Ship perspective projection positioning method and device, product, computer equipment and storage medium

Abstract

The invention discloses a ship perspective projection positioning method and device, a product, computer equipment and a storage medium. According to the invention, by establishing a virtual-real fusion space, cabin debugging view and information barriers are eliminated; in the process of debugging equipment in a ship cabin, a virtual window is used for assisting in checking real-time three-dimensional observation working medium flow, other space operation states and other personnel positions, and conversion and correspondence from a two-dimensional electronic manual to a three-dimensional space with the same scale are not needed; a shipborne local area network is used for synchronizing XR equipment task debugging sequence information, multi-person collaborative debugging operation synchronization is achieved, the working medium flow rendering effect is updated according to the synchronization state, debugging personnel can rapidly complete debugging task positioning and collaborative sequence operation, the debugging efficiency of a complex cabin system is greatly improved, the debugging period of cross-cabin equipment is shortened, and the debugging efficiency of the cabin system is improved. The workload of space confirmation and step confirmation of debugging personnel is reduced, the ship delivery quality is guaranteed, and the ship delivery period is shortened.

Description

Technical Field

[0001] This application relates to the field of metaverse technology, and in particular to a ship perspective projection positioning device, computer program product, computer equipment and storage medium. Background Technology

[0002] Augmented Reality (AR) technology uses optoelectronic display technology, interactive technology, multiple sensor technology, and computer graphics and multimedia technology to integrate a computer-generated virtual environment with the user's surrounding real environment, making the user believe, through sensory effects, that the virtual environment is a component of their surrounding real environment.

[0003] Ship operation support systems, such as ballast water regulation systems, power distribution systems, hydraulic systems, and air conditioning systems, include pipelines and regulating valves for conveying working media such as water, electricity, hydraulics, and gas. In large, high-value-added medium and large ships with large volume and tonnage, these systems' pipelines, regulating valves, and reading instruments are intricately interwoven, located in compartments on different levels with large spacing. Some operating systems also need to retain redundant operation, unit operation, and low-power operation modes and capabilities.

[0004] Traditional commissioning of operating systems on large and medium-sized ships involves multiple engineers scattered across various compartments, coordinating operational progress and instrument information via walkie-talkies. This approach suffers from problems such as dispersed operations, unclear personnel location information, untimely information matching, and difficulty in aligning work sequences, impacting commissioning and delivery efficiency. Although marine electronic navigation maps are available to assist commissioning personnel in locating compartment layouts and floor levels, these maps are presented in 2D, making it difficult to intuitively represent the locations and statuses of other personnel and commissioning points. Furthermore, the continuity status of the working fluid within the corresponding pipelines of each compartment is also difficult to obtain and view directly from within the compartment. Summary of the Invention

[0005] The purpose of this invention is to provide a ship perspective projection positioning device, computer program product, computer equipment and storage medium to solve the problems of multi-point decentralized operation in the debugging of existing medium and large ship operation systems, unclear personnel location information, untimely information matching and difficulty in aligning operation sequences, so as to improve the efficiency of ship operation system debugging before leaving the factory and shorten the delivery cycle.

[0006] To achieve the above objectives, the present invention provides the following technical solution: On the one hand, a method for positioning a ship using perspective projection is provided, the method comprising: Obtain a 3D structural distribution diagram of the cabins of a ship using an XR extended reality device. The 3D structural distribution diagram includes cabin models, the location of each cabin model, the number of each cabin model, the equipment models and working fluid flow models within each cabin model. The location of each XR extended reality device is obtained, the serial number of each XR extended reality device is identified, the serial number of each XR extended reality device is marked on the corresponding cabin model in the cabin three-dimensional structure distribution map, and the location of the cabin model, the number of the cabin model and the serial number of the XR extended reality device are associated. When the first XR extended reality device issues a command to obtain the location of the second XR extended reality device, the serial numbers of the cabin models where the first XR extended reality device and the second XR extended reality device are located are obtained according to the serial numbers of the first XR extended reality device and the second XR extended reality device. Draw virtual windows on the walls or obstacles of the cabin where the first XR extended reality device is located; The virtual window displays the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device.

[0007] In one embodiment, the ship perspective projection positioning method further includes: All XR extended reality devices are configured to share the position in the cabin stereoscopic structure distribution map, and the transparently rendered cabin stereoscopic structure distribution map is displayed in a virtual window in each XR extended reality device. The position of the XR extended reality device in the cabin's three-dimensional structure distribution map is updated in real time.

[0008] In one embodiment, the ship perspective projection positioning method further includes: Set up the wearer information and task information for each XR extended reality device; When the third XR extended reality device selects the serial number of the XR extended reality device or the wearer's information for display, the serial number of the XR extended reality device or the number of the cabin model corresponding to the wearer's information is retrieved accordingly. When the task information is selected, the serial numbers of all XR extended reality devices that execute the task information are obtained, and the number of the cabin model corresponding to the serial number of the XR extended reality device is retrieved accordingly. Based on the number of the cabin model, determine the target XR extended reality device within the cabin model corresponding to the number of the cabin model, obtain the virtual viewpoint and virtual view cone of the target XR extended reality device relative to the third XR extended reality device, and display the equipment model and working fluid flow model within the cabin model corresponding to the number of the cabin model, as well as the position of the target XR extended reality device.

[0009] In one embodiment, obtaining the location of each XR extended reality device and identifying the serial number of each XR extended reality device includes: Obtain the numbers of the positioning sensors installed in each compartment of the ship, and label the corresponding compartment model in the three-dimensional structure distribution diagram of the compartment with the number of each positioning sensor. When the positioning sensor detects the infrared passive positioning sensor mark of the XR extended reality device, it identifies the graphic serial number of the infrared passive positioning sensor mark and uses the graphic serial number of the infrared passive positioning sensor mark as the serial number of the XR extended reality device.

[0010] In one embodiment, the ship perspective projection positioning method further includes: The display image in the virtual window is generated by adjusting the viewing cone distance and XR projection imaging resolution parameters of the virtual viewing cone.

[0011] In one embodiment, drawing a virtual window on the wall or obstacle of the cabin where the first XR extended reality device is located includes: A virtual window is projected onto the wall or obstacle of the cabin where the first XR extended reality device is located using a virtual camera, and a model of a person wearing the second XR extended reality device is displayed in the virtual window.

[0012] In one embodiment, drawing a virtual window on the wall or obstacle of the cabin where the first XR extended reality device is located further includes: A virtual view frustum of the second XR extended reality device relative to the first XR extended reality device is generated in the virtual window based on the view frustum distance and XR projection imaging resolution parameters. The virtual viewpoint of the second XR Extended Reality device relative to the first XR Extended Reality device in the virtual window is calculated and generated from the real-time perceived six-DOF spatial position parameters of the camera of the XR Extended Reality device; The second XR extended reality device displays the image in the virtual window based on the virtual viewpoint and virtual cone of the first XR extended reality device.

[0013] In one embodiment, displaying the device model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device, in the virtual window includes: Obtain the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the position of the second XR extended reality device within the cabin model; render the personnel model wearing the second XR extended reality device; and form a target projection image by combining the equipment model, the working fluid flow model, and the personnel model. Based on the virtual viewpoint and the virtual cone, the projected image of the target is transformed by perspective projection to obtain the image displayed in the virtual window.

[0014] On the other hand, a ship perspective projection positioning device is provided, the device comprising: The ship model building module is used to obtain a three-dimensional structural distribution map of the cabins of a ship using an XR extended reality device. The three-dimensional structural distribution map of the cabins includes cabin models, the location of each cabin model, the number of each cabin model, the equipment model and the working fluid flow model within each cabin model. The wearable device positioning module is used to obtain the location of each XR extended reality device, identify the serial number of each XR extended reality device, mark the serial number of each XR extended reality device on the corresponding cabin model in the cabin three-dimensional structure distribution map, and associate the location of the cabin model, the number of the cabin model, and the serial number of the XR extended reality device. The positioning perspective location module is used to, in response to the command issued by the first XR extended reality device to obtain the location of the second XR extended reality device, obtain the number of the cabin model where the first XR extended reality device and the second XR extended reality device are located based on the serial numbers of the first XR extended reality device and the second XR extended reality device; The virtual window management module is used to draw virtual windows on the walls or obstacles of the cabin where the first XR extended reality device is located; The perspective projection image display module is used to display the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device, in the virtual window.

[0015] In another aspect, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps: Obtain a 3D structural distribution diagram of the cabins of a ship using an XR extended reality device. The 3D structural distribution diagram includes cabin models, the location of each cabin model, the number of each cabin model, the equipment models and working fluid flow models within each cabin model. The location of each XR extended reality device is obtained, the serial number of each XR extended reality device is identified, the serial number of each XR extended reality device is marked on the corresponding cabin model in the cabin three-dimensional structure distribution map, and the location of the cabin model, the number of the cabin model and the serial number of the XR extended reality device are associated. When the first XR extended reality device issues a command to obtain the location of the second XR extended reality device, the serial numbers of the cabin models where the first XR extended reality device and the second XR extended reality device are located are obtained according to the serial numbers of the first XR extended reality device and the second XR extended reality device. Draw virtual windows on the walls or obstacles of the cabin where the first XR extended reality device is located; The virtual window displays the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device.

[0016] On the other hand, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: Obtain a 3D structural distribution diagram of the cabins of a ship using an XR extended reality device. The 3D structural distribution diagram includes cabin models, the location of each cabin model, the number of each cabin model, the equipment models and working fluid flow models within each cabin model. The location of each XR extended reality device is obtained, the serial number of each XR extended reality device is identified, the serial number of each XR extended reality device is marked on the corresponding cabin model in the cabin three-dimensional structure distribution map, and the location of the cabin model, the number of the cabin model and the serial number of the XR extended reality device are associated. When the first XR extended reality device issues a command to obtain the location of the second XR extended reality device, the serial numbers of the cabin models where the first XR extended reality device and the second XR extended reality device are located are obtained according to the serial numbers of the first XR extended reality device and the second XR extended reality device. Draw virtual windows on the walls or obstacles of the cabin where the first XR extended reality device is located; The virtual window displays the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device.

[0017] In another aspect, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps: Obtain a 3D structural distribution diagram of the cabins of a ship using an XR extended reality device. The 3D structural distribution diagram includes cabin models, the location of each cabin model, the number of each cabin model, the equipment models and working fluid flow models within each cabin model. The location of each XR extended reality device is obtained, the serial number of each XR extended reality device is identified, the serial number of each XR extended reality device is marked on the corresponding cabin model in the cabin three-dimensional structure distribution map, and the location of the cabin model, the number of the cabin model and the serial number of the XR extended reality device are associated. When the first XR extended reality device issues a command to obtain the location of the second XR extended reality device, the serial numbers of the cabin models where the first XR extended reality device and the second XR extended reality device are located are obtained according to the serial numbers of the first XR extended reality device and the second XR extended reality device. Draw virtual windows on the walls or obstacles of the cabin where the first XR extended reality device is located; The virtual window displays the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device.

[0018] The aforementioned ship perspective projection positioning method, device, computer program product, computer equipment, and storage medium eliminate visual and informational barriers during ship cabin commissioning by establishing a virtual-real fusion space. During equipment commissioning in ship cabins, virtual windows assist in viewing real-time 3D observations of the working fluid flow, other spatial operation statuses, and the positions of other personnel, eliminating the need for conversion from 2D electronic manuals to 3D space of the same scale. Shipborne local area networks are used to synchronize XR extended reality equipment task commissioning sequence information, enabling synchronized multi-person collaborative commissioning operations. The working fluid flow rendering effect is updated based on the synchronization status, allowing commissioning personnel to quickly complete commissioning task positioning and collaborative sequence operations. This significantly improves the commissioning efficiency of complex ship cabin systems, shortens the commissioning cycle of cross-cabin equipment, reduces the workload of commissioning personnel in spatial and step confirmation, ensures ship delivery quality, and shortens the ship delivery cycle. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is an application environment diagram of the ship perspective projection positioning method in one embodiment of this application; Figure 2This is a flowchart illustrating a ship perspective projection positioning method in one embodiment of this application; Figure 3 This is a perspective projection diagram of a virtual window in a ship's cabin in one embodiment of this application; Figure 4 This is a schematic diagram of a synchronization communication clock for multi-person collaborative debugging operation information in one embodiment of this application; Figure 5 This is a structural block diagram of a ship perspective projection positioning device in one embodiment of this application; Figure 6 This is an internal structural diagram of a computer device in one embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0022] like Figure 1 As shown, in cabin 101, commissioner 1 wears an XR extended reality device 100, and in cabin 2, commissioner 2 wears an XR extended reality device 100. The two cabins are separated by a steel plate wall and are not visible to each other within the actual field of view. A virtual window 103 is displayed on the steel plate wall of the cabin, and a projected image is displayed on the virtual window 103. The projected image is a model 105 of the example device 104 in cabin 2 and a model 106 of the person wearing the XR extended reality device 100 in cabin 2.

[0023] Two XR augmented reality devices identify the location of infrared passive positioning sensor markers. By identifying the graphic serial number of the infrared passive positioning sensor marker, the location of the marker's compartment within the ship, its compartment number, and mission information are obtained. The location of the two XR augmented reality devices, the personnel wearing them, and the information about their work compartments are synchronized via the ship's local area network.

[0024] After completing the virtual-real fusion debugging and shared space calibration, Debugger 1 and Debugger 2 can respectively set the virtual window view cone distance value to be greater than the sum of the total distances of the first and second compartments, and start the cabin perspective auxiliary debugging model. At this time, the XR extended reality device generates virtual windows 103 for Debugger 1 and Debugger 2 according to the device position. The two debuggers can observe each other's position, the contents of each other's compartments, the shared pipelines of the two compartments, and the 3D rendering of the working fluid flow of the equipment through the virtual windows 103 displayed on their respective XR extended reality devices.

[0025] After completing the debugging operations for the corresponding cabin equipment on their respective work orders, Debugger 1 and Debugger 2 use gestures and voice interaction to check the task completion status in the collaborative debugging task software on the XR extended reality devices. Multiple XR extended reality devices refresh and synchronize debugging results and rendered content to the cloud edge computer via the ship's local area network.

[0026] This application provides a ship perspective projection positioning method, which includes three methods for joint debugging of ship cabin equipment in an extended reality environment: virtual-real fusion debugging shared space calibration, cabin perspective auxiliary viewing, and multi-person collaborative debugging operation synchronization.

[0027] The virtual-real fusion debugging space calibration step involves identifying the position of the infrared passive positioning sensor marker by using an XR extended reality device worn by the debugging personnel; obtaining the position of the cabin containing the marker, the cabin number, and the mission information within the ship by identifying the graphic serial number of the infrared passive positioning sensor marker; and synchronizing the position of the activated XR extended reality device, the personnel wearing it, and the information of the working cabin through the ship's local area network.

[0028] Multiple equipment commissioning personnel, wearing XR extended reality devices, associate their locations and work tasks with the identification codes of each compartment, automatically establishing a shared virtual-real fusion commissioning space and eliminating visual and informational barriers during shipboard commissioning. This invention combines real-time data collection from multiple sensors on AR terminal devices with computer vision algorithms, virtual-real fusion visualization technology, and gesture and voice interaction technology to provide shipboard system commissioning personnel with a 3D representation of the commissioning location and tasks within the shipboard compartment. This enables commissioning personnel to quickly complete task positioning and collaborative sequence operations, significantly improving the efficiency of commissioning complex shipboard systems, shortening the commissioning cycle for cross-compartment equipment, reducing the workload of spatial and procedural confirmation for commissioning personnel, ensuring ship delivery quality, and shortening the ship delivery cycle.

[0029] In one embodiment, such as Figure 2 As shown, a method for positioning a ship using perspective projection is provided, including the following steps: Step S1: Obtain a 3D structural distribution diagram of the cabins of the ship using an XR extended reality device. The 3D structural distribution diagram includes cabin models, the location of each cabin model, the number of each cabin model, the equipment model and the working fluid flow model within each cabin model. Step S2: Obtain the location of each XR extended reality device, identify the serial number of each XR extended reality device, mark the serial number of each XR extended reality device on the corresponding cabin model in the cabin three-dimensional structure distribution map, and associate the location of the cabin model, the number of the cabin model, and the serial number of the XR extended reality device. Step S3: In response to the command issued by the first XR extended reality device to obtain the location of the second XR extended reality device, obtain the number of the cabin model where the first XR extended reality device and the second XR extended reality device are located according to the serial numbers of the first XR extended reality device and the second XR extended reality device; Step S4: Draw a virtual window on the wall or obstacle of the cabin where the first XR extended reality device is located; Step S5: Display the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device, in the virtual window.

[0030] In this embodiment, the ship perspective projection positioning method further includes: All XR extended reality devices are configured to share the position in the cabin stereoscopic structure distribution map, and the transparently rendered cabin stereoscopic structure distribution map is displayed in a virtual window in each XR extended reality device. The position of the XR extended reality device in the cabin's three-dimensional structure distribution map is updated in real time.

[0031] In this embodiment, the ship perspective projection positioning method further includes: Set up the wearer information and task information for each XR extended reality device; When the third XR extended reality device selects the serial number of the XR extended reality device or the wearer's information for display, the serial number of the XR extended reality device or the number of the cabin model corresponding to the wearer's information is retrieved accordingly. When the task information is selected, the serial numbers of all XR extended reality devices that execute the task information are obtained, and the number of the cabin model corresponding to the serial number of the XR extended reality device is retrieved accordingly. Based on the number of the cabin model, determine the target XR extended reality device within the cabin model corresponding to the number of the cabin model, obtain the virtual viewpoint and virtual view cone of the target XR extended reality device relative to the third XR extended reality device, and display the equipment model and working fluid flow model within the cabin model corresponding to the number of the cabin model, as well as the position of the target XR extended reality device.

[0032] In this embodiment, obtaining the location of each XR extended reality device and identifying the serial number of each XR extended reality device includes: Obtain the numbers of the positioning sensors installed in each compartment of the ship, and label the corresponding compartment model in the three-dimensional structure distribution diagram of the compartment with the number of each positioning sensor. When the positioning sensor detects the infrared passive positioning sensor mark of the XR extended reality device, it identifies the graphic serial number of the infrared passive positioning sensor mark and uses the graphic serial number of the infrared passive positioning sensor mark as the serial number of the XR extended reality device.

[0033] Furthermore, the infrared passive positioning sensor marker refers to a passive infrared generating element with a prototype or square layout. The XR extended reality device collects the element layout pattern through an infrared sensor and determines the marker serial number based on the pattern recognition result.

[0034] In this embodiment, the ship perspective projection positioning method further includes: The display image in the virtual window is generated by adjusting the viewing cone distance and XR projection imaging resolution parameters of the virtual viewing cone.

[0035] In this embodiment, drawing a virtual window on the wall or obstacle of the cabin where the first XR extended reality device is located includes: A virtual window is projected onto the wall or obstacle of the cabin where the first XR extended reality device is located using a virtual camera, and a model of a person wearing the second XR extended reality device is displayed in the virtual window.

[0036] In this embodiment, drawing a virtual window on the wall or obstacle of the cabin where the first XR extended reality device is located further includes: A virtual view frustum of the second XR extended reality device relative to the first XR extended reality device is generated in the virtual window based on the view frustum distance and XR projection imaging resolution parameters. The virtual viewpoint of the second XR Extended Reality device relative to the first XR Extended Reality device in the virtual window is calculated and generated from the real-time perceived six-DOF spatial position parameters of the camera of the XR Extended Reality device; The second XR extended reality device displays the image in the virtual window based on the virtual viewpoint and virtual cone of the first XR extended reality device.

[0037] Please see Figure 3 In this embodiment, displaying the device model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device, in the virtual window includes: Obtain the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the position of the second XR extended reality device within the cabin model; render the personnel model wearing the second XR extended reality device; and form a target projection image by combining the equipment model, the working fluid flow model, and the personnel model. Based on the virtual viewpoint and the virtual cone, the projected image of the target is transformed by perspective projection to obtain the image displayed in the virtual window.

[0038] Please see Figure 4 In use, different XR extended reality devices can be positioned and displayed using ship perspective projection based on work order status signals. Figure 4 Device 1 in the diagram represents the first XR extended reality device, and device 2 represents the second XR extended reality device.

[0039] The multi-person collaborative debugging operation synchronization method uses WebRTC and Socket services to collect the sequence operation completion information of the infrared positioning board corresponding to the cabin and equipment personnel and send it to the XR extended reality device client software, and refreshes and updates it according to a 30ms real-time clock.

[0040] The steps for refreshing and updating information include: Step 1. The system clock triggers a refresh operation every 30ms.

[0041] Step 2. Each time Device 1 (the first XR Extended Reality device) and Device 2 (the second XR Extended Reality device) refresh, the system clock sends a request to Device 1 and Device 2 to collect their work order status signals.

[0042] Step 3. Upon receiving the socket request status signal, devices 1 and 2 respectively return their work order status signals to the system clock.

[0043] Step 4. The system clock merges the work order status signals of device 1 and device 2.

[0044] Step 5. The merged signals are passed to the rendering engine, which calculates the image to be rendered based on these signals.

[0045] Step 6. The rendering engine distributes the calculated image to devices 1 and 2 for display.

[0046] In the aforementioned ship perspective projection positioning method, by establishing a virtual-real fusion space, the visual field and information barriers during ship cabin commissioning are eliminated. During the commissioning of equipment in ship cabins, virtual windows are used to assist in viewing the real-time three-dimensional observation of the working fluid flow, the operational status of other spaces, and the positions of other personnel, eliminating the need for conversion from two-dimensional electronic manuals to three-dimensional space of the same scale. The shipborne local area network is used to synchronize XR extended reality equipment task commissioning sequence information, enabling synchronized multi-person collaborative commissioning operations. The working fluid flow rendering effect is updated according to the synchronization status, allowing commissioning personnel to quickly complete commissioning task positioning and collaborative sequence operations. This significantly improves the commissioning efficiency of complex ship cabin systems, shortens the commissioning cycle of cross-cabin equipment, reduces the workload of commissioning personnel in spatial confirmation and step confirmation, ensures ship delivery quality, and shortens the ship delivery cycle.

[0047] In one embodiment, such as Figure 5 As shown, a ship perspective projection positioning device 10 is provided, including: a ship model construction module 1, a wearable device positioning module 2, a positioning perspective position module 3, a virtual window management module 4, and a perspective projection image display module 5.

[0048] The ship model building module 1 is used to obtain a three-dimensional structural distribution diagram of the cabins of a ship using an XR extended reality device. The three-dimensional structural distribution diagram includes cabin models, the location of each cabin model, the number of each cabin model, the equipment model and the working fluid flow model within each cabin model.

[0049] The wearable device positioning module 2 is used to obtain the location of each XR extended reality device, identify the serial number of each XR extended reality device, mark the serial number of each XR extended reality device on the corresponding cabin model in the cabin three-dimensional structure distribution map, and associate the location of the cabin model, the number of the cabin model, and the serial number of the XR extended reality device.

[0050] The positioning perspective location module 3 is used to obtain the number of the cabin model where the first XR Extended Reality device and the second XR Extended Reality device are located based on the serial numbers of the first XR Extended Reality device and the second XR Extended Reality device when the first XR Extended Reality device issues a command to obtain the location of the second XR Extended Reality device.

[0051] The virtual window management module 4 is used to draw virtual windows on the walls or obstacles of the cabin where the first XR extended reality device is located.

[0052] The perspective projection image display module 5 is used to display the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device, in the virtual window.

[0053] like Figure 5As shown, the ship perspective projection positioning device 10 also includes a location sharing module 6.

[0054] The location sharing module 6 is used for: All XR extended reality devices are configured to share the position in the cabin stereoscopic structure distribution map, and the transparently rendered cabin stereoscopic structure distribution map is displayed in a virtual window in each XR extended reality device. The position of the XR extended reality device in the cabin's three-dimensional structure distribution map is updated in real time.

[0055] like Figure 5 As shown, the ship perspective projection positioning device 10 also includes a search and positioning module 7.

[0056] The search and location module 7 is used for: Set up the wearer information and task information for each XR extended reality device; When the third XR extended reality device selects the serial number of the XR extended reality device or the wearer's information for display, the serial number of the XR extended reality device or the number of the cabin model corresponding to the wearer's information is retrieved accordingly. When the task information is selected, the serial numbers of all XR extended reality devices that execute the task information are obtained, and the number of the cabin model corresponding to the serial number of the XR extended reality device is retrieved accordingly. Based on the number of the cabin model, determine the target XR extended reality device within the cabin model corresponding to the number of the cabin model, obtain the virtual viewpoint and virtual view cone of the target XR extended reality device relative to the third XR extended reality device, and display the equipment model and working fluid flow model within the cabin model corresponding to the number of the cabin model, as well as the position of the target XR extended reality device.

[0057] In this embodiment, obtaining the location of each XR extended reality device and identifying the serial number of each XR extended reality device includes: Obtain the numbers of the positioning sensors installed in each compartment of the ship, and label the corresponding compartment model in the three-dimensional structure distribution diagram of the compartment with the number of each positioning sensor. When the positioning sensor detects the infrared passive positioning sensor mark of the XR extended reality device, it identifies the graphic serial number of the infrared passive positioning sensor mark and uses the graphic serial number of the infrared passive positioning sensor mark as the serial number of the XR extended reality device.

[0058] like Figure 5 As shown, the ship perspective projection positioning device 10 also includes a cone adjustment module 8.

[0059] The frustum adjustment module 8 is used to: adjust the frustum distance and XR projection imaging resolution parameters of the virtual frustum to generate the display image in the virtual window.

[0060] In this embodiment, drawing a virtual window on the wall or obstacle of the cabin where the first XR extended reality device is located includes: A virtual window is projected onto the wall or obstacle of the cabin where the first XR extended reality device is located using a virtual camera, and a model of a person wearing the second XR extended reality device is displayed in the virtual window.

[0061] In this embodiment, drawing a virtual window on the wall or obstacle of the cabin where the first XR extended reality device is located further includes: A virtual view frustum of the second XR extended reality device relative to the first XR extended reality device is generated in the virtual window based on the view frustum distance and XR projection imaging resolution parameters. The virtual viewpoint of the second XR Extended Reality device relative to the first XR Extended Reality device in the virtual window is calculated and generated from the real-time perceived six-DOF spatial position parameters of the camera of the XR Extended Reality device; The second XR extended reality device displays the image in the virtual window based on the virtual viewpoint and virtual cone of the first XR extended reality device.

[0062] In this embodiment, displaying the device model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device, in the virtual window includes: Obtain the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the position of the second XR extended reality device within the cabin model; render the personnel model wearing the second XR extended reality device; and form a target projection image by combining the equipment model, the working fluid flow model, and the personnel model. Based on the virtual viewpoint and the virtual cone, the projected image of the target is transformed by perspective projection to obtain the image displayed in the virtual window.

[0063] The aforementioned ship perspective projection positioning device eliminates visual and informational barriers during cabin commissioning by establishing a virtual-real fusion space. During equipment commissioning in ship cabins, virtual windows assist in real-time 3D observation of the working fluid flow, other spatial operation status, and other personnel positions, eliminating the need for conversion from 2D electronic manuals to a 3D space of the same scale. Shipborne local area networks are used to synchronize XR extended reality equipment task commissioning sequence information, enabling synchronized multi-person collaborative commissioning operations. The working fluid flow rendering effect is updated based on the synchronization status, allowing commissioning personnel to quickly complete commissioning task positioning and collaborative sequence operations. This significantly improves the commissioning efficiency of complex cabin systems, shortens the commissioning cycle of cross-cabin equipment, reduces the workload of space and step confirmation for commissioning personnel, ensures ship delivery quality, and shortens the ship delivery cycle.

[0064] Specific limitations regarding the ship perspective projection positioning device can be found in the limitations of the ship perspective projection positioning method described above, and will not be repeated here. Each module in the aforementioned ship perspective projection positioning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0065] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: Obtain a 3D structural distribution diagram of the cabins of a ship using an XR extended reality device. The 3D structural distribution diagram includes cabin models, the location of each cabin model, the number of each cabin model, the equipment models and working fluid flow models within each cabin model. The location of each XR extended reality device is obtained, the serial number of each XR extended reality device is identified, the serial number of each XR extended reality device is marked on the corresponding cabin model in the cabin three-dimensional structure distribution map, and the location of the cabin model, the number of the cabin model and the serial number of the XR extended reality device are associated. When the first XR extended reality device issues a command to obtain the location of the second XR extended reality device, the serial numbers of the cabin models where the first XR extended reality device and the second XR extended reality device are located are obtained according to the serial numbers of the first XR extended reality device and the second XR extended reality device. Draw virtual windows on the walls or obstacles of the cabin where the first XR extended reality device is located; The virtual window displays the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device.

[0066] In one embodiment, when the computer program is executed by a processor, it also performs the following steps: The ship perspective projection positioning method also includes: All XR extended reality devices are configured to share the position in the cabin stereoscopic structure distribution map, and the transparently rendered cabin stereoscopic structure distribution map is displayed in a virtual window in each XR extended reality device. The position of the XR extended reality device in the cabin's three-dimensional structure distribution map is updated in real time.

[0067] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The ship perspective projection positioning method also includes: Set up the wearer information and task information for each XR extended reality device; When the third XR extended reality device selects the serial number of the XR extended reality device or the wearer's information for display, the serial number of the XR extended reality device or the number of the cabin model corresponding to the wearer's information is retrieved accordingly. When the task information is selected, the serial numbers of all XR extended reality devices that execute the task information are obtained, and the number of the cabin model corresponding to the serial number of the XR extended reality device is retrieved accordingly. Based on the number of the cabin model, determine the target XR extended reality device within the cabin model corresponding to the number of the cabin model, obtain the virtual viewpoint and virtual view cone of the target XR extended reality device relative to the third XR extended reality device, and display the equipment model and working fluid flow model within the cabin model corresponding to the number of the cabin model, as well as the position of the target XR extended reality device.

[0068] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The steps of obtaining the location of each XR extended reality device and identifying the serial number of each XR extended reality device include: Obtain the numbers of the positioning sensors installed in each compartment of the ship, and label the corresponding compartment model in the three-dimensional structure distribution diagram of the compartment with the number of each positioning sensor. When the positioning sensor detects the infrared passive positioning sensor mark of the XR extended reality device, it identifies the graphic serial number of the infrared passive positioning sensor mark and uses the graphic serial number of the infrared passive positioning sensor mark as the serial number of the XR extended reality device.

[0069] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The ship perspective projection positioning method also includes: The display image in the virtual window is generated by adjusting the viewing cone distance and XR projection imaging resolution parameters of the virtual viewing cone.

[0070] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The step of drawing a virtual window on the wall or obstacle of the cabin where the first XR extended reality device is located includes: A virtual window is projected onto the wall or obstacle of the cabin where the first XR extended reality device is located using a virtual camera, and a model of a person wearing the second XR extended reality device is displayed in the virtual window.

[0071] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The step of drawing a virtual window on the wall or obstacle of the cabin where the first XR extended reality device is located also includes: A virtual view frustum of the second XR extended reality device relative to the first XR extended reality device is generated in the virtual window based on the view frustum distance and XR projection imaging resolution parameters. The virtual viewpoint of the second XR Extended Reality device relative to the first XR Extended Reality device in the virtual window is calculated and generated from the real-time perceived six-DOF spatial position parameters of the camera of the XR Extended Reality device; The second XR extended reality device displays the image in the virtual window based on the virtual viewpoint and virtual cone of the first XR extended reality device.

[0072] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The description of displaying the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device, in the virtual window includes: Obtain the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the position of the second XR extended reality device within the cabin model; render the personnel model wearing the second XR extended reality device; and form a target projection image by combining the equipment model, the working fluid flow model, and the personnel model. Based on the virtual viewpoint and the virtual cone, the projected image of the target is transformed by perspective projection to obtain the image displayed in the virtual window.

[0073] For specific limitations on the steps implemented when a computer program is executed by a processor, please refer to the limitations on the method of ship perspective projection positioning mentioned above, which will not be repeated here.

[0074] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and the database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The database stores ship perspective projection positioning data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a ship perspective projection positioning method.

[0075] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0076] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps: Obtain a 3D structural distribution diagram of the cabins of a ship using an XR extended reality device. The 3D structural distribution diagram includes cabin models, the location of each cabin model, the number of each cabin model, the equipment models and working fluid flow models within each cabin model. The location of each XR extended reality device is obtained, the serial number of each XR extended reality device is identified, the serial number of each XR extended reality device is marked on the corresponding cabin model in the cabin three-dimensional structure distribution map, and the location of the cabin model, the number of the cabin model and the serial number of the XR extended reality device are associated. When the first XR extended reality device issues a command to obtain the location of the second XR extended reality device, the serial numbers of the cabin models where the first XR extended reality device and the second XR extended reality device are located are obtained according to the serial numbers of the first XR extended reality device and the second XR extended reality device. Draw virtual windows on the walls or obstacles of the cabin where the first XR extended reality device is located; The virtual window displays the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device.

[0077] In one embodiment, when the processor executes the computer program, the processor further implements the following steps: The ship perspective projection positioning method also includes: All XR extended reality devices are configured to share the position in the cabin stereoscopic structure distribution map, and the transparently rendered cabin stereoscopic structure distribution map is displayed in a virtual window in each XR extended reality device. The position of the XR extended reality device in the cabin's three-dimensional structure distribution map is updated in real time.

[0078] In one embodiment, when the processor executes the computer program, the processor further implements the following steps: The ship perspective projection positioning method also includes: Set up the wearer information and task information for each XR extended reality device; When the third XR extended reality device selects the serial number of the XR extended reality device or the wearer's information for display, the serial number of the XR extended reality device or the number of the cabin model corresponding to the wearer's information is retrieved accordingly. When the task information is selected, the serial numbers of all XR extended reality devices that execute the task information are obtained, and the number of the cabin model corresponding to the serial number of the XR extended reality device is retrieved accordingly. Based on the number of the cabin model, determine the target XR extended reality device within the cabin model corresponding to the number of the cabin model, obtain the virtual viewpoint and virtual view cone of the target XR extended reality device relative to the third XR extended reality device, and display the equipment model and working fluid flow model within the cabin model corresponding to the number of the cabin model, as well as the position of the target XR extended reality device.

[0079] In one embodiment, when the processor executes the computer program, the processor further implements the following steps: The steps of obtaining the location of each XR extended reality device and identifying the serial number of each XR extended reality device include: Obtain the numbers of the positioning sensors installed in each compartment of the ship, and label the corresponding compartment model in the three-dimensional structure distribution diagram of the compartment with the number of each positioning sensor. When the positioning sensor detects the infrared passive positioning sensor mark of the XR extended reality device, it identifies the graphic serial number of the infrared passive positioning sensor mark and uses the graphic serial number of the infrared passive positioning sensor mark as the serial number of the XR extended reality device.

[0080] In one embodiment, when the processor executes the computer program, the processor further implements the following steps: The ship perspective projection positioning method also includes: The display image in the virtual window is generated by adjusting the viewing cone distance and XR projection imaging resolution parameters of the virtual viewing cone.

[0081] In one embodiment, when the processor executes the computer program, the processor further implements the following steps: The step of drawing a virtual window on the wall or obstacle of the cabin where the first XR extended reality device is located includes: A virtual window is projected onto the wall or obstacle of the cabin where the first XR extended reality device is located using a virtual camera, and a model of a person wearing the second XR extended reality device is displayed in the virtual window.

[0082] In one embodiment, when the processor executes the computer program, the processor further implements the following steps: The step of drawing a virtual window on the wall or obstacle of the cabin where the first XR extended reality device is located also includes: A virtual view frustum of the second XR extended reality device relative to the first XR extended reality device is generated in the virtual window based on the view frustum distance and XR projection imaging resolution parameters. The virtual viewpoint of the second XR Extended Reality device relative to the first XR Extended Reality device in the virtual window is calculated and generated from the real-time perceived six-DOF spatial position parameters of the camera of the XR Extended Reality device; The second XR extended reality device displays the image in the virtual window based on the virtual viewpoint and virtual cone of the first XR extended reality device.

[0083] In one embodiment, when the processor executes the computer program, the processor further implements the following steps: The description of displaying the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device, in the virtual window includes: Obtain the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the position of the second XR extended reality device within the cabin model; render the personnel model wearing the second XR extended reality device; and form a target projection image by combining the equipment model, the working fluid flow model, and the personnel model. Based on the virtual viewpoint and the virtual cone, the projected image of the target is transformed by perspective projection to obtain the image displayed in the virtual window.

[0084] For specific limitations on the steps implemented by the processor when executing a computer program, please refer to the limitations on the method of ship perspective projection positioning mentioned above, which will not be repeated here.

[0085] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor: Obtain a 3D structural distribution diagram of the cabins of a ship using an XR extended reality device. The 3D structural distribution diagram includes cabin models, the location of each cabin model, the number of each cabin model, the equipment models and working fluid flow models within each cabin model. The location of each XR extended reality device is obtained, the serial number of each XR extended reality device is identified, the serial number of each XR extended reality device is marked on the corresponding cabin model in the cabin three-dimensional structure distribution map, and the location of the cabin model, the number of the cabin model and the serial number of the XR extended reality device are associated. When the first XR extended reality device issues a command to obtain the location of the second XR extended reality device, the serial numbers of the cabin models where the first XR extended reality device and the second XR extended reality device are located are obtained according to the serial numbers of the first XR extended reality device and the second XR extended reality device. Draw virtual windows on the walls or obstacles of the cabin where the first XR extended reality device is located; The virtual window displays the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device.

[0086] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The ship perspective projection positioning method also includes: All XR extended reality devices are configured to share the position in the cabin stereoscopic structure distribution map, and the transparently rendered cabin stereoscopic structure distribution map is displayed in a virtual window in each XR extended reality device. The position of the XR extended reality device in the cabin's three-dimensional structure distribution map is updated in real time.

[0087] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The ship perspective projection positioning method also includes: Set up the wearer information and task information for each XR extended reality device; When the third XR extended reality device selects the serial number of the XR extended reality device or the wearer's information for display, the serial number of the XR extended reality device or the number of the cabin model corresponding to the wearer's information is retrieved accordingly. When the task information is selected, the serial numbers of all XR extended reality devices that execute the task information are obtained, and the number of the cabin model corresponding to the serial number of the XR extended reality device is retrieved accordingly. Based on the number of the cabin model, determine the target XR extended reality device within the cabin model corresponding to the number of the cabin model, obtain the virtual viewpoint and virtual view cone of the target XR extended reality device relative to the third XR extended reality device, and display the equipment model and working fluid flow model within the cabin model corresponding to the number of the cabin model, as well as the position of the target XR extended reality device.

[0088] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The steps of obtaining the location of each XR extended reality device and identifying the serial number of each XR extended reality device include: Obtain the numbers of the positioning sensors installed in each compartment of the ship, and label the corresponding compartment model in the three-dimensional structure distribution diagram of the compartment with the number of each positioning sensor. When the positioning sensor detects the infrared passive positioning sensor mark of the XR extended reality device, it identifies the graphic serial number of the infrared passive positioning sensor mark and uses the graphic serial number of the infrared passive positioning sensor mark as the serial number of the XR extended reality device.

[0089] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The ship perspective projection positioning method also includes: The display image in the virtual window is generated by adjusting the viewing cone distance and XR projection imaging resolution parameters of the virtual viewing cone.

[0090] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The step of drawing a virtual window on the wall or obstacle of the cabin where the first XR extended reality device is located includes: A virtual window is projected onto the wall or obstacle of the cabin where the first XR extended reality device is located using a virtual camera, and a model of a person wearing the second XR extended reality device is displayed in the virtual window.

[0091] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The step of drawing a virtual window on the wall or obstacle of the cabin where the first XR extended reality device is located also includes: A virtual view frustum of the second XR extended reality device relative to the first XR extended reality device is generated in the virtual window based on the view frustum distance and XR projection imaging resolution parameters. The virtual viewpoint of the second XR Extended Reality device relative to the first XR Extended Reality device in the virtual window is calculated and generated from the real-time perceived six-DOF spatial position parameters of the camera of the XR Extended Reality device; The second XR extended reality device displays the image in the virtual window based on the virtual viewpoint and virtual cone of the first XR extended reality device.

[0092] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The description of displaying the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the location of the second XR extended reality device, in the virtual window includes: Obtain the equipment model and working fluid flow model within the cabin model where the second XR extended reality device is located, as well as the position of the second XR extended reality device within the cabin model; render the personnel model wearing the second XR extended reality device; and form a target projection image by combining the equipment model, the working fluid flow model, and the personnel model. Based on the virtual viewpoint and the virtual cone, the projected image of the target is transformed by perspective projection to obtain the image displayed in the virtual window.

[0093] For specific limitations on the steps implemented when a computer program is executed by a processor, please refer to the limitations on the method of ship perspective projection positioning mentioned above, which will not be repeated here.

[0094] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0095] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0096] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A ship perspective projection positioning method, characterized in that: include: Obtaining a three-dimensional structure distribution map of a cabin of a ship using an XR extended reality device, wherein the three-dimensional structure distribution map of the cabin includes a cabin model, a position of each cabin model, a number of each cabin model, an equipment model in each cabin model, and a working fluid flow model; Obtaining the position of each XR extended reality device, identifying the serial number of each XR extended reality device, marking the serial number of each XR extended reality device on the corresponding cabin model in the cabin three-dimensional structure distribution map, and associating the position of the cabin model, the number of the cabin model and the serial number of the XR extended reality device; In response to the first XR extended reality device issuing a command to obtain the position of the second XR extended reality device, obtaining the number of the cabin model where the first XR extended reality device and the second XR extended reality device are located according to the serial numbers of the first XR extended reality device and the second XR extended reality device; Drawing a virtual window on a wall or obstacle in the cabin where the first XR extended reality device is located; The device model and the working fluid flow model in the cabin model where the second XR extended reality device is located and the position of the second XR extended reality device are displayed in the virtual window.

2. The ship perspective projection positioning method according to claim 1, characterized in that: Also includes: Setting the positions of all XR extended reality devices in the cabin stereoscopic structure distribution map to be shared, and displaying the cabin stereoscopic structure distribution map after transparent rendering in a virtual window in each XR extended reality device; The position of the XR extended reality device in the cabin three-dimensional structure distribution map is updated in real time.

3. The ship perspective projection positioning method according to claim 1, characterized in that: Also includes: Set the wearer information and task information corresponding to each XR extended reality device; When the third XR extended reality device selects the serial number of the XR extended reality device or the wearer information for display, the serial number of the XR extended reality device or the cabin model number corresponding to the wearer information is retrieved accordingly; When the task information is obtained, the serial numbers of all XR extended reality devices that execute the task information are obtained, and the numbers of the cabin models corresponding to the serial numbers of the XR extended reality devices are retrieved; Determine the target XR extended reality device in the cabin model corresponding to the number of the cabin model according to the number of the cabin model, obtain the virtual viewpoint and virtual view cone of the target XR extended reality device relative to the third XR extended reality device, and display the device model and working fluid flow model in the cabin model corresponding to the number of the cabin model and the position of the target XR extended reality device.

4. The ship perspective projection positioning method according to claim 1, characterized in that: The obtaining the position of each XR extended reality device and identifying the serial number of each XR extended reality device includes: Acquire the serial number of the positioning sensor arranged in each cabin of the ship, and mark the serial number of each positioning sensor in the corresponding cabin model in the cabin three-dimensional structure distribution diagram; When the positioning sensor identifies the infrared passive positioning sensor marker plate of the XR extended reality device, the graphic serial number of the infrared passive positioning sensor marker plate is identified, and the graphic serial number of the infrared passive positioning sensor marker plate is used as the serial number of the XR extended reality device.

5. The ship perspective projection positioning method according to claim 1, characterized in that: Also includes: The viewing cone distance and XR projection imaging resolution parameters of the virtual viewing cone are adjusted to generate a display image in the virtual window.

6. The ship perspective projection positioning method according to claim 1, characterized in that: Drawing a virtual window on a wall or obstacle in the cabin where the first XR extended reality device is located includes: Through virtual camera projection, a virtual window is drawn on the wall or obstacle of the cabin where the first XR extended reality device is located, and a model of a person wearing the second XR extended reality device is displayed in the virtual window.

7. The ship perspective projection positioning method according to claim 1, characterized in that: Drawing a virtual window on a wall or obstacle in the cabin where the first XR extended reality device is located further includes: Generate a virtual viewing cone of the second XR extended reality device relative to the first XR extended reality device in the virtual window according to the viewing cone distance and the XR projection imaging resolution parameter; Generate a virtual viewpoint of the second XR extended reality device relative to the first XR extended reality device in the virtual window by calculating the six-degree-of-freedom spatial position parameters of the camera of the XR extended reality device perceived in real time; The image is displayed in the virtual window according to the virtual viewpoint and virtual view cone of the second XR extended reality device relative to the first XR extended reality device.

8. The ship perspective projection positioning method according to claim 1, characterized in that: The displaying in the virtual window a device model and a working fluid flow model in the cabin model where the second XR extended reality device is located and the position of the second XR extended reality device comprises: Acquire a device model and a working fluid flow model in the cabin model where the second XR extended reality device is located, and a position of the second XR extended reality device in the cabin model, render a person model wearing the second XR extended reality device, and form a target projection image with the device model, the working fluid flow model, and the person model; The target projection image is transformed through perspective projection based on the virtual viewpoint and the virtual viewing cone to obtain an image displayed in the virtual window.

9. A ship perspective projection positioning device, characterized in that: The device comprises: A ship model construction module is used to obtain a three-dimensional structure distribution map of a ship's cabin using an XR extended reality device, wherein the three-dimensional structure distribution map of the cabin includes a cabin model, a position of each cabin model, a number of each cabin model, an equipment model in each cabin model, and a working fluid flow model; a wearable device positioning module, used to obtain the position of each XR extended reality device, identify the serial number of each XR extended reality device, mark the serial number of each XR extended reality device on the corresponding cabin model in the cabin three-dimensional structure distribution map, and associate the position of the cabin model and the number of the cabin model with the serial number of the XR extended reality device; a positioning perspective position module, configured to obtain, in response to a command issued by the first XR extended reality device to obtain a position of a second XR extended reality device, a number of a cabin model where the first XR extended reality device and the second XR extended reality device are located according to the serial numbers of the first XR extended reality device and the second XR extended reality device; A virtual window management module, configured to draw a virtual window on a wall or obstacle in a cabin where the first XR extended reality device is located; A perspective projection image display module is used to display the device model and the working fluid flow model in the cabin model where the second XR extended reality device is located and the position of the second XR extended reality device in the virtual window.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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