AR技术使用的全息投影，其在空间组合的表现方面能力有限，实际应用通常受限控制在舞台及静态展示中的技术问题。In view of this, there is an urgent need for a robot system and control method based on voxelized AR projection interaction to solve the problem of holographic projection used by AR technology in the existing technology. Its ability to express spatial combinations is limited, and practical applications are usually limited by Limit technical issues in stage and static displays.
发明内容Contents of the invention
本发明的目的在于提供一种可故障分析的分布式光伏电站管理系统，以解决现有的分布式光伏电站在进行检修时效率较低的问题。The purpose of the present invention is to provide a distributed photovoltaic power station management system that can perform fault analysis to solve the problem of low efficiency in maintenance of existing distributed photovoltaic power stations.
为解决上述技术问题，本发明，一方面公开了一种基于体素化AR投影交互的机器人系统，包括：In order to solve the above technical problems, the present invention, on the one hand, discloses a robot system based on voxelized AR projection interaction, including:
多个雾气发生单元，用于喷出雾气创建浓密的雾气环境，形成多个空间雾屏；Multiple fog generating units are used to spray fog to create a dense fog environment and form multiple spatial fog screens;
全息图像处理单元，用于将二维图像生成体素模型，所述全息图像处理单元内设定有体素生成模型，所述体素生成模型设置有三维数组，所述三维数组设置有多个不同属性的信息组模型，所述三维数组包括多个数组元素，每个所述数组元素表示一个体素的属性，所述体素的属性包括颜色、位置、形状；A holographic image processing unit is used to generate a voxel model from a two-dimensional image. A voxel generation model is set in the holographic image processing unit. The voxel generation model is set with a three-dimensional array. The three-dimensional array is set with multiple Information group model of different attributes, the three-dimensional array includes a plurality of array elements, each of the array elements represents the attributes of a voxel, and the attributes of the voxel include color, position, and shape;
控制单元，用于控制每一所述雾气发生单元的雾气颗粒直径d和雾气浓度△N，并根据所述雾气浓度△N每一所述信息组模型分辨率和每一所述体素的属性；A control unit, used to control the fog particle diameter d and fog concentration ΔN of each fog generation unit, and use the model resolution of each information group and the attributes of each voxel according to the fog concentration ΔN. ;
多个全息投影单元，用于将所述体素模型的信息编码到光波中，通过光波的干涉和衍射形成三维图像，所述全息投影单元还用于将每一所述信息组模型产生的所述三维图像投影到所述空间雾屏上；A plurality of holographic projection units are used to encode the information of the voxel model into light waves, and form a three-dimensional image through the interference and diffraction of light waves. The holographic projection units are also used to encode all the information generated by each of the information group models. The three-dimensional image is projected onto the space fog screen;
识别交互单元，用于根据手势或语音调整每一全息投影单元的所述信息组模型的输入。An interaction unit is identified for adjusting the input of the information group model of each holographic projection unit according to gestures or speech.
优选的，所述控制单元内设定有雾气浓度矩阵T0和体素颜色调整矩阵A，对于所述体素颜色调整矩阵A，设定A(A1,A2,A3,A4)，其中A1为第一体素颜色调整控制，A2为第二体素颜色调整控制，A3为第三体素颜色调整控制，A4为第四体素颜色调整控制，且经过所述体素颜色调整控制的颜色饱和度关系为A1＜A2＜A3＜A4；对于所述雾气浓度矩阵T0，设定T0(T01,T02,T03,T04),其中，T01为第一雾气浓度，T02为第二雾气浓度，T03为第三雾气浓度，T04为第四雾气浓度，且T01＜T02＜T03＜T04；Preferably, a fog concentration matrix T0 and a voxel color adjustment matrix A are set in the control unit. For the voxel color adjustment matrix A, A (A1, A2, A3, A4) is set, where A1 is the One voxel color adjustment control, A2 is the second voxel color adjustment control, A3 is the third voxel color adjustment control, A4 is the fourth voxel color adjustment control, and the color saturation controlled by the voxel color adjustment is The relationship is A1＜A2＜A3＜A4; for the mist concentration matrix T0, set T0 (T01, T02, T03, T04), where T01 is the first mist concentration, T02 is the second mist concentration, and T03 is the second mist concentration. Three fog concentrations, T04 is the fourth fog concentration, and T01＜T02＜T03＜T04;
所述控制单元还用于当所述雾气颗粒直径d＜50微米时，根据所述雾气浓度△N与各预设雾气浓度矩阵的关系设定所述体素颜色调整：The control unit is also used to set the voxel color adjustment according to the relationship between the fog concentration ΔN and each preset fog concentration matrix when the fog particle diameter d<50 microns:
当L0＜T01时，选定所述第一体素颜色调整控制A1作为所述数组元素中所述体素的属性；When L0<T01, select the first voxel color adjustment control A1 as the attribute of the voxel in the array element;
当T01≤L0＜T02，选定所述第二体素颜色调整控制A2作为所述数组元素中所述体素的属性；When T01≤L0<T02, select the second voxel color adjustment control A2 as the attribute of the voxel in the array element;
当T02≤L0＜T03，选定所述第三体素颜色调整控制A3作为所述数组元素中所述体素的属性；When T02≤L0<T03, select the third voxel color adjustment control A3 as the attribute of the voxel in the array element;
当T03≤L0＜T04，选定所述第四体素颜色调整控制A4作为所述数组元素中所述体素的属性。When T03≤L0<T04, the fourth voxel color adjustment control A4 is selected as the attribute of the voxel in the array element.
优选的，所述控制单元内还设定有雾气浓度矩阵T0和体素分辨率矩阵B，对于所述体素属性调整矩阵B，设定B(B1,B2,B3,B4)，其中B1为第一体素分辨率，B2为第二体素分辨率，B3为第三体素分辨率，B4为第四体素分辨率，且B1＜B2＜B3＜B4；对于所述雾气浓度矩阵T0，设定T0(T01,T02,T03,T04),其中，T01为第一雾气浓度，T02为第二雾气浓度，T03为第三雾气浓度，T04为第四雾气浓度，且T01＜T02＜T03＜T04；Preferably, the fog concentration matrix T0 and the voxel resolution matrix B are also set in the control unit. For the voxel attribute adjustment matrix B, B (B1, B2, B3, B4) is set, where B1 is The first voxel resolution, B2 is the second voxel resolution, B3 is the third voxel resolution, B4 is the fourth voxel resolution, and B1＜B2＜B3＜B4; for the fog concentration matrix T0 , set T0 (T01, T02, T03, T04), where T01 is the first fog concentration, T02 is the second fog concentration, T03 is the third fog concentration, T04 is the fourth fog concentration, and T01＜T02＜T03 <T04;
所述控制单元还用于当所述雾气颗粒直径d＞50微米时，根据所述雾气浓度△N与各预设雾气浓度矩阵的关系设定每一所述信息组模型的所述体素分辨率：The control unit is also used to set the voxel resolution of each information group model according to the relationship between the fog concentration ΔN and each preset fog concentration matrix when the fog particle diameter d>50 microns. Rate:
当L0＜T01时，选定所述第一体素分辨率B1作为所述信息组模型的所述体素分辨率；When L0<T01, select the first voxel resolution B1 as the voxel resolution of the information group model;
当T01≤L0＜T02，选定所述第二体素分辨率B2作为所述信息组模型的所述体素分辨率；When T01≤L0<T02, select the second voxel resolution B2 as the voxel resolution of the information group model;
当T02≤L0＜T03，选定所述第三体素分辨率B3作为所述信息组模型的所述体素分辨率；When T02≤L0<T03, select the third voxel resolution B3 as the voxel resolution of the information group model;
当T03≤L0＜T04，选定所述第四体素分辨率B4作为所述信息组模型的所述体素分辨率。When T03≤L0<T04, the fourth voxel resolution B4 is selected as the voxel resolution of the information group model.
优选的，所述全息图像处理单元设定的所述体素生成模型还包括：遍历所述二维图像中的每个像素，将所述像素的位置映射到体素模型中的对应位置，对所述每个像素进行体素化，将所述每个像素属性相关与映射体素进行关联，所述体素生成模型用于根据二维图像的大小和分辨率和属性确定模型的空间范围的每个体素单元的大小和每个体素的属性。Preferably, the voxel generation model set by the holographic image processing unit further includes: traversing each pixel in the two-dimensional image, mapping the position of the pixel to the corresponding position in the voxel model, and Each pixel is voxelized, and each pixel attribute is associated with a mapping voxel. The voxel generation model is used to determine the spatial range of the model based on the size, resolution and attributes of the two-dimensional image. The size of each voxel unit and the properties of each voxel.
优选的，所述全息投影单元内设定有，根据所述根据体素模型中的信息，计算光波在整个空间中传播的相位和振幅信息。Preferably, the holographic projection unit is configured to calculate phase and amplitude information of light waves propagating throughout the space based on the information in the voxel model.
另一方面，本申请还提供一种基于体素化AR投影交互的机器人控制方法，该方法包括：On the other hand, this application also provides a robot control method based on voxelized AR projection interaction, which method includes:
喷出雾气创建浓密的雾气环境，形成多个空间雾屏；Spray mist to create a dense fog environment and form multiple space fog screens;
将二维图像生成体素模型，所述全息图像处理单元内设定有体素生成模型，所述体素生成模型设置有所述三维数组，所述三维数组设置有多个不同属性的信息组模型，所述三维数组包括多个数组元素，每个所述数组元素表示一个体素的属性，所述体素的属性包括颜色、位置、形状；Generate a voxel model from the two-dimensional image. The voxel generation model is set in the holographic image processing unit. The voxel generation model is set with the three-dimensional array. The three-dimensional array is set with a plurality of information groups with different attributes. Model, the three-dimensional array includes a plurality of array elements, each of the array elements represents the attributes of a voxel, and the attributes of the voxel include color, position, and shape;
控制每一所述雾气发生单元的雾气颗粒直径d和雾气浓度△N，并根据所述雾气浓度△N每一所述信息组模型分辨率和每一所述体素的属性；Control the fog particle diameter d and fog concentration ΔN of each fog generation unit, and model the resolution of each information group and the attributes of each voxel according to the fog concentration ΔN;
将所述体素模型的信息编码到光波中，通过光波的干涉和衍射形成三维图像，还用于控制将每一所述信息组模型产生的所述三维图像投影到所述空间雾屏上；Encoding the information of the voxel model into light waves, forming a three-dimensional image through the interference and diffraction of light waves, and also controlling the projection of the three-dimensional image generated by each information group model onto the spatial fog screen;
根据手势或语音调整每一全息投影单元的所述信息组模型的输入。The input of the information set model of each holographic projection unit is adjusted based on gestures or speech.
优选的，所述控制每一所述雾气发生单元的雾气颗粒直径d和雾气浓度△N，并根据所述雾气浓度△N每一所述信息组模型分辨率和每一所述体素的属性，包括：Preferably, the fog particle diameter d and the fog concentration ΔN of each fog generating unit are controlled, and the model resolution of each information group and the attributes of each voxel are determined according to the fog concentration ΔN. ,include:
设定雾气浓度矩阵T0和体素颜色调整矩阵A，对于所述体素颜色调整矩阵A，设定A(A1,A2,A3,A4)，其中A1为第一体素颜色调整控制，A2为第二体素颜色调整控制，A3为第三体素颜色调整控制，A4为第四体素颜色调整控制，且经过所述体素颜色调整控制的颜色饱和度关系为A1＜A2＜A3＜A4；对于所述雾气浓度矩阵T0，设定T0(T01,T02,T03,T04),其中，T01为第一雾气浓度，T02为第二雾气浓度，T03为第三雾气浓度，T04为第四雾气浓度，且T01＜T02＜T03＜T04；Set the fog concentration matrix T0 and the voxel color adjustment matrix A. For the voxel color adjustment matrix A, set A (A1, A2, A3, A4), where A1 is the first voxel color adjustment control, and A2 is The second voxel color adjustment control, A3 is the third voxel color adjustment control, and A4 is the fourth voxel color adjustment control, and the color saturation relationship after the voxel color adjustment control is A1＜A2＜A3＜A4 ; For the fog concentration matrix T0, set T0 (T01, T02, T03, T04), where T01 is the first fog concentration, T02 is the second fog concentration, T03 is the third fog concentration, and T04 is the fourth fog concentration, and T01＜T02＜T03＜T04;
所述控制单元还用于当所述雾气颗粒直径d＜50微米时，根据所述雾气浓度△N与各预设雾气浓度矩阵的关系设定所述体素颜色调整：The control unit is also used to set the voxel color adjustment according to the relationship between the fog concentration ΔN and each preset fog concentration matrix when the fog particle diameter d<50 microns:
当L0＜T01时，选定所述第一体素颜色调整控制A1作为所述数组元素中所述体素的属性；When L0<T01, select the first voxel color adjustment control A1 as the attribute of the voxel in the array element;
当T01≤L0＜T02，选定所述第二体素颜色调整控制A2作为所述数组元素中所述体素的属性；When T01≤L0<T02, select the second voxel color adjustment control A2 as the attribute of the voxel in the array element;
当T02≤L0＜T03，选定所述第三体素颜色调整控制A3作为所述数组元素中所述体素的属性；When T02≤L0<T03, select the third voxel color adjustment control A3 as the attribute of the voxel in the array element;
当T03≤L0＜T04，选定所述第四体素颜色调整控制A4作为所述数组元素中所述体素的属性。When T03≤L0<T04, the fourth voxel color adjustment control A4 is selected as the attribute of the voxel in the array element.
优选的，所述控制每一所述雾气发生单元的雾气颗粒直径d和雾气浓度△N，并根据所述雾气浓度△N每一所述信息组模型分辨率和每一所述体素的属性，还包括：Preferably, the fog particle diameter d and the fog concentration ΔN of each fog generating unit are controlled, and the model resolution of each information group and the attributes of each voxel are determined according to the fog concentration ΔN. ,Also includes:
设定雾气浓度矩阵T0和体素分辨率矩阵B，对于所述体素属性调整矩阵B，设定B(B1,B2,B3,B4)，其中B1为第一体素分辨率，B2为第二体素分辨率，B3为第三体素分辨率，B4为第四体素分辨率，且B1＜B2＜B3＜B4；对于所述雾气浓度矩阵T0，设定T0(T01,T02,T03,T04),其中，T01为第一雾气浓度，T02为第二雾气浓度，T03为第三雾气浓度，T04为第四雾气浓度，且T01＜T02＜T03＜T04；Set the fog concentration matrix T0 and the voxel resolution matrix B. For the voxel attribute adjustment matrix B, set B (B1, B2, B3, B4), where B1 is the first voxel resolution and B2 is the first voxel resolution. Two voxel resolution, B3 is the third voxel resolution, B4 is the fourth voxel resolution, and B1＜B2＜B3＜B4; for the fog concentration matrix T0, set T0 (T01, T02, T03 , T04), where T01 is the first fog concentration, T02 is the second fog concentration, T03 is the third fog concentration, T04 is the fourth fog concentration, and T01＜T02＜T03＜T04;
所述控制单元还用于当所述雾气颗粒直径d＞50微米时，根据所述雾气浓度△N与各预设雾气浓度矩阵的关系设定每一所述信息组模型的所述体素分辨率：The control unit is also used to set the voxel resolution of each information group model according to the relationship between the fog concentration ΔN and each preset fog concentration matrix when the fog particle diameter d>50 microns. Rate:
当L0＜T01时，选定所述第一体素分辨率B1作为所述信息组模型的所述体素分辨率；When L0<T01, select the first voxel resolution B1 as the voxel resolution of the information group model;
当T01≤L0＜T02，选定所述第二体素分辨率B2作为所述信息组模型的所述体素分辨率；When T01≤L0<T02, select the second voxel resolution B2 as the voxel resolution of the information group model;
当T02≤L0＜T03，选定所述第三体素分辨率B3作为所述信息组模型的所述体素分辨率；When T02≤L0<T03, select the third voxel resolution B3 as the voxel resolution of the information group model;
当T03≤L0＜T04，选定所述第四体素分辨率B4作为所述信息组模型的所述体素分辨率。When T03≤L0<T04, the fourth voxel resolution B4 is selected as the voxel resolution of the information group model.
优选的，所述将二维图像生成体素模型，所述全息图像处理单元内设定有体素生成模型，所述体素生成模型设置有所述三维数组，所述三维数组设置有多个不同属性的信息组模型，所述三维数组包括多个数组元素，每个所述数组元素表示一个体素的属性，所述体素的属性包括颜色、位置、形状，包括：Preferably, the two-dimensional image is generated into a voxel model, the voxel generation model is set in the holographic image processing unit, the voxel generation model is provided with the three-dimensional array, and the three-dimensional array is provided with a plurality of Information group model with different attributes. The three-dimensional array includes multiple array elements. Each of the array elements represents the attributes of a voxel. The attributes of the voxel include color, position, and shape, including:
遍历所述二维图像中的每个像素，将所述像素的位置映射到体素模型中的对应位置，对所述每个像素进行体素化，将所述每个像素属性相关与映射体素进行关联，所述体素生成模型用于根据二维图像的大小和分辨率和属性确定模型的空间范围的每个体素单元的大小和每个体素的属性。Traverse each pixel in the two-dimensional image, map the position of the pixel to the corresponding position in the voxel model, voxelize each pixel, and correlate the attributes of each pixel with the mapped volume The voxel generation model is used to determine the size of each voxel unit and the properties of each voxel in the spatial range of the model based on the size and resolution and properties of the two-dimensional image.
优选的，所述将所述体素模型的信息编码到光波中，通过光波的干涉和衍射形成三维图像，还用于控制将每一所述信息组模型产生的所述三维图像投影到所述空间雾屏上，包括：根据所述根据体素模型中的信息，计算光波在整个空间中传播的相位和振幅信息。Preferably, the information of the voxel model is encoded into light waves to form a three-dimensional image through interference and diffraction of light waves, and is also used to control the projection of the three-dimensional image generated by each information group model onto the The spatial fog screen includes: calculating the phase and amplitude information of light waves propagating throughout the space based on the information in the voxel model.
本发明提供的一种基于体素化AR投影交互的机器人系统及控制方法，与现有技术相比，其有益效果在于：The present invention provides a robot system and control method based on voxelized AR projection interaction. Compared with the existing technology, its beneficial effects are:
通过浓密的雾气环境、高质量的体素模型生成、动态调控雾气参数、高质量的三维图像投影以及多种交互方式等技术效果和优点，提供逼真、沉浸式的交互体验，可以广泛应用于增强现实、虚拟现实、教育、娱乐等领域。Through technical effects and advantages such as dense fog environment, high-quality voxel model generation, dynamic control of fog parameters, high-quality three-dimensional image projection, and multiple interaction methods, it provides a realistic and immersive interactive experience, which can be widely used to enhance Reality, virtual reality, education, entertainment and other fields.
附图说明Description of drawings
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。在附图中：The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. In the attached picture:
图1为本发明基于体素化AR投影交互的机器人系统示意图；Figure 1 is a schematic diagram of the robot system based on voxelized AR projection interaction according to the present invention;
图2为本发明基于体素化AR投影交互的机器人控制方法流程图。Figure 2 is a flow chart of the robot control method based on voxelized AR projection interaction according to the present invention.
具体实施方式Detailed ways
下面结合附图和实施例，对本发明的具体实施方式作进一步详细描述。以下实施例用于说明本发明，但不用来限制本发明的范围。Specific implementations of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the invention but are not intended to limit the scope of the invention.
在本申请的描述中，需要理解的是，术语“中心”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", The orientations or positional relationships indicated by "top", "bottom", "inner", "outside", etc. are based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present application and simplifying the description, and are not indicated or implied. The devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the application.
术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。The terms “first” and “second” are used for descriptive purposes only and shall not be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of this application, unless otherwise stated, "plurality" means two or more.
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。In the description of this application, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. Connection, or integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood on a case-by-case basis.
参阅图1所示，本发明一方面公开了一种基于体素化AR投影交互的机器人系统，包括：多个雾气发生单元、全息图像处理单元、控制单元、多个全息投影单元和识别交互单元，其中雾气发生单元，用于喷出雾气创建浓密的雾气环境，形成多个空间雾屏；而全息图像处理单元，用于将二维图像生成体素模型，所述全息图像处理单元内设定有体素生成模型，所述体素生成模型设置有三维数组，所述三维数组设置有多个不同属性的信息组模型，所述三维数组包括多个数组元素，每个所述数组元素表示一个体素的属性，所述体素的属性包括颜色、位置、形状；控制单元则用于控制每一所述雾气发生单元的雾气颗粒直径d和雾气浓度△N，并根据所述雾气浓度△N每一所述信息组模型分辨率和每一所述体素的属性；全息投影单元则用于将所述体素模型的信息编码到光波中，通过光波的干涉和衍射形成三维图像，所述全息投影单元还用于控制将每一所述信息组模型产生的所述三维图像投影到所述空间雾屏上；而识别交互单元，用于根据手势或语音调整每一全息投影单元的所述信息组模型的输入。Referring to Figure 1, on one hand, the present invention discloses a robot system based on voxelized AR projection interaction, including: multiple fog generation units, holographic image processing units, control units, multiple holographic projection units and recognition interaction units. , where the fog generation unit is used to spray out fog to create a dense fog environment and form multiple spatial fog screens; and the holographic image processing unit is used to generate a voxel model from a two-dimensional image, and the holographic image processing unit is set There is a voxel generation model, the voxel generation model is provided with a three-dimensional array, the three-dimensional array is provided with a plurality of information group models with different attributes, the three-dimensional array includes a plurality of array elements, each of the array elements represents a The attributes of the voxels include color, position, and shape; the control unit is used to control the fog particle diameter d and the fog concentration ΔN of each of the fog generating units, and according to the fog concentration ΔN The resolution of each information group model and the attributes of each voxel; the holographic projection unit is used to encode the information of the voxel model into light waves, and form a three-dimensional image through the interference and diffraction of light waves. The holographic projection unit is also used to control the projection of the three-dimensional image generated by each information group model onto the spatial fog screen; and the recognition interaction unit is used to adjust the image of each holographic projection unit according to gestures or voice. Input to the information group model.
可以理解的是，本发明通过设置通过多个雾气发生单元，系统能够喷出浓密的雾气，形成多个空间雾屏，这种浓密的雾气环境为后续的全息投影提供了理想的条件，增强了交互体验和图像的逼真性而多个空间雾屏扩展了图像投影的之间的交互。It can be understood that in the present invention, by arranging multiple fog generating units, the system can spray dense fog to form multiple spatial fog screens. This dense fog environment provides ideal conditions for subsequent holographic projection and enhances the Interactive experience and image fidelity while multiple spatial fog screens expand the interaction between image projections.
可以理解的是，全息图像处理单元采用了体素生成模型，能够将二维图像准确地转化为体素模型。通过三维数组存储不同属性的信息组模型，包括颜色、位置、形状等，能够更精细地表示三维场景，提供更丰富的交互体验。It can be understood that the holographic image processing unit adopts a voxel generation model, which can accurately convert two-dimensional images into voxel models. By storing information group models with different attributes in three-dimensional arrays, including color, position, shape, etc., it can represent the three-dimensional scene more accurately and provide a richer interactive experience.
可以理解的是识别交互单元可以根据手势或语音来调整每个全息投影单元的信息组模型的输入。这种多种交互方式使用户能够灵活地控制和操作投影图像，提高用户体验和参与度。It can be understood that the recognition interaction unit can adjust the input of the information group model of each holographic projection unit according to gestures or voice. This variety of interaction methods enables users to flexibly control and manipulate projected images, improving user experience and engagement.
在本申请的一些实施例中，所述控制单元内设定有雾气浓度矩阵T0和体素颜色调整矩阵A，对于所述体素颜色调整矩阵A，设定A(A1,A2,A3,A4)，其中A1为第一体素颜色调整控制，A2为第二体素颜色调整控制，A3为第三体素颜色调整控制，A4为第四体素颜色调整控制，且经过所述体素颜色调整控制的颜色饱和度关系为A1＜A2＜A3＜A4；对于所述雾气浓度矩阵T0，设定T0(T01,T02,T03,T04),其中，T01为第一雾气浓度，T02为第二雾气浓度，T03为第三雾气浓度，T04为第四雾气浓度，且T01＜T02＜T03＜T04；In some embodiments of the present application, the fog concentration matrix T0 and the voxel color adjustment matrix A are set in the control unit. For the voxel color adjustment matrix A, A (A1, A2, A3, A4 ), where A1 is the first voxel color adjustment control, A2 is the second voxel color adjustment control, A3 is the third voxel color adjustment control, A4 is the fourth voxel color adjustment control, and after the voxel color The color saturation relationship of adjustment control is A1<A2<A3<A4; for the fog concentration matrix T0, set T0 (T01, T02, T03, T04), where T01 is the first fog concentration and T02 is the second Fog concentration, T03 is the third fog concentration, T04 is the fourth fog concentration, and T01＜T02＜T03＜T04;
所述控制单元还用于当所述雾气颗粒直径d＜50微米时，根据所述雾气浓度△N与各预设雾气浓度矩阵的关系设定所述体素颜色调整：The control unit is also used to set the voxel color adjustment according to the relationship between the fog concentration ΔN and each preset fog concentration matrix when the fog particle diameter d<50 microns:
当L0＜T01时，选定所述第一体素颜色调整控制A1作为所述数组元素中所述体素的属性；When L0<T01, select the first voxel color adjustment control A1 as the attribute of the voxel in the array element;
当T01≤L0＜T02，选定所述第二体素颜色调整控制A2作为所述数组元素中所述体素的属性；When T01≤L0<T02, select the second voxel color adjustment control A2 as the attribute of the voxel in the array element;
当T02≤L0＜T03，选定所述第三体素颜色调整控制A3作为所述数组元素中所述体素的属性；When T02≤L0<T03, select the third voxel color adjustment control A3 as the attribute of the voxel in the array element;
当T03≤L0＜T04，选定所述第四体素颜色调整控制A4作为所述数组元素中所述体素的属性。When T03≤L0<T04, the fourth voxel color adjustment control A4 is selected as the attribute of the voxel in the array element.
在本申请的一些实施例中，所述控制单元内还设定有雾气浓度矩阵T0和体素分辨率矩阵B，对于所述体素属性调整矩阵B，设定B(B1,B2,B3,B4)，其中B1为第一体素分辨率，B2为第二体素分辨率，B3为第三体素分辨率，B4为第四体素分辨率，且B1＜B2＜B3＜B4；对于所述雾气浓度矩阵T0，设定T0(T01,T02,T03,T04),其中，T01为第一雾气浓度，T02为第二雾气浓度，T03为第三雾气浓度，T04为第四雾气浓度，且T01＜T02＜T03＜T04；In some embodiments of the present application, a fog concentration matrix T0 and a voxel resolution matrix B are also set in the control unit. For the voxel attribute adjustment matrix B, B (B1, B2, B3, B4), where B1 is the first voxel resolution, B2 is the second voxel resolution, B3 is the third voxel resolution, B4 is the fourth voxel resolution, and B1＜B2＜B3＜B4; for The mist concentration matrix T0 is set to T0 (T01, T02, T03, T04), where T01 is the first mist concentration, T02 is the second mist concentration, T03 is the third mist concentration, and T04 is the fourth mist concentration, And T01＜T02＜T03＜T04;
所述控制单元还用于当所述雾气颗粒直径d＞50微米时，根据所述雾气浓度△N与各预设雾气浓度矩阵的关系设定每一所述信息组模型的所述体素分辨率：The control unit is also used to set the voxel resolution of each information group model according to the relationship between the fog concentration ΔN and each preset fog concentration matrix when the fog particle diameter d>50 microns. Rate:
当L0＜T01时，选定所述第一体素分辨率B1作为所述信息组模型的所述体素分辨率；When L0<T01, select the first voxel resolution B1 as the voxel resolution of the information group model;
当T01≤L0＜T02，选定所述第二体素分辨率B2作为所述信息组模型的所述体素分辨率；When T01≤L0<T02, select the second voxel resolution B2 as the voxel resolution of the information group model;
当T02≤L0＜T03，选定所述第三体素分辨率B3作为所述信息组模型的所述体素分辨率；When T02≤L0<T03, select the third voxel resolution B3 as the voxel resolution of the information group model;
当T03≤L0＜T04，选定所述第四体素分辨率B4作为所述信息组模型的所述体素分辨率。When T03≤L0<T04, the fourth voxel resolution B4 is selected as the voxel resolution of the information group model.
可以理解的是，控制单元能够实时调控每个雾气发生单元的雾气颗粒直径和雾气浓度。随着调节雾气颗粒直径和浓度，可以通过动态调控信息组模型分辨率和体素属性的精确适应性控制，改变图片的风格及适应性。It can be understood that the control unit can regulate the mist particle diameter and mist concentration of each mist generating unit in real time. As the diameter and concentration of fog particles are adjusted, the style and adaptability of the picture can be changed by dynamically adjusting the resolution of the information group model and precise adaptive control of voxel attributes.
在本申请的一些实施例中，所述全息图像处理单元设定的所述体素生成模型还包括：遍历所述二维图像中的每个像素，将所述像素的位置映射到体素模型中的对应位置，对所述每个像素进行体素化，将所述每个像素属性相关与映射体素进行关联，所述体素生成模型用于根据二维图像的大小和分辨率和属性确定模型的空间范围的每个体素单元的大小和每个体素的属性。In some embodiments of the present application, the voxel generation model set by the holographic image processing unit further includes: traversing each pixel in the two-dimensional image and mapping the position of the pixel to a voxel model At the corresponding position in The size of each voxel unit and the properties of each voxel determine the spatial extent of the model.
可以理解的是，通过将全息投影单元将体素模型的信息编码到光波中，通过光波的干涉和衍射形成高质量的三维图像。通过控制投影，可以将信息组模型产生的三维图像准确地投影到空间雾屏上，实现逼真的交互效果。It can be understood that by encoding the information of the voxel model into light waves through the holographic projection unit, a high-quality three-dimensional image is formed through the interference and diffraction of light waves. By controlling the projection, the three-dimensional image generated by the information group model can be accurately projected onto the spatial fog screen to achieve realistic interactive effects.
在本申请的一些实施例中，所述全息投影单元内设定有，根据所述根据体素模型中的信息，计算光波在整个空间中传播的相位和振幅信息。In some embodiments of the present application, the holographic projection unit is configured to calculate the phase and amplitude information of light waves propagating throughout the space based on the information in the voxel model.
参阅图2所示，另一方面，本申请还提供一种基于体素化AR投影交互的机器人控制方法，该方法包括：Referring to Figure 2, on the other hand, this application also provides a robot control method based on voxelized AR projection interaction, which method includes:
喷出雾气创建浓密的雾气环境，形成多个空间雾屏；Spray mist to create a dense fog environment and form multiple space fog screens;
将二维图像生成体素模型，所述全息图像处理单元内设定有体素生成模型，所述体素生成模型设置有所述三维数组，所述三维数组设置有多个不同属性的信息组模型，所述三维数组包括多个数组元素，每个所述数组元素表示一个体素的属性，所述体素的属性包括颜色、位置、形状；Generate a voxel model from the two-dimensional image. The voxel generation model is set in the holographic image processing unit. The voxel generation model is set with the three-dimensional array. The three-dimensional array is set with a plurality of information groups with different attributes. Model, the three-dimensional array includes a plurality of array elements, each of the array elements represents the attributes of a voxel, and the attributes of the voxel include color, position, and shape;
控制每一所述雾气发生单元的雾气颗粒直径d和雾气浓度△N，并根据所述雾气浓度△N每一所述信息组模型分辨率和每一所述体素的属性；Control the fog particle diameter d and fog concentration ΔN of each fog generation unit, and model the resolution of each information group and the attributes of each voxel according to the fog concentration ΔN;
将所述体素模型的信息编码到光波中，通过光波的干涉和衍射形成三维图像，还用于控制将每一所述信息组模型产生的所述三维图像投影到所述空间雾屏上；Encoding the information of the voxel model into light waves, forming a three-dimensional image through the interference and diffraction of light waves, and also controlling the projection of the three-dimensional image generated by each information group model onto the spatial fog screen;
根据手势或语音调整每一全息投影单元的所述信息组模型的输入。The input of the information set model of each holographic projection unit is adjusted based on gestures or speech.
在本申请的一些实施例中，所述控制每一所述雾气发生单元的雾气颗粒直径d和雾气浓度△N，并根据所述雾气浓度△N每一所述信息组模型分辨率和每一所述体素的属性，包括：In some embodiments of the present application, the fog particle diameter d and the fog concentration ΔN of each fog generating unit are controlled, and each information group model resolution and each information group are controlled according to the fog concentration ΔN. The attributes of the voxel include:
设定雾气浓度矩阵T0和体素颜色调整矩阵A，对于所述体素颜色调整矩阵A，设定A(A1,A2,A3,A4)，其中A1为第一体素颜色调整控制，A2为第二体素颜色调整控制，A3为第三体素颜色调整控制，A4为第四体素颜色调整控制，且经过所述体素颜色调整控制的颜色饱和度关系为A1＜A2＜A3＜A4；对于所述雾气浓度矩阵T0，设定T0(T01,T02,T03,T04),其中，T01为第一雾气浓度，T02为第二雾气浓度，T03为第三雾气浓度，T04为第四雾气浓度，且T01＜T02＜T03＜T04；Set the fog concentration matrix T0 and the voxel color adjustment matrix A. For the voxel color adjustment matrix A, set A (A1, A2, A3, A4), where A1 is the first voxel color adjustment control, and A2 is The second voxel color adjustment control, A3 is the third voxel color adjustment control, and A4 is the fourth voxel color adjustment control, and the color saturation relationship after the voxel color adjustment control is A1＜A2＜A3＜A4 ; For the fog concentration matrix T0, set T0 (T01, T02, T03, T04), where T01 is the first fog concentration, T02 is the second fog concentration, T03 is the third fog concentration, and T04 is the fourth fog concentration, and T01＜T02＜T03＜T04;
所述控制单元还用于当所述雾气颗粒直径d＜50微米时，根据所述雾气浓度△N与各预设雾气浓度矩阵的关系设定所述体素颜色调整：The control unit is also used to set the voxel color adjustment according to the relationship between the fog concentration ΔN and each preset fog concentration matrix when the fog particle diameter d<50 microns:
当L0＜T01时，选定所述第一体素颜色调整控制A1作为所述数组元素中所述体素的属性；When L0<T01, select the first voxel color adjustment control A1 as the attribute of the voxel in the array element;
当T01≤L0＜T02，选定所述第二体素颜色调整控制A2作为所述数组元素中所述体素的属性；When T01≤L0<T02, select the second voxel color adjustment control A2 as the attribute of the voxel in the array element;
当T02≤L0＜T03，选定所述第三体素颜色调整控制A3作为所述数组元素中所述体素的属性；When T02≤L0<T03, select the third voxel color adjustment control A3 as the attribute of the voxel in the array element;
当T03≤L0＜T04，选定所述第四体素颜色调整控制A4作为所述数组元素中所述体素的属性。When T03≤L0<T04, the fourth voxel color adjustment control A4 is selected as the attribute of the voxel in the array element.
在本申请的一些实施例中，所述控制每一所述雾气发生单元的雾气颗粒直径d和雾气浓度△N，并根据所述雾气浓度△N每一所述信息组模型分辨率和每一所述体素的属性，还包括：In some embodiments of the present application, the fog particle diameter d and the fog concentration ΔN of each fog generating unit are controlled, and each information group model resolution and each information group are controlled according to the fog concentration ΔN. The attributes of the voxel also include:
设定雾气浓度矩阵T0和体素分辨率矩阵B，对于所述体素属性调整矩阵B，设定B(B1,B2,B3,B4)，其中B1为第一体素分辨率，B2为第二体素分辨率，B3为第三体素分辨率，B4为第四体素分辨率，且B1＜B2＜B3＜B4；对于所述雾气浓度矩阵T0，设定T0(T01,T02,T03,T04),其中，T01为第一雾气浓度，T02为第二雾气浓度，T03为第三雾气浓度，T04为第四雾气浓度，且T01＜T02＜T03＜T04；Set the fog concentration matrix T0 and the voxel resolution matrix B. For the voxel attribute adjustment matrix B, set B (B1, B2, B3, B4), where B1 is the first voxel resolution and B2 is the first voxel resolution. Two voxel resolution, B3 is the third voxel resolution, B4 is the fourth voxel resolution, and B1＜B2＜B3＜B4; for the fog concentration matrix T0, set T0 (T01, T02, T03 , T04), where T01 is the first fog concentration, T02 is the second fog concentration, T03 is the third fog concentration, T04 is the fourth fog concentration, and T01＜T02＜T03＜T04;
所述控制单元还用于当所述雾气颗粒直径d＞50微米时，根据所述雾气浓度△N与各预设雾气浓度矩阵的关系设定每一所述信息组模型的所述体素分辨率：The control unit is also used to set the voxel resolution of each information group model according to the relationship between the fog concentration ΔN and each preset fog concentration matrix when the fog particle diameter d>50 microns. Rate:
当L0＜T01时，选定所述第一体素分辨率B1作为所述信息组模型的所述体素分辨率；When L0<T01, select the first voxel resolution B1 as the voxel resolution of the information group model;
当T01≤L0＜T02，选定所述第二体素分辨率B2作为所述信息组模型的所述体素分辨率；When T01≤L0<T02, select the second voxel resolution B2 as the voxel resolution of the information group model;
当T02≤L0＜T03，选定所述第三体素分辨率B3作为所述信息组模型的所述体素分辨率；When T02≤L0<T03, select the third voxel resolution B3 as the voxel resolution of the information group model;
当T03≤L0＜T04，选定所述第四体素分辨率B4作为所述信息组模型的所述体素分辨率。When T03≤L0<T04, the fourth voxel resolution B4 is selected as the voxel resolution of the information group model.
在本申请的一些实施例中，所述将二维图像生成体素模型，所述全息图像处理单元内设定有体素生成模型，所述体素生成模型设置有所述三维数组，所述三维数组设置有多个不同属性的信息组模型，所述三维数组包括多个数组元素，每个所述数组元素表示一个体素的属性，所述体素的属性包括颜色、位置、形状，包括：In some embodiments of the present application, the two-dimensional image is generated into a voxel model, the voxel generation model is set in the holographic image processing unit, and the voxel generation model is set with the three-dimensional array, and the The three-dimensional array is provided with multiple information group models with different attributes. The three-dimensional array includes multiple array elements. Each of the array elements represents the attributes of a voxel. The attributes of the voxel include color, position, and shape, including :
遍历所述二维图像中的每个像素，将所述像素的位置映射到体素模型中的对应位置，对所述每个像素进行体素化，将所述每个像素属性相关与映射体素进行关联，所述体素生成模型用于根据二维图像的大小和分辨率和属性确定模型的空间范围的每个体素单元的大小和每个体素的属性。Traverse each pixel in the two-dimensional image, map the position of the pixel to the corresponding position in the voxel model, voxelize each pixel, and correlate the attributes of each pixel with the mapped volume The voxel generation model is used to determine the size of each voxel unit and the properties of each voxel in the spatial range of the model based on the size and resolution and properties of the two-dimensional image.
在本申请的一些实施例中，所述将所述体素模型的信息编码到光波中，通过光波的干涉和衍射形成三维图像，还用于控制将每一所述信息组模型产生的所述三维图像投影到所述空间雾屏上，包括：根据所述根据体素模型中的信息，计算光波在整个空间中传播的相位和振幅信息。In some embodiments of the present application, the information of the voxel model is encoded into light waves to form a three-dimensional image through the interference and diffraction of light waves, and is also used to control the processing of the information generated by each information group model. Projecting the three-dimensional image onto the spatial fog screen includes: calculating the phase and amplitude information of light waves propagating throughout the space based on the information in the voxel-based model.
综上所述，本申请的基于体素化AR投影交互的机器人系统及控制方法，通过浓密的雾气环境、高质量的体素模型生成、动态调控雾气参数、高质量的三维图像投影以及多种交互方式等技术效果和优点，提供逼真、沉浸式的交互体验，广泛应用于增强现实、虚拟现实、教育、娱乐等领域。To sum up, the robot system and control method based on voxelized AR projection interaction in this application use a dense fog environment, high-quality voxel model generation, dynamic control of fog parameters, high-quality three-dimensional image projection and a variety of Technical effects and advantages such as interactive methods provide a realistic and immersive interactive experience, and are widely used in augmented reality, virtual reality, education, entertainment and other fields.
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art will understand that embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines 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.
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。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 application. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes 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 a 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 a use A device for realizing the functions specified in one process or multiple processes of the flowchart and/or one block or multiple blocks of the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device. Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.
最后应当说明的是：以上实施例仅用以说明本发明的技术方案而非对其限制，尽管参照上述实施例对本发明进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本发明的具体实施方式进行修改或者等同替换，而未脱离本发明精神和范围的任何修改或者等同替换，其均应涵盖在本发明的权利要求保护范围之内。Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that the present invention can still be modified. Modifications or equivalent substitutions may be made to the specific embodiments, and any modifications or equivalent substitutions that do not depart from the spirit and scope of the invention shall be covered by the scope of the claims of the invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310782775.8ACN116728411A (en) | 2023-06-29 | 2023-06-29 | A robot system and control method based on voxelized AR projection interaction |
| Application Number | Priority Date | Filing Date | Title |
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| CN202310782775.8ACN116728411A (en) | 2023-06-29 | 2023-06-29 | A robot system and control method based on voxelized AR projection interaction |
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| CN202310782775.8APendingCN116728411A (en) | 2023-06-29 | 2023-06-29 | A robot system and control method based on voxelized AR projection interaction |
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