Equipment visual multi-person collaborative maintenance method and system based on MR technology, terminal and storage medium

Abstract

The invention relates to the technical field of advanced maintenance, and particularly provides an equipment visualization multi-person collaborative maintenance method and system based on MR technology, a terminal and a storage medium, and the method comprises the steps that an MR terminal collects on-site video information, audio information and / or picture information, carries out data coding, obtains a first data packet, and sends the first data packet to a PC terminal; the PC terminal obtains a part disassembly and assembly sequence file pre-stored in a Js on format, deserializes the part disassembly and assembly sequence file in the Json format into a data structure of a directed graph to obtain part disassembly and assembly sequence information, receives and decodes the first data packet, and obtains a specified part and a target part through the decoded information; the PC end adopts an A-Star algorithm to calculate the shortest maintenance path from the specified part to the target part, encodes the shortest maintenance path into a second data packet and sends the second data packet back to the MR end; and the MR end receives and decodes the second data packet and carries out maintenance operation according to the shortest maintenance path. According to the invention, the maintenance time is saved, and the disassembly steps are simplified.

Description

Technical Field

[0001] The present invention belongs to the field of advanced maintenance technology, and specifically relates to a method, system, terminal and storage medium for equipment visualization multi-person collaborative maintenance based on MR technology. Background Art

[0002] As products develop towards complexity, miniaturization and high precision, the maintenance density and precision requirements of products continue to increase, and the difficulty of maintenance also increases. For some large and complex equipment, the number of parts reaches tens of thousands, and this type of equipment has the characteristics of extremely high R&D technical difficulty, long R&D cycle, high R&D cost, and large interdisciplinary degree, all of which put higher requirements on traditional maintenance technology. The maintenance and repair of complex equipment requires not only precise technical guidance, but also the ability to flexibly respond to various emergencies.

[0003] Traditional maintenance technology has problems such as difficulty in assembly and low assembly efficiency due to the large number of parts in complex products, as well as heavy memory and cognitive load on maintenance personnel during the assembly process. Therefore, maintenance work can no longer be completed by maintenance personnel's memory alone, and maintenance guidance is required during maintenance.

[0004] In order to solve the problems that arise in these traditional maintenance processes, augmented reality technology (AR technology) is introduced in the existing technology for maintenance guidance, aiming to free maintenance personnel from the heavy maintenance process information. However, the existing AR maintenance mainly displays the text content of the steps that need to be operated in AR. When disassembling parts, it is necessary to read the text content while operating, which is inconvenient. At the same time, considering the complexity of maintenance work, traditional AR maintenance instructions usually follow the inherent disassembly steps, lack a certain degree of flexibility, and cannot change the operation steps in real time according to the actual situation. When disassembling parts that need to be repaired, some parts that do not need to be disassembled are often removed, resulting in slow maintenance and low efficiency. Summary of the invention

[0005] In view of the existing AR maintenance technology, the text content of the steps that need to be operated is mainly displayed in AR. When disassembling parts, it is necessary to read the text content while operating, which has certain inconveniences. Traditional and existing AR maintenance instructions usually follow inherent disassembly steps, lack certain flexibility, and cannot change the operation steps in real time according to the actual situation. When disassembling parts that need to be repaired, some parts that do not need to be disassembled are often removed, resulting in slow maintenance speed and low efficiency. The present invention provides an equipment visualization multi-person collaborative maintenance method, system, terminal and storage medium based on MR technology to solve the above technical problems.

[0006] In a first aspect, the present invention provides a method for equipment visualization multi-person collaborative maintenance based on MR technology, comprising:

[0007] The on-site MR terminal collects on-site video information, audio information and / or picture information, and encodes the data to obtain a first data packet, and sends the first data packet to the remote PC terminal;

[0008] The remote PC obtains a part disassembly and assembly sequence file pre-stored in a Js on format, deserializes the part disassembly and assembly sequence file in the Js on format into a directed graph data structure, obtains part disassembly and assembly sequence information, receives and decodes a first data packet, and obtains a designated part and a target part through the decoded information;

[0009] The remote PC end calculates the shortest maintenance path from the specified part to the target part based on the part disassembly and assembly sequence information using a preset AS tar algorithm, and encodes the shortest maintenance path into a second data packet and sends it back to the on-site MR end;

[0010] The on-site MR terminal receives and decodes the second data packet, and performs a maintenance operation according to the shortest maintenance path of the on-site MR terminal.

[0011] Furthermore, the remote PC obtains a parts disassembly and assembly sequence file pre-stored in Json format, deserializes the parts disassembly and assembly sequence file in Json format into a directed graph data structure, and obtains parts disassembly and assembly sequence information, including:

[0012] The parts disassembly and assembly sequence file in the Js on format is deserialized into a directed graph-based data structure in memory through the open source asynchronous framework Uni Task, and saved as parts disassembly and assembly sequence information.

[0013] Furthermore, the on-site MR terminal collects on-site video information, audio information and / or picture information, and performs data encoding to obtain a first data packet, and sends the first data packet to the remote PC terminal, including:

[0014] Encode the video information using H.264 and the audio information using MP3 to obtain an audio and video stream;

[0015] Encode the image information using JPEG to obtain a compressed image;

[0016] The audio and video stream and / or the compressed image are encapsulated to obtain a first data packet.

[0017] Further, receiving and decoding the first data packet, and obtaining the designated part and the target part through the decoded information, including:

[0018] After receiving the data packet, the remote PC depackets it, decodes the audio stream into video information and audio information, and decodes the compressed image into an image;

[0019] According to the video information, audio information and / or picture, the designated part and the target part are obtained.

[0020] Furthermore, the remote PC calculates the three-dimensional guidance of the shortest maintenance path of the target part based on the position of the part to be disassembled in the current operation step and the preset A-Star algorithm, including:

[0021] Create an open list and a closed list. The open list is used to store the nodes to be detected, and the closed list is used to store the nodes that have been detected.

[0022] Put several starting nodes into the open list;

[0023] Traverse each node in the open list, calculate the estimated function f(x) of each node based on the formula f(x)=g(x)+h(x), obtain the estimated function f(x) of each node, select the node with the smallest f(x) value as the current node x, and put the starting nodes except the current node x into the closed list, where g(x) is the actual distance measure from the starting point to the current node x, h(x) is the minimum distance estimate from the node x to the end point, and h(x) is selected from the Euclidean distance or the Manhattan distance;

[0024] Select all adjacent nodes of the current node x:

[0025] If the neighboring node is unreachable or in the closed list, it is ignored;

[0026] If the adjacent node is not in the open list, add it to the open list, set the current node x as the father node of the adjacent node, set the adjacent node of the father node to b, and calculate f(b), g(b) and h(b) of the adjacent node b;

[0027] If the adjacent node is in the open list, set the adjacent nodes in the open list to d1, d2, d3, ..., d n , then calculate the distance from node x to nodes d1, d2, d3, ..., d n g(x) value, select the d corresponding to the minimum g(x) value, set the father node of the corresponding d as the current node x, and recalculate f(x) and g(x).

[0028] In a second aspect, the present invention provides an equipment visualization multi-person collaborative maintenance system based on MR technology, comprising:

[0029] A scene information acquisition module is used for the scene MR end to collect scene video information, audio information and / or picture information, and encode the data to obtain a first data packet, and send the first data packet to the remote PC end;

[0030] The deserialization and decoding module is used for obtaining the parts disassembly and assembly sequence file pre-stored in Json format on the remote PC, deserializing the parts disassembly and assembly sequence file in Json format into a directed graph data structure, obtaining the parts disassembly and assembly sequence information, receiving and decoding the first data packet, and obtaining the designated part and the target part through the decoded information;

[0031] The shortest maintenance path generation module is used for the remote PC to calculate the shortest maintenance path from the specified part to the target part based on the part disassembly and assembly sequence information using the preset A-Star algorithm, and encode the shortest maintenance path into a second data packet and send it back to the on-site MR end;

[0032] The receiving and operating module is used for receiving and decoding the second data packet at the on-site MR end, and performing maintenance operations according to the shortest maintenance path at the on-site MR end.

[0033] Furthermore, the deserialization and decoding module includes:

[0034] The deserialization unit is used to deserialize the parts assembly and disassembly sequence file in the Json format into a directed graph-based data structure into memory through the open source asynchronous framework Uni Task, and save it as parts assembly and disassembly sequence information.

[0035] Furthermore, the on-site information collection module includes:

[0036] An audio and video stream generating unit, used to encode the video information using H.264 and the audio information using MP3 to obtain an audio and video stream;

[0037] A compressed image generation unit, used to encode the image information using JPEG to obtain a compressed image;

[0038] The first data packet generating unit is used to encapsulate the audio and video stream and / or the compressed image to obtain a first data packet.

[0039] In a third aspect, a terminal is provided, including:

[0040] processor, memory, wherein:

[0041] The memory is used to store computer programs.

[0042] The processor is used to call and run the computer program from the memory, so that the terminal executes the above-mentioned terminal method.

[0043] According to a fourth aspect, a computer storage medium is provided, wherein the computer-readable storage medium stores instructions, and when the instructions are executed on a computer, the computer executes the methods described in the above aspects.

[0044] The beneficial effects of the present invention are that the equipment visualization multi-person collaborative maintenance method, system, terminal and storage medium based on MR technology provided by the present invention collect on-site information through the on-site MR terminal and send the on-site information to the remote PC terminal. The remote PC terminal uses a preset AS tar algorithm according to the parts disassembly and assembly sequence information to calculate the shortest maintenance path from the specified part to the target part, and the personnel on the remote PC terminal can send voice for guidance to the on-site MR terminal, so that on-site maintenance personnel do not need to read the text content while disassembling the parts, and can disassemble the parts that need to be repaired by the shortest path according to the real-time situation on site, avoiding the disassembly of unnecessary parts, greatly saving maintenance time, simplifying the disassembly steps, and improving the speed of maintenance.

[0045] In addition, the invention has a reliable design principle, a simple structure and a very broad application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 is a schematic flow chart of a method according to an embodiment of the present invention.

[0048] Figure 2 is a schematic block diagram of a system according to an embodiment of the present invention.

[0049] Figure 3 A schematic diagram of the structure of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0052] The key terms appearing in the present invention are explained below.

[0053] MR: Mixed reality (MR) refers to a new visual environment created by merging the real and virtual worlds, in which physical and digital objects coexist and interact in real time.

[0054] The equipment visualization multi-person collaborative maintenance method based on MR technology provided in the embodiment of the present invention is executed by a computer device, and accordingly, the equipment visualization multi-person collaborative maintenance system based on MR technology runs in the computer device.

[0055] To facilitate understanding of the present invention, the following is a further description of the equipment visualization multi-person collaborative maintenance method based on MR technology provided by the present invention based on the principle of the equipment visualization multi-person collaborative maintenance method based on MR technology, combined with the process of managing pluggable module materials in the embodiment.

[0056] Specifically, the equipment visualization multi-person collaborative maintenance method based on MR technology includes:

[0057] S1. The on-site MR terminal collects on-site video information, audio information and / or picture information, and encodes the data to obtain a first data packet, and sends the first data packet to a remote PC terminal.

[0058] Specifically, the MR device at the on-site MR end may be a Ximmers e.

[0059] S2. The remote PC obtains a part disassembly and assembly sequence file pre-stored in Json format, deserializes the part disassembly and assembly sequence file in Json format into a directed graph data structure, obtains part disassembly and assembly sequence information, receives and decodes the first data packet, and obtains the specified part and the target part through the decoded information.

[0060] The open source asynchronous framework Uni Task is used to deserialize the parts assembly and disassembly sequence file in Js on format into a directed graph-based data structure in memory and save it as parts assembly and disassembly sequence information. The video information is encoded using H.264, and the audio information is encoded using MP3 to obtain an audio and video stream; the picture information is encoded using JPEG to obtain a compressed picture; the audio and video stream and / or the compressed picture are encapsulated to obtain a first data packet. After receiving the data packet, the remote PC unpacks it, decodes the audio stream into video information and audio information, and decodes the compressed picture into a picture; according to the video information, audio information and / or picture, the specified part and the target part are obtained. Specifically, the specified part can be empty.

[0061] S 3. The remote PC terminal calculates the shortest maintenance path from the designated part to the target part based on the part disassembly and assembly sequence information using a preset AS tar algorithm, and encodes the shortest maintenance path into a second data packet and sends it back to the on-site MR terminal.

[0062] Create an open list and a closed list. The open list is used to store the nodes to be detected, and the closed list is used to store the detected nodes. Put several starting nodes into the open list. Traverse each node in the open list, calculate the estimated function f(x) of each node based on the formula f(x) = g(x) + h(x), obtain the estimated function f(x) of each node, select the node with the smallest f(x) value as the current node x, and put the starting nodes except the current node x into the closed list, where g(x) is the actual distance measurement from the starting point to the current node x, and h(x) is the distance between the starting point and the current node x. is the minimum distance estimate from node x to the end point, h(x) is selected from the Euclidean distance or Manhattan distance; select all adjacent nodes of the current node x: if the adjacent node is unreachable or in the closed list, ignore it; if the adjacent node is not in the open list, add it to the open list, and set the current node x as the father node of the adjacent node, set the adjacent node of the father node to b, and calculate f(b), g(b) and h(b) of the adjacent node b; if the adjacent node is in the open list, set the adjacent nodes in the open list to d1, d2, d3, ..., d n , then calculate the distance from node x to nodes d1, d2, d3, ..., d n g(x) value, select the d corresponding to the minimum g(x) value, set the father node of the corresponding d as the current node x, and recalculate f(x) and g(x).

[0063] S4. The on-site MR receives and decodes the second data packet, and performs maintenance operations according to the shortest maintenance path of the on-site MR.

[0064] Specifically, the second data packet also includes the three-dimensional guidance of the shortest maintenance path, text information corresponding to the three-dimensional guidance, and voice information of the remote PC personnel.

[0065] In some embodiments, the overall hardware architecture includes a user end consisting of an on-site MR end and a remote PC end; a C / S and P2P hybrid communication framework is adopted, and the remote PC end connects to the server through a network to realize the C / S architecture, while the transmission of large-capacity files such as audio between the on-site MR end and the remote PC end adopts the P2P architecture; and the open source asynchronous framework Uni Task is used for system development to realize multi-terminal collaborative operation.

[0066] In some embodiments, the MR-based equipment visualization multi-person collaborative maintenance system may include multiple functional modules composed of computer program segments. The computer program of each program segment in the MR-based equipment visualization multi-person collaborative maintenance system may be stored in a memory of a computer device and executed by at least one processor to perform (see Figure 1 Description) The function of multi-person collaborative maintenance of equipment visualization based on MR technology.

[0067] In this embodiment, the equipment visualization multi-person collaborative maintenance system based on MR technology can be divided into multiple functional modules according to the functions it performs, such as Figure 2 As shown. The functional modules of the system 200 may include: a field information acquisition module 210, a deserialization and decoding module 220, a shortest maintenance path generation module 230, and a receiving and operating module 240. The module referred to in the present invention refers to a series of computer program segments that can be executed by at least one processor and can complete fixed functions, which are stored in a memory. In this embodiment, the functions of each module will be described in detail in subsequent embodiments.

[0068] A scene information acquisition module is used for the scene MR end to collect scene video information, audio information and / or picture information, and encode the data to obtain a first data packet, and send the first data packet to the remote PC end;

[0069] The deserialization and decoding module is used for obtaining the parts disassembly and assembly sequence file pre-stored in Json format on the remote PC, deserializing the parts disassembly and assembly sequence file in Json format into a directed graph data structure, obtaining the parts disassembly and assembly sequence information, receiving and decoding the first data packet, and obtaining the designated part and the target part through the decoded information;

[0070] The shortest maintenance path generation module is used for the remote PC to calculate the shortest maintenance path from the specified part to the target part based on the part disassembly and assembly sequence information using the preset A-Star algorithm, and encode the shortest maintenance path into a second data packet and send it back to the on-site MR end;

[0071] The receiving and operating module is used for receiving and decoding the second data packet at the on-site MR end, and performing maintenance operations according to the shortest maintenance path at the on-site MR end.

[0072] Optionally, as an embodiment of the present invention, the deserialization and decoding module includes:

[0073] The deserialization unit is used to deserialize the parts assembly and disassembly sequence file in the Json format into a directed graph-based data structure into memory through the open source asynchronous framework Uni Task, and save it as parts assembly and disassembly sequence information.

[0074] Optionally, as an embodiment of the present invention, the on-site information collection module includes:

[0075] An audio and video stream generating unit, used to encode the video information using H.264 and the audio information using MP3 to obtain an audio and video stream;

[0076] A compressed image generation unit, used to encode the image information using JPEG to obtain a compressed image;

[0077] The first data packet generating unit is used to encapsulate the audio and video stream and / or the compressed image to obtain a first data packet.

[0078] Figure 3 This is a schematic diagram of the structure of a terminal 300 provided in an embodiment of the present invention. The terminal 300 can be used to execute the equipment visualization multi-person collaborative maintenance method based on MR technology provided in an embodiment of the present invention.

[0079] The terminal 300 may include: a processor 310, a memory 320 and a communication unit 330. These components communicate via one or more buses. Those skilled in the art will appreciate that the server structure shown in the figure does not limit the present invention, and it may be a bus structure or a star structure, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0080] The memory 320 can be used to store the execution instructions of the processor 310, and the memory 320 can be implemented by any type of volatile or non-volatile storage terminal or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. When the execution instructions in the memory 320 are executed by the processor 310, the terminal 300 can perform some or all of the steps in the following method embodiments.

[0081] The processor 310 is the control center of the storage terminal, and uses various interfaces and lines to connect various parts of the entire electronic terminal. By running or executing software programs and / or modules stored in the memory 320, and calling data stored in the memory, the processor can execute various functions of the electronic terminal and / or process data. The processor can be composed of an integrated circuit (IC for short), for example, it can be composed of a single packaged IC, or it can be composed of a plurality of packaged ICs with the same or different functions. For example, the processor 310 can include only a central processing unit (CPU for short). In the embodiment of the present invention, the CPU can be a single computing core or multiple computing cores.

[0082] The communication unit 330 is used to establish a communication channel so that the storage terminal can communicate with other terminals, receive user data sent by other terminals or send user data to other terminals.

[0083] The present invention also provides a computer storage medium, wherein the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM).

[0084] Therefore, the present invention collects on-site information through the on-site MR terminal and sends the on-site information to the remote PC terminal. The remote PC terminal uses a preset AS tar algorithm according to the parts disassembly and assembly sequence information to calculate the shortest maintenance path from the specified part to the target part, and the personnel on the remote PC terminal can send voice for guidance to the on-site MR terminal, so that on-site maintenance personnel do not need to read the text content while disassembling the parts, and can disassemble the parts that need to be repaired according to the real-time situation on site. The shortest path is performed, avoiding the disassembly of unnecessary parts, greatly saving maintenance time, simplifying the disassembly steps, and improving the speed of maintenance. The technical effects that can be achieved by this embodiment can be found in the description above and will not be repeated here.

[0085] Those skilled in the art can clearly understand that the technology in the embodiments of the present invention can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution in the embodiments of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes, including several instructions for enabling a computer terminal (which can be a personal computer, a server, or a second terminal, a network terminal, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention.

[0086] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the terminal embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

[0087] In the several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or modules, which can be electrical, mechanical or other forms.

[0088] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0089] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0090] Although the present invention has been described in detail by referring to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, a person of ordinary skill in the art may make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions shall be within the scope of the present invention. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, and all of these shall be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A method for equipment visualization and multi-person collaborative maintenance based on MR technology, characterized in that: include: The on-site MR terminal collects on-site video information, audio information and / or picture information, and encodes the data to obtain a first data packet, and sends the first data packet to the remote PC terminal; The remote PC obtains a part disassembly and assembly sequence file pre-stored in a Js on format, deserializes the part disassembly and assembly sequence file in the Js on format into a directed graph data structure, obtains part disassembly and assembly sequence information, receives and decodes a first data packet, and obtains a designated part and a target part through the decoded information; The remote PC end calculates the shortest maintenance path from the specified part to the target part based on the part disassembly and assembly sequence information using a preset AS tar algorithm, and encodes the shortest maintenance path into a second data packet and sends it back to the on-site MR end; The on-site MR terminal receives and decodes the second data packet, and performs a maintenance operation according to the shortest maintenance path of the on-site MR terminal.

2. The method according to claim 1, characterized in that The remote PC obtains the parts disassembly and assembly sequence file pre-stored in Json format, deserializes the parts disassembly and assembly sequence file in Json format into a directed graph data structure, and obtains the parts disassembly and assembly sequence information, including: The parts assembly and disassembly sequence file in Js on format is deserialized into a directed graph-based data structure in memory through the open source asynchronous framework UniTask, and saved as parts assembly and disassembly sequence information.

3. The method according to claim 1, characterized in that The on-site MR terminal collects on-site video information, audio information and / or picture information, and performs data encoding to obtain a first data packet, and sends the first data packet to the remote PC terminal, including: Encode the video information using H.264 and the audio information using MP3 to obtain an audio and video stream; Encode the image information using JPEG to obtain a compressed image; The audio and video stream and / or the compressed image are encapsulated to obtain a first data packet.

4. The method according to claim 1, characterized in that Receive and decode the first data packet, and obtain the designated part and the target part through the decoded information, including: After receiving the data packet, the remote PC depackets it, decodes the audio stream into video information and audio information, and decodes the compressed image into an image; According to the video information, audio information and / or picture, the designated part and the target part are obtained.

5. The method according to claim 1, characterized in that The remote PC uses the preset A-Star algorithm based on the parts disassembly and assembly sequence information to calculate the shortest maintenance path from the specified part to the target part, including: Create an open list and a closed list. The open list is used to store the nodes to be detected, and the closed list is used to store the nodes that have been detected. Put several starting nodes into the open list; Traverse each node in the open list, calculate the estimated function f(x) of each node based on the formula f(x)=g(x)+h(x), obtain the estimated function f(x) of each node, select the node with the smallest f(x) value as the current node x, and put the starting nodes except the current node x into the closed list, where g(x) is the actual distance measure from the starting point to the current node x, h(x) is the minimum distance estimate from the node x to the end point, and h(x) is selected from the Euclidean distance or the Manhattan distance; Select all adjacent nodes of the current node x: If the neighboring node is unreachable or in the closed list, it is ignored; If the adjacent node is not in the open list, add it to the open list, set the current node x as the father node of the adjacent node, set the adjacent node of the father node to b, and calculate f(b), g(b) and h(b) of the adjacent node b; If the adjacent node is in the open list, set the adjacent nodes in the open list to d1, d2, d3, ..., d n , then calculate the distance from node x to nodes d1, d2, d3, ..., d n g(x) value, select the d corresponding to the minimum g(x) value, set the father node of the corresponding d as the current node x, and recalculate f(x) and g(x).

6. A visual multi-person collaborative maintenance system for equipment based on MR technology, characterized in that: include: A scene information acquisition module is used for the scene MR end to collect scene video information, audio information and / or picture information, and encode the data to obtain a first data packet, and send the first data packet to the remote PC end; The deserialization and decoding module is used for obtaining the parts disassembly and assembly sequence file pre-stored in Json format on the remote PC, deserializing the parts disassembly and assembly sequence file in Json format into a directed graph data structure, obtaining the parts disassembly and assembly sequence information, receiving and decoding the first data packet, and obtaining the designated part and the target part through the decoded information; The shortest maintenance path generation module is used for the remote PC to calculate the shortest maintenance path from the specified part to the target part based on the part disassembly and assembly sequence information using the preset A-Star algorithm, and encode the shortest maintenance path into a second data packet and send it back to the on-site MR end; The receiving and operating module is used for receiving and decoding the second data packet at the on-site MR end, and performing maintenance operations according to the shortest maintenance path at the on-site MR end.

7. The method according to claim 6, characterized in that The deserialization and decoding modules include: The deserialization unit is used to deserialize the parts assembly and disassembly sequence file in the Json format into a directed graph-based data structure into memory through the open source asynchronous framework UniTask, and save it as parts assembly and disassembly sequence information.

8. The method according to claim 6, characterized in that The on-site information collection module includes: An audio and video stream generating unit, used to encode the video information using H.264 and the audio information using MP3 to obtain an audio and video stream; A compressed image generation unit, used to encode the image information using JPEG to obtain a compressed image; The first data packet generating unit is used to encapsulate the audio and video stream and / or the compressed image to obtain a first data packet.

9. A terminal, characterized in that: include: A memory for storing equipment visualization multi-person collaborative maintenance programs based on MR technology; A processor is used to implement the steps of the equipment visualization multi-person collaborative maintenance method based on MR technology as described in any one of claims 1 to 6 when executing the equipment visualization multi-person collaborative maintenance program based on MR technology.

10. A computer-readable storage medium storing a computer program, characterized in that: The readable storage medium stores an equipment visualization multi-person collaborative maintenance program based on MR technology, and when the equipment visualization multi-person collaborative maintenance program based on MR technology is executed by a processor, the steps of the equipment visualization multi-person collaborative maintenance method based on MR technology as described in any one of claims 1-6 are implemented.

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