虚拟环境下的多维视觉几何匹配方法研究

第39卷第3期2018年3月

白动化仪表

PROCESS AUTOMATION INSTRUMENTATION

V ol.39 No. 3

Mar. 2018

虚拟环境下的多维视觉几何匹配方法研究

张华1，徐亮1，刘满禄〃，张静〃，王撞\张兴宇1

(1.西南科技大学信息工程学院，四川绵阳621010;2.中国科学技术大学信息科学技术学院，安徽合肥230026)

摘要：针对传统虚拟装配系统存在人机交互视角单一，操作者因视觉信息不足致使训练效率不高、极易产生训练疲劳的问题，提出 了多维视觉几何匹配方法。该方法根据装配对象的位置信息，通过几何法引入多个视觉点，解决装配过程中的视角信息反馈不足问题。为验证该方法的有效性，在Visual Studio 2010开发环境下，搭建了基于Geomagic Touch力反馈设备的虚拟装配系统。将力反馈设 备作为人机交互实体装置，由3DSMAX绘制虚拟装配系统中的目标物体，经由OpenGL进行渲染并显示。试验结果表明，与传统单一视角的装配系统相比，该方法缩短了 35%以上的操作者训练时间，有效解决了视觉信息反馈不足的问题，提高了操作者在装配中的训练效率，同时优化了人机交互性能。

关键词：多视角；视角匹配；人机交互；力反馈；虚拟装配

中图分类号：TH166; TP206 + . 1文献标志码：A DOI：10.16086/j. cnki. issnl000-0380.2017050033

Research on Multi-Dimensional Visual Geometric Matching Method

in Virtual Environment

ZHANG Hua1，XU Liang1，LIU Manlu12，ZHANG Jing12，WANG Heng1，ZHANG Xingyu1

(1. School of Information Engineering,Southwest University of Science and Technology,Mianyang 621010,China；

2. School of Information Science and Technology,University of Science and Technology of China,Hefei 230026,China)

Abstract：Aiming at the disadvantages of traditional virtual assembly system, e. g. , unitary angle of human computer interaction, low training efficiency of operators due to weak visual perception information which leads to training fatigue, a multiple dimensional geometric matching method is put forward. According to the position information of the object assem bled, through the geometric m ethod, multiple visual points in the vicinity of the target are introduced, to increase operator perspective for solving the problem of insufficient feedback from perspective information. For verifying the effectiveness of this method, under Visual Studio 2010 development environment, the virtual assembly system is built by force feedback device named Geomagic Touch. In the system, the force feedback device is used as the human-computer interaction entity device. The target object in the virtual assembly system is drawn by 3DSMAX, and it is rendered and displayed by OpenGL. The virtual assembly simulation experiments under single perspective and multiple perspectives are completed by multiple users. The experimental results show that compared with the traditional single perspective system, this method can solve the problem about insufficient feedback of visual information, improve the training efficiency of the operators, and the training time is shortened about more than 35 % , the human computer interaction performance is also optimized.

Keywords：M ulti-angle；Angle m atching；Human-computer interaction；Force feedback；Virtual assembly

〇引言

虚拟装配技术是常用的工程技能训练技术之一。在工业生产过程中，新员工的装配技能训练需要消耗 大量的工时。而虚拟装配正是解决该类问题的有效途 径[1_5]。目前，虚拟装配系统存在的问题有:①虚拟感知信息不足，操作者极易疲劳;②操作临场感不强;③ 复杂操作环境中，操作对象视觉受限，致使操作效率 降低。

针对上述问题，王念东等人提出了虚拟现实（virtual reality，VR)集成装配系统，系统复杂，成本较高，不利于 实现[6]。沈佳中等人提出了力觉虚拟装配系统，尽管操

收稿日期：2017-05-16

基金项目：国家“十三五”核能开发科研基金资助项目（20161295 )、西南科技大学研究生创新基金资助项目（17ycxl21、17ycxl22) 作者简介:张华（1969—），男，博士，教授，博士生导师，主要从事机器人智能控制、特种机器人应用技术的研究，E-mail ：280384649@ qq. com