【作者】 于洋；

【导师】 贾庆轩； 孙汉旭；

【作者基本信息】 北京邮电大学 ， 机械设计及理论， 2010， 硕士

【摘要】 基于3D环境的纯虚拟装配系统,缺少直接的感觉反馈通道,只能给用户有限的“现实”体验,同时需要消耗大量的计算资源,难以适应复杂产品装配等环境下的复杂建模和实时交互仿真等要求。混合真实物体(如物理样机、零件、工具等)与虚拟设计对象的增强装配技术则能避免上述问题。增强现实装配技术是增强现实技术在设计与制造领域的重要应用之一,已引起工业界和研究机构越来越广泛的重视。论文分析了增强现实装配中虚实零件装配的过程,重点研究了虚实装配方式、运动路径规划、虚实零件间碰撞检测和三维力反馈技术。论文主要研究工作如下：1.研究了增强现实摄像机标定技术和视觉成像技术。系统地分析了摄像机成像中图像坐标系、摄像机坐标系和世界坐标系之间的变换关系；详细剖析了基于ARToolKit的增强现实视觉成像流程、多标志物检测、多虚拟物体生成和虚实零件的装配过程,重点研究了对多种装配方式中最佳方案的选择和虚实零件运动路径规划。2.研究了装配过程中虚实零件的碰撞检测技术。论文提出了一种新颖的碰撞检测方法--壳体检测法。根据真实零件结构和外形特点,构造出虚实零件碰撞点和区域,为其定义三维坐标,从而进行碰撞检测试验,并根据碰撞效果分析壳体检测法的可行性。3.研究了碰撞条件下虚实零件碰撞结果与输出状态的关系,实现虚拟零件坐标的采集和反馈力的输出。在增强现实机械装配环境中,利用Falcon力反馈设备,对虚拟小球在碰撞区域内进行六个方向的碰撞测试,并输出各自产生的反馈力。试验效果表明：基于壳体检测法的虚实碰撞检测算法,在三维力反馈软硬件技术的支持下,对于研究增强现实机械装配中的虚实碰撞效果和反馈问题,具有较好的的适用性。更多还原

【Abstract】 The purely virtual assembly system based on 3D environment lacked of direct feedback channel. It only supported users with limited "real" experience, while consuming a large amount of computing resources. It was difficult in complex product assembly environment to adapt to complex modeling, real-time interactive simulation, etc. The enhanced assembly technology of Mixed real objects (such as physical prototypes, spare parts, tools, etc.) and virtual designed objects could avoid the above problems.That Augmented Reality assembly technology was one of the important applications in the field of design and manufacture with Augmented Reality technology had caused more and more attentions of the industrial sector and research institutions.This paper analyzed the assembling process of V-R (vitual and real) parts in Augmented Reality assembly. Focus on the V-R assembly methods, movement path planning, collision detection and three-dimensional force feedback technology.This paper completed the following work:1. Researched on camera calibration technique and visual imaging technology of Augmented Reality. Systematic analysis the relationship of image coordinate system, camera coordinate system and the world coordinate system. Analysed the visual imaging process, multi-marker detection, more virtual objects generation and V-R parts assembly process. Focus on the optimization selection of a variety of assembling ways and the V-R parts movement path planning.2. Study on the possible collision situation of V-R parts in V-R assembly course.Proposed a novel collision detection method ShellTest. According to the structural and shape characteristics of the real parts, virtually constructed the collision points and regions of V-R parts, which were given the definition of three-dimensional coordinates, then carried out the collision detection test for the results.3. Study on their relationship between collision result and output state when the V-R parts were colliding.With Falcon force feedback device, achieved the coordination collection of V-R parts and output of feedback force. In Augmented Reality Mechanical Assembly Environment, tested the collision of the virtual ball’s six directions in collision regions, and outputed the feedback force generated by each with Falcon device. Based on the test results, to infer:the method of shell test for the V-R collision detection had a high feasibility.Test results showed that:the collision detection algorithm based on shell test, with the supporting of the ardware and software technologies in three-dimensional force feedback, had good applicability for studying the mechanical assembly of augmented reality and the reality effects of the impacts and feedback questions.更多还原