A robot system and control method based on voxelized ar projection interaction

Abstract

The application relates to the technical field of augmented reality, and particularly discloses a robot system based on voxelized AR projection interaction and a control method.The system comprises: a plurality of fog generating units for generating a plurality of spatial fog screens; a holographic image processing unit for generating a voxel model from a two-dimensional image; a control unit for determining the resolution of each information group model and the attribute of each voxel according to the fog concentration delta N; a plurality of holographic projection units for encoding the information of the voxel model into light waves, forming a three-dimensional image through interference and diffraction of the light waves, and projecting the three-dimensional image generated by each information group model onto the spatial fog screen; and an interactive recognition unit for adjusting the input of the information group model of each holographic projection unit according to gestures or voice.The application provides a realistic and immersive interactive experience through a dense fog environment, high-quality voxel model generation, dynamic regulation of fog parameters, and high-quality three-dimensional image projection.

Description

Technical Field

[0001] This 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. Background Technology

[0002] AR (Augmented Reality) is a technology that cleverly integrates virtual information with the real world, typically achieved through holographic projection in real space. Holographic projection is a type of 3D technology, originally referring to the technique of recording and reproducing a true three-dimensional image of an object using the principle of interference. Later, guided by science fiction films and commercial promotion, the concept of holographic projection gradually extended to commercial activities such as stage performances and exhibitions.

[0003] However, the holography we usually understand is not holographic projection in the strict sense. Its ability to represent spatial combinations is limited, and it needs to be realized through a physical screen, which makes it usually used in static stage displays. It cannot achieve interactive effects in a real sense, and its application and expansion are very limited.

[0004] Therefore, there is an urgent need for a robot system and control method based on voxelized AR projection interaction to solve the technical problem that the holographic projection used in existing AR technology has limited ability to represent spatial combinations and is usually limited to stage and static display applications in practical applications. Summary of the Invention

[0005] The purpose of this invention is to provide a distributed photovoltaic power station management system with fault analysis capability to solve the problem of low efficiency in the maintenance of existing distributed photovoltaic power stations.

[0006] To address the aforementioned technical problems, this invention discloses, in one aspect, a robot system based on voxelized AR projection interaction, comprising:

[0007] Multiple fog generating units are used to spray fog to create a dense fog environment and form multiple spatial fog screens;

[0008] A holographic image processing unit is used to generate a voxel model from a two-dimensional image. The holographic image processing unit is equipped with a voxel generation model, which is equipped with a three-dimensional array. The three-dimensional array is equipped with multiple information group models with different attributes. The three-dimensional array includes multiple array elements, and each array element represents an attribute of a voxel. The attributes of the voxel include color, position, and shape.

[0009] A control unit is used to control the fog particle diameter d and fog concentration ΔN of each of the fog generating units, and to control the fog concentration ΔN of each of the information group model resolutions and the properties of each of the voxels.

[0010] Multiple 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 project the three-dimensional image generated by each information group model onto the spatial fog screen.

[0011] An interactive recognition unit is used to adjust the input of the information group model of each holographic projection unit according to gestures or voice.

[0012] Preferably, the control unit is configured with a fog concentration matrix T0 and a voxel color adjustment matrix A. For the voxel color adjustment matrix A, A(A1, A2, A3, A4) is set, 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, 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, T0(T01, T02, T03, T04) is set, 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;

[0013] The control unit is also used to adjust the voxel color according to the relationship between the fog concentration ΔN and each preset fog concentration matrix when the diameter d of the fog particles is less than 50 micrometers:

[0014] When L0 < T01, the first voxel color adjustment control A1 is selected as the attribute of the voxel in the array element;

[0015] When T01≤L0<T02, the second voxel color adjustment control A2 is selected as the attribute of the voxel in the array element;

[0016] When T02≤L0<T03, the third voxel color adjustment control A3 is selected as the attribute of the voxel in the array element;

[0017] When T03≤L0<T04, the fourth voxel color adjustment control A4 is selected as the attribute of the voxel in the array element.

[0018] Preferably, the control unit further includes a fog concentration matrix T0 and a voxel resolution matrix B. 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, and B4 is the fourth voxel resolution, with B1 < B2 < B3 < B4. For the fog concentration matrix T0, T0(T01, T02, T03, T04) is set, 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, with T01 < T02 < T03 < T04.

[0019] The control unit is further configured to, when the diameter d of the fog particles is greater than 50 micrometers, set the voxel resolution of each information group model according to the relationship between the fog concentration ΔN and each preset fog concentration matrix:

[0020] When L0 < T01, the first voxel resolution B1 is selected as the voxel resolution of the information group model;

[0021] When T01≤L0<T02, the second voxel resolution B2 is selected as the voxel resolution of the information group model;

[0022] When T02≤L0<T03, the third voxel resolution B3 is selected as the voxel resolution of the information group model;

[0023] When T03≤L0<T04, the fourth voxel resolution B4 is selected as the voxel resolution of the information group model.

[0024] 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, voxelizing each pixel, and associating the attribute of each pixel with the mapped voxel. The voxel generation model is used to determine the size of each voxel unit and the attributes of each voxel in the spatial range of the model based on the size, resolution and attributes of the two-dimensional image.

[0025] Preferably, 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.

[0026] On the other hand, this application also provides a robot control method based on voxelized AR projection interaction, the method comprising:

[0027] It sprays out mist to create a dense mist environment, forming multiple spatial fog screens;

[0028] A voxel model is generated from a two-dimensional image. The holographic image processing unit is equipped with a voxel generation model. The voxel generation model is equipped with a three-dimensional array. The three-dimensional array is equipped with multiple information group models with different attributes. The three-dimensional array includes multiple array elements. Each array element represents an attribute of a voxel. The attributes of the voxel include color, position, and shape.

[0029] Control the fog particle diameter d and fog concentration ΔN of each fog generating unit, and based on the fog concentration ΔN, the resolution of each information group model and the properties of each voxel;

[0030] The information of the voxel model is encoded into light waves, and a three-dimensional image is formed through the interference and diffraction of the light waves. It is also used to control the projection of the three-dimensional image generated by each information group model onto the spatial fog screen.

[0031] The input of the information group model to each holographic projection unit is adjusted according to gestures or voice.

[0032] Preferably, the control of the fog particle diameter d and fog concentration ΔN of each fog generating unit, and based on the fog concentration ΔN of each information group model resolution and the attributes of each voxel, includes:

[0033] Set a fog concentration matrix T0 and a 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, 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. 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. T01 < T02 < T03 < T04.

[0034] The control unit is also used to adjust the voxel color according to the relationship between the fog concentration ΔN and each preset fog concentration matrix when the diameter d of the fog particles is less than 50 micrometers:

[0035] When L0 < T01, the first voxel color adjustment control A1 is selected as the attribute of the voxel in the array element;

[0036] When T01≤L0<T02, the second voxel color adjustment control A2 is selected as the attribute of the voxel in the array element;

[0037] When T02≤L0<T03, the third voxel color adjustment control A3 is selected as the attribute of the voxel in the array element;

[0038] When T03≤L0<T04, the fourth voxel color adjustment control A4 is selected as the attribute of the voxel in the array element.

[0039] Preferably, the step of controlling the fog particle diameter d and fog concentration ΔN of each fog generating unit, and based on the fog concentration ΔN of each information group model resolution and the attributes of each voxel, further includes:

[0040] Define a fog concentration matrix T0 and a voxel resolution matrix B. For the voxel attribute adjustment matrix B, define B(B1,B2,B3,B4), where B1 is the first voxel resolution, B2 is the second voxel resolution, B3 is the third voxel resolution, and B4 is the fourth voxel resolution, and B1 < B2 < B3 < B4. For the fog concentration matrix T0, define 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.

[0041] The control unit is further configured to, when the diameter d of the fog particles is greater than 50 micrometers, set the voxel resolution of each information group model according to the relationship between the fog concentration ΔN and each preset fog concentration matrix:

[0042] When L0 < T01, the first voxel resolution B1 is selected as the voxel resolution of the information group model;

[0043] When T01≤L0<T02, the second voxel resolution B2 is selected as the voxel resolution of the information group model;

[0044] When T02≤L0<T03, the third voxel resolution B3 is selected as the voxel resolution of the information group model;

[0045] When T03≤L0<T04, the fourth voxel resolution B4 is selected as the voxel resolution of the information group model.

[0046] Preferably, in the step of generating a voxel model from a two-dimensional image, the holographic image processing unit is equipped with a voxel generation model, the voxel generation model is provided with a three-dimensional array, the three-dimensional array is provided with multiple information group models with different attributes, the three-dimensional array includes multiple array elements, each array element represents an attribute of a voxel, the voxel attributes include color, position, and shape, including:

[0047] The process involves iterating through each pixel in the two-dimensional image, mapping the position of each pixel to the corresponding position in the voxel model, voxelizing each pixel, and associating the attributes of each pixel with the mapped voxel. The voxel generation model is used to determine the size of each voxel unit and the attributes of each voxel in the spatial range of the model based on the size, resolution, and attributes of the two-dimensional image.

[0048] Preferably, the step of encoding the information of the voxel model into light waves and forming a three-dimensional image through the interference and diffraction of light waves, and further used to control the projection of the three-dimensional image generated by each information group model onto the spatial fog screen, includes: calculating the phase and amplitude information of the light waves propagating throughout the space based on the information in the voxel model.

[0049] The present invention provides a robot system and control method based on voxelized AR projection interaction, which has the following advantages compared with the prior art:

[0050] Through the advantages and effects of technologies such as dense fog environment, high-quality voxel model generation, dynamic adjustment of fog parameters, high-quality 3D image projection, and multiple interaction methods, it provides a realistic and immersive interactive experience, which can be widely used in augmented reality, virtual reality, education, entertainment and other fields. Attached Figure Description

[0051] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0052] Figure 1 This is a schematic diagram of the robot system based on voxelized AR projection interaction according to the present invention;

[0053] Figure 2 This is a flowchart of the robot control method based on voxelized AR projection interaction according to the present invention. Detailed Implementation

[0054] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0055] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0056] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0057] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0058] See Figure 1 As shown, this invention discloses a robot system based on voxelized AR projection interaction, comprising: multiple fog generating units, a holographic image processing unit, a control unit, multiple holographic projection units, and a recognition and interaction unit. The fog generating units are used to spray fog to create a dense fog environment, forming multiple spatial fog screens. The holographic image processing units are used to generate voxel models from two-dimensional images. Each holographic image processing unit contains a voxel generation model, which is configured with a three-dimensional array. The three-dimensional array contains multiple information group models with different attributes, and each array element represents a... The voxel attributes include color, position, and shape; the control unit is used to control the fog particle diameter d and fog concentration ΔN of each fog generating unit, and to control the resolution of each information group model and the attributes of each voxel according to the fog concentration ΔN; the holographic projection unit is used to encode the information of the voxel model into light waves, and to 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 and interaction unit is used to adjust the input of the information group model of each holographic projection unit according to gestures or voice.

[0059] Understandably, by setting up multiple fog generating units, the system can spray out dense fog to form multiple spatial fog screens. This dense fog environment provides ideal conditions for subsequent holographic projection, enhancing the interactive experience and the realism of the images. Furthermore, the multiple spatial fog screens expand the interaction between image projections.

[0060] Understandably, the holographic image processing unit employs a voxel generation model, which can accurately convert two-dimensional images into voxel models. By storing information groups of different attributes, including color, position, and shape, in a three-dimensional array, it can represent three-dimensional scenes with greater precision and provide a richer interactive experience.

[0061] It is understandable that the recognition interaction unit can adjust the input of the information group model of each holographic projection unit based on gestures or voice. This multi-interaction method allows users to flexibly control and manipulate the projected images, improving user experience and engagement.

[0062] In some embodiments of this application, the control unit is configured with a fog concentration matrix T0 and a voxel color adjustment matrix A. For the voxel color adjustment matrix A, A(A1, A2, A3, A4) is set, 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, 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, T0(T01, T02, T03, T04) is set, 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;

[0063] The control unit is also used to adjust the voxel color according to the relationship between the fog concentration ΔN and each preset fog concentration matrix when the diameter d of the fog particles is less than 50 micrometers:

[0064] When L0 < T01, the first voxel color adjustment control A1 is selected as the attribute of the voxel in the array element;

[0065] When T01≤L0<T02, the second voxel color adjustment control A2 is selected as the attribute of the voxel in the array element;

[0066] When T02≤L0<T03, the third voxel color adjustment control A3 is selected as the attribute of the voxel in the array element;

[0067] When T03≤L0<T04, the fourth voxel color adjustment control A4 is selected as the attribute of the voxel in the array element.

[0068] In some embodiments of this application, the control unit is further configured with a fog concentration matrix T0 and a voxel resolution matrix B. 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, and B4 is the fourth voxel resolution, and B1 < B2 < B3 < B4; for the fog concentration matrix T0, T0(T01,T02,T03,T04) is set, 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.

[0069] The control unit is further configured to, when the diameter d of the fog particles is greater than 50 micrometers, set the voxel resolution of each information group model according to the relationship between the fog concentration ΔN and each preset fog concentration matrix:

[0070] When L0 < T01, the first voxel resolution B1 is selected as the voxel resolution of the information group model;

[0071] When T01≤L0<T02, the second voxel resolution B2 is selected as the voxel resolution of the information group model;

[0072] When T02≤L0<T03, the third voxel resolution B3 is selected as the voxel resolution of the information group model;

[0073] When T03≤L0<T04, the fourth voxel resolution B4 is selected as the voxel resolution of the information group model.

[0074] Understandably, the control unit can adjust the fog particle diameter and fog concentration of each fog generating unit in real time. By adjusting the fog particle diameter and concentration, the style and adaptability of the image can be changed through precise adaptive control of the information group model resolution and voxel attributes.

[0075] In some embodiments of this application, 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, voxelizing each pixel, and associating the attribute of each pixel with the mapped voxel. The voxel generation model is used to determine the size of each voxel unit and the attribute of each voxel in the spatial range of the model according to the size, resolution and attributes of the two-dimensional image.

[0076] Understandably, by encoding the information of the voxel model into light waves using holographic projection units, a high-quality 3D image is formed through the interference and diffraction of the light waves. By controlling the projection, the 3D image generated by the information group model can be accurately projected onto a spatial fog screen, achieving a realistic interactive effect.

[0077] In some embodiments of this application, the holographic projection unit is configured to calculate the phase and amplitude information of light waves propagating throughout space based on the information in the voxel model.

[0078] See Figure 2 As shown, on the other hand, this application also provides a robot control method based on voxelized AR projection interaction, the method comprising:

[0079] It sprays out mist to create a dense mist environment, forming multiple spatial fog screens;

[0080] A voxel model is generated from a two-dimensional image. The holographic image processing unit is equipped with a voxel generation model. The voxel generation model is equipped with a three-dimensional array. The three-dimensional array is equipped with multiple information group models with different attributes. The three-dimensional array includes multiple array elements. Each array element represents an attribute of a voxel. The attributes of the voxel include color, position, and shape.

[0081] Control the fog particle diameter d and fog concentration ΔN of each fog generating unit, and based on the fog concentration ΔN, the resolution of each information group model and the properties of each voxel;

[0082] The information of the voxel model is encoded into light waves, and a three-dimensional image is formed through the interference and diffraction of the light waves. It is also used to control the projection of the three-dimensional image generated by each information group model onto the spatial fog screen.

[0083] The input of the information group model to each holographic projection unit is adjusted according to gestures or voice.

[0084] In some embodiments of this application, controlling the fog particle diameter d and fog concentration ΔN of each fog generating unit, and based on the fog concentration ΔN, the resolution of each information group model and the attributes of each voxel, includes:

[0085] Set a fog concentration matrix T0 and a 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, 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. 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. T01 < T02 < T03 < T04.

[0086] The control unit is also used to adjust the voxel color according to the relationship between the fog concentration ΔN and each preset fog concentration matrix when the diameter d of the fog particles is less than 50 micrometers:

[0087] When L0 < T01, the first voxel color adjustment control A1 is selected as the attribute of the voxel in the array element;

[0088] When T01≤L0<T02, the second voxel color adjustment control A2 is selected as the attribute of the voxel in the array element;

[0089] When T02≤L0<T03, the third voxel color adjustment control A3 is selected as the attribute of the voxel in the array element;

[0090] When T03≤L0<T04, the fourth voxel color adjustment control A4 is selected as the attribute of the voxel in the array element.

[0091] In some embodiments of this application, the control of the fog particle diameter d and fog concentration ΔN of each fog generating unit, and the determination of the resolution of each information group model and the properties of each voxel based on the fog concentration ΔN, further includes:

[0092] Define a fog concentration matrix T0 and a voxel resolution matrix B. For the voxel attribute adjustment matrix B, define B(B1,B2,B3,B4), where B1 is the first voxel resolution, B2 is the second voxel resolution, B3 is the third voxel resolution, and B4 is the fourth voxel resolution, and B1 < B2 < B3 < B4. For the fog concentration matrix T0, define 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.

[0093] The control unit is further configured to, when the diameter d of the fog particles is greater than 50 micrometers, set the voxel resolution of each information group model according to the relationship between the fog concentration ΔN and each preset fog concentration matrix:

[0094] When L0 < T01, the first voxel resolution B1 is selected as the voxel resolution of the information group model;

[0095] When T01≤L0<T02, the second voxel resolution B2 is selected as the voxel resolution of the information group model;

[0096] When T02≤L0<T03, the third voxel resolution B3 is selected as the voxel resolution of the information group model;

[0097] When T03≤L0<T04, the fourth voxel resolution B4 is selected as the voxel resolution of the information group model.

[0098] In some embodiments of this application, the voxel model is generated from a two-dimensional image. The holographic image processing unit includes a voxel generation model, which is configured with a three-dimensional array. The three-dimensional array contains multiple information group models with different attributes. Each array element represents an attribute of a voxel, including color, position, and shape.

[0099] The process involves iterating through each pixel in the two-dimensional image, mapping the position of each pixel to the corresponding position in the voxel model, voxelizing each pixel, and associating the attributes of each pixel with the mapped voxel. The voxel generation model is used to determine the size of each voxel unit and the attributes of each voxel in the spatial range of the model based on the size, resolution, and attributes of the two-dimensional image.

[0100] In some embodiments of this application, encoding the information of the voxel model into light waves and forming a three-dimensional image through the interference and diffraction of light waves, and controlling the projection of the three-dimensional image generated by each information group model onto the spatial fog screen, includes: calculating the phase and amplitude information of the light waves propagating throughout the space based on the information in the voxel model.

[0101] In summary, the robot system and control method based on voxelized AR projection interaction proposed in this application provide a realistic and immersive interactive experience through the technical effects and advantages of dense fog environment, high-quality voxel model generation, dynamic adjustment of fog parameters, high-quality 3D image projection, and multiple interaction methods. It can be widely used in augmented reality, virtual reality, education, entertainment and other fields.

[0102] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can 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.) containing computer-usable program code.

[0103] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0104] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0105] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions 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 skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A robot system based on voxelized AR projection interaction, characterized in that, The application relates to a holographic image display device, which comprises the following parts: a plurality of mist generating units for spraying mist to create a dense mist environment and form a plurality of spatial mist screens; a holographic image processing unit for generating a voxel model from a two-dimensional image, wherein a voxel generation model is arranged in the holographic image processing unit, 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, and the three-dimensional array comprises a plurality of array elements, each of which represents the attribute of a voxel, and the attribute of the voxel includes color, position and shape; a control unit for controlling the mist particle diameter d and the mist concentration delta N of each mist generating unit and adjusting the resolution of each information group model and the attribute of each voxel according to the mist concentration delta N; a plurality of holographic projection units for encoding the information of the voxel model into light waves and forming a three-dimensional image through the interference and diffraction of the light waves, and the holographic projection units are also used for projecting the three-dimensional image generated by each information group model onto the spatial mist screen; an identification interaction unit for adjusting the input of each information group model of each holographic projection unit according to gestures or voice; the control unit is provided with a mist concentration matrix T0 and a voxel color adjustment matrix A, for the voxel color adjustment matrix A, A (A1, A2, A3, A4) is set, wherein A1 is a first voxel color adjustment control, A2 is a second voxel color adjustment control, A3 is a third voxel color adjustment control, A4 is a fourth voxel color adjustment control, and the color saturation degree relationship after the voxel color adjustment control is A1 < A2 < A3 < A4; for the mist concentration matrix T0, T0 (T01, T02, T03, T04) is set, wherein T01 is a first mist concentration, T02 is a second mist concentration, T03 is a third mist concentration, and T04 is a fourth mist concentration, and T01 < T02 < T03 < T04; the control unit is also used for setting the voxel color adjustment according to the relationship between the mist concentration delta N and each preset mist concentration matrix when the mist particle diameter d < 50 microns: when L0 < T01, the first voxel color adjustment control A1 is selected as the attribute of the voxel in the array element; when T01 <= L0 < T02, the second voxel color adjustment control A2 is selected as the attribute of the voxel in the array element; when T02 <= L0 < T03, the third voxel color adjustment control A3 is selected as the attribute of the voxel in the array element; when T03 <= L0 < T04, the fourth voxel color adjustment control A4 is selected as the attribute of the voxel in the array element.

2. The voxelated AR projection interaction based robot system of claim 1, wherein, The control unit is further configured 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 is greater than 50 microns: When L0 When T01≤L0 When T02≤L0 When T03≤L0 When T03≤L0 3. The voxelated AR projection interaction based robot system of claim 2, wherein, 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, voxelizing each pixel, and associating the attribute of each pixel with the mapped voxel. The voxel generation model is used to determine the size of each voxel unit and the attribute of each voxel according to the size and resolution of the two-dimensional image and the spatial range of the model.

4. The voxelated AR projection interaction based robot system of claim 3, wherein, According to the information in the voxel model, the phase and amplitude information of the light wave propagating in the entire space is calculated.

5. A method of robot control based on voxelized AR projection interaction, applied in a robot system based on voxelized AR projection interaction according to any one of claims 1-4, characterized in that, The method includes: Spraying fog to create a dense fog environment and form multiple spatial fog screens; Generating a voxel model from a two-dimensional image, the holographic image processing unit is configured with a voxel generation model, the voxel generation model is provided with a three-dimensional array, the three-dimensional array is provided with multiple information group models with different attributes, the three-dimensional array includes multiple array elements, each array element represents the attribute of a voxel, and the attribute of the voxel includes color, position, and shape; Controlling the fog particle diameter d and the fog concentration ΔN of each fog generating unit, and adjusting the resolution of each information group model and the attribute of each voxel according to the fog concentration ΔN; Encoding the information of the voxel model into light waves to form a three-dimensional image through interference and diffraction of light waves, and further controlling the projection of the three-dimensional image generated by each information group model onto the spatial fog screen; Adjusting the input of each holographic projection unit according to gestures or voice.

6. The method of claim 5, wherein, The control unit is further configured to control the fog particle diameter d and the fog concentration ΔN of each of the fog generating units, and adjust the information group model resolution and the attribute of each of the voxels according to the fog concentration ΔN, including: setting a fog concentration matrix T0 and a voxel color adjustment matrix A, for the voxel color adjustment matrix A, setting A (A1, A2, A3, A4), wherein A1 is a first voxel color adjustment control, A2 is a second voxel color adjustment control, A3 is a third voxel color adjustment control, and A4 is a fourth voxel color adjustment control, and the color saturation relationship after the voxel color adjustment control is A1 The control unit is further configured to control the fog particle diameter d and the fog concentration ΔN of each of the fog generating units, and adjust the information group model resolution and the attribute of each of the voxels according to the fog concentration ΔN, including: setting a fog concentration matrix T0 and a voxel color adjustment matrix A, for the voxel color adjustment matrix A, setting A (A1, A2, A3, A4), wherein A1 is a first voxel color adjustment control, A2 is a second voxel color adjustment control, A3 is a third voxel color adjustment control, and A4 is a fourth voxel color adjustment control, and the color saturation relationship after the voxel color adjustment control is A1 When L0 When L0 When L0 7. The method of claim 6, wherein, When L0 The control unit is further configured to control the fog particle diameter d and the fog concentration ΔN of each of the fog generating units, and adjust the information group model resolution and the attribute of each of the voxels according to the fog concentration ΔN, including: setting a fog concentration matrix T0 and a voxel color adjustment matrix A, for the voxel color adjustment matrix A, setting A (A1, A2, A3, A4), wherein A1 is a first voxel color adjustment control, A2 is a second voxel color adjustment control, A3 is a third voxel color adjustment control, and A4 is a fourth voxel color adjustment control, and the color saturation relationship after the voxel color adjustment control is A1 The control unit is further configured to control the fog particle diameter d and the fog concentration ΔN of each of the fog generating units, and adjust the information group model resolution and the attribute of each of the voxels according to the fog concentration ΔN, including: setting a fog concentration matrix T0 and a voxel color adjustment matrix A, for the voxel color adjustment matrix A, setting A (A1, A2, A3, A4), wherein A1 is a first voxel color adjustment control, A2 is a second voxel color adjustment control, A3 is a third voxel color adjustment control, and A4 is a fourth voxel color adjustment control, and the color saturation relationship after the voxel color adjustment control is A1 When T02≤L0<T03, the third voxel resolution B3 is selected as the voxel resolution of the information group model; When T03≤L0<T04, the fourth voxel resolution B4 is selected as the voxel resolution of the information group model.

8. The method of claim 7, wherein, The two-dimensional image is generated into a voxel model, and a voxel generation model is arranged 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 models with different attributes. The three-dimensional array includes a plurality of array elements, and each array element represents the attribute of a voxel. The attributes of the voxel include color, position, shape, and the like. Each pixel in the two-dimensional image is traversed, the position of the pixel is mapped to the corresponding position in the voxel model, each pixel is voxelized, and the attribute of each pixel is associated with the mapped voxel. The voxel generation model is used to determine the size of each voxel unit and the attribute of each voxel according to the size and resolution of the two-dimensional image and the spatial range of the model.

9. The method of claim 8, wherein, The information of the voxel model is encoded into light waves, and a three-dimensional image is formed through interference and diffraction of light waves. The three-dimensional image generated by each information group model is also projected onto the spatial fog screen, including: According to the information in the voxel model, the phase and amplitude information of the light wave propagating in the whole space are calculated.

Images