Head-mounted display, use of a head-mounted display, method and device for testing the function of a system, and method and device for visually displaying 3D data

Abstract

The invention relates to a head-mounted device (16), wherein at least one marker (10, 17) is provided or attached on the outside in order to enable a capturing pose the head-mounted device (16).

Description

[0001] PC 24 0192 C 1 / 64 February 28, 2024 Head-mounted display, use of a head-mounted display, method and device for functional testing of a system, and method and device for the visual representation of 3D data The invention further relates to a head-mounted display and its use. Head-mounted displays are known in practice, for example, as VR (virtual reality) glasses, AR (augmented reality) and MR (mixed reality) glasses, with which virtual, spatially assigned data is visually displayed for a viewer alone or in conjunction with real scenes for a wide variety of purposes, often in the entertainment industry, in order to create a spatial impression. Head-mounted displays are described, for example, in the German edition of Wikipedia.Accordingly, a head-mounted display can be characterized, for example, as a visual output device worn on the head. Such a device can, for example, be configured to present images either on a screen close to the eye or by projection onto the retina in order to supplement (AR, MR) or replace (VR) a viewer's natural visual impression with an artificially generated impression. The invention further relates to a method for functional testing of a system. It is known in practice to carry out functional tests, particularly on pharmaceutical systems, on cardboard and / or wooden models before the often complex production process begins. The invention further relates to a device for functional testing of a system. Cardboard and / or wooden models are known in practice for the above-mentioned method.The invention further relates to a method for the visual representation of 3D data and a corresponding device. It is known in practice to use such methods and devices in the entertainment industry, in particular with the aforementioned head-mounted displays, in order to present three-dimensional data in a directly tangible way. The invention is based on the object of expanding the possible applications of head-mounted displays. To achieve the stated object, the features of claim 1 are provided according to the invention. Thus, in particular a head-mounted display, in particular VR, AR and / or XR glasses, with means for extrinsically determining a recording pose and with means for intrinsically determining a recording pose is proposed. The advantage here is that the advantages of intrinsically determining a recording pose can be combined with the advantages of extrinsically determining a recording pose.Alternatively or additionally, the problem is solved by the features of the independent claim directed to a head-mounted display. Thus, the invention uses a head-mounted display, for example VR, AR and / or XR glasses, with at least one marker, in particular PC 24 0192 C 3 / 64 February 28, 2024 with more than two markers for a preferably extrinsic determination of a recording pose. Three markers are often sufficient to clearly determine the position and orientation of a real model. However, it is advantageous to attach more than three markers, especially for more complex real models. By attaching markers, a separate detection of a recording pose and an alignment, even with respect to objects that lie outside the field of view, is possible. This enables a simple embedding of the field of view of the head-mounted display into a virtual space of the virtual 3D model via a 3D measurement.This gives a viewer a realistic impression of a system or complex structures from their perspective. This expands the possible applications of a head-mounted display. The recording pose can, for example, be determined extrinsically or intrinsically. An intrinsic determination can, for example, be characterized by the fact that associated sensors are moved and / or aligned in the direction of the field of view and / or that the field of view can be calculated using on-board resources of the head-mounted display. For example, it can also be recognized by the fact that it cannot be carried out when the head-mounted display is deactivated. An extrinsic determination can, for example, be characterized by the fact that it can be carried out independently of or detached from an intrinsic determination. For example, it can also be recognized by the fact that it can be carried out when the head-mounted display is deactivated.PC 24 0192 C 4 / 64 February 28, 2024 The extrinsic determination can, for example, be carried out using the markers mentioned and / or be defined in relation to spatially fixed reference points. In this case, the marker can be designed to be active. This enables individual detection of each head-mounted display. This means that devices can be easily replaced without the need for re-learning and / or re-alignment of the system. A uniform definition of a center as a reference for multiple codings is also possible in this way. This uniform center can then be used for mapping the virtual body onto a field of view and ultimately for embedding without learning for each marker. Alternatively or additionally, the marker can also be designed to be passive. This makes it possible to increase the service life of the head-mounted display, as fewer resources are consumed during operation.Markers can also be attached in different positions to different head-mounted displays, thus enabling individual recording. A standardized fastening kit for connecting the glasses and markers enables embedding without learning or with very little effort. A further advantage of passive markers is their low weight, which, for example, positively influences the wearing comfort of the head-mounted display. In one embodiment of the invention, means for intrinsically determining a recording pose can be provided. This makes it possible to track a virtual scene based on an intrinsically recorded recording pose. In this case, it can be provided that means are designed to compare the recording pose determined with the means for intrinsically determining the recording pose with a further recording pose, preferably determined extrinsically.Thus, an intrinsically determined recording pose can be compared by an independent measurement, in particular an absolute value measurement. This allows for the compensation or elimination of errors that may arise, for example, from the integration of detected changes (e.g., from an acceleration sensor and / or optical flow) to determine the intrinsic recording pose over longer distances or time periods. In one embodiment of the invention, it can be provided that a preferably extrinsically determined recording pose can be input. This makes it easy to obtain comparison values ​​or references for synchronizing an intrinsically determined recording pose with a physical reality. For example, this can be done in addition to an intrinsically determined recording pose and / or to a comparison with an intrinsically determined recording pose.The invention creates a combination of low-latency tracking of a virtual scene based on an intrinsic recording pose with more precise extrinsic determination of a corresponding recording pose. In one embodiment of the invention, it can be provided that a means for displaying a virtual scene can be controlled based on the recording pose or a preferably extrinsically determined recording pose. This can enable simple synchronization of a virtual scene with a physical reality. To achieve the stated object and as a preferred application, a device for displaying at least one virtual object is used, comprising a head-mounted display according to the invention, in particular as described above or claimed below, with a 3D measuring device for extrinsic PC 24 0192 C 6 / 64 February 28, 2024 detection of the at least one marker.Thus, a system with redundant determination is described, allowing measurement results to be easily calibrated or referenced. In this case, it can be provided that the means for comparison are fed from the 3D measuring device, preferably additionally from means for intrinsic detection of a recording pose. This makes it possible to use a physical reality as a reference to detect deviations in an intrinsic determination. Preferably, the measurement accuracy of the 3D measuring device is greater than the measurement accuracy of the means for intrinsic determination of a recording pose.The aforementioned object is achieved alternatively or additionally by using a head-mounted display, in particular VR, XR, and / or AR glasses, and a 3D measuring device that is preferably stationary and / or operates independently of the head-mounted display to create a virtual view of a 3D model of a system in the head-mounted display, with individual virtual objects corresponding to real models captured by the 3D measuring device. This provides a means for a haptically controllable, virtual functional test of a system represented as a 3D model.In particular, this can be used for a functional test of a preferably pharmaceutical system, preferably in a method according to the invention, in particular as described above and / or below and / or claimed below, and / or in a device according to the invention, in particular as described above and / or below and / or claimed below. The invention can save considerable costs, time, and space here, since pharmaceutical systems, particularly as controlled rooms or in controlled rooms such as RABS (restricted access barrier systems) or isolators, often have large spatial dimensions. This makes a traditional structure made of cardboard and / or wood complex.The object mentioned above is achieved alternatively or additionally according to the invention by a method for the visual representation of 3D data, wherein a field of view of a head-mounted display (display attached to the head), in particular VR and / or XR and / or AR glasses, is intrinsically determined on a time-recurring basis, and information moving along with the field of view is displayed in the head-mounted display, wherein a recording pose of the head-mounted display that specifies the field of view is determined, preferably on a time-recurring basis, and compared with the field of view. Thus, a spatially precise embedding of the field of view in a virtual world is feasible with the available computing capacity of a head-mounted display. The invention has the advantage that a spatial relationship of the viewer to virtual objects that are not currently in the viewer's field of view, defined by a recording pose of the head-mounted display, can be determined.The field of view of the head-mounted display can, for example, be defined by the field of view of a viewer whose head position corresponds to a current recording pose of the head-mounted display when the display is in the use position. The recording pose can, for example, be defined as the position and orientation of a forward direction of the head-mounted display. This method can, for example, be designed or implemented as part of a method according to the invention, in particular as described herein and / or claimed below, for functional testing of a system. In an advantageous embodiment, it can be provided that the recording pose is determined using a stationary 3D measuring device designed independently of the head-mounted display and / or.This enables continuous, all-round capture of the head-mounted display and uninterrupted embedding of the field of view. The 3D measuring device can, for example, comprise at least one or more cameras. In general, it can be said that the use of multiple cameras can, on the one hand, improve measurement accuracy and, on the other hand, is less susceptible to details being obscured by other details. 3D measuring devices are known for spatially capturing the position and orientation of real models.One possibility is to create two-dimensional images of the real models from different recording poses, identify the respective models in these images, for example, based on attached markers, and then solve a system of equations that describes these images as recordings of a common real model, where the shape, for example, the position of the individual markers, is entered as an unknown and the image positions are treated as input variables. Alternatives to this include the use of structured light, whose pattern on the real models allows inferences about the orientation and position of the real models. Methods using time-of-flight measurements of signals are also known. PC 24 0192 C 9 / 64 28.February 2024 In an advantageous embodiment, it can be provided that the recording pose is determined using a measuring device that moves along with the camera and / or is independent of the determination of the field of view. This reduces the apparatus structure of the device according to the invention. In an advantageous embodiment, it can be provided that the intrinsic determination is carried out with the aid of at least one moving sensor, in particular a camera and / or a motion and / or acceleration and / or position sensor. Thus, known systems for determining the field of view and its changes during head movement can be used. In an advantageous embodiment, it can be provided that the recording pose is measured using active markers on the head-mounted display. Active markers offer the advantage of better distinguishability and easy switching of identifications.In an advantageous embodiment, it can be provided that the recording pose is measured using passive markers on the head-mounted display. Passive markers help to save energy for operation and thus extend the service life during which the device remains ready for use. In an advantageous embodiment, it can be provided that the recording pose is measured using a stationary measuring device, in particular using stationary cameras. In an advantageous embodiment, it can be provided that the intrinsic determination of the recording pose is measured using moving cameras of the head-mounted display. The object mentioned above is alternatively achieved according to the invention PC 24 0192 C 10 / 64 28.February 2024 or additionally by a method for the visual representation of a system and / or a method as part of a method described above and / or claimed below, wherein a field of view of a head-mounted display (display attached to the head), in particular VR and / or XR and / or AR glasses, is intrinsically determined on a time-recurring basis and wherein an air flow is calculated and visually displayed as preferably moving 3D data in the head-mounted display. The advantage here is that the influence of a work process on an air flow is immediately visible and / or controllable. It is known to use air flows in controlled environments to prevent the transfer of contaminants to areas that require special protection. The invention makes it possible to check this, since air flows are also influenced, for example, by mobile functional units and / or a user.In an advantageous embodiment, it can be provided that the head-mounted display is connected to a preferably stationary processing unit for transmitting measurement data of the recording pose and / or image data for the head-mounted display. This enables computing routines to be outsourced to stationary units with greater capacity. The data transmission can be wireless or wired, for example. In an advantageous embodiment, it can be provided that the 3D data comprise a 3D model of a system and / or wherein the 3D data also comprise AR metadata relating to components of a system, in particular the system already mentioned. The use of a 3D model enables a realistic visual representation of a system in virtual space. The use of AR metadata also enables, via PC 24 0192 C 11 / 64 28.February 2024, to overlay or display data that goes beyond the mere image content, such as warnings, messages, or instructions. This enables, for example, a simple switch to a viewer's language or a change in overlays depending on the operating state of the system. Flow data of an air flow can also be displayed as 3D data, in particular in the form of streamlines. In an advantageous embodiment, it can be provided that the head-mounted display, in particular a head-mounted display according to the invention, for example as described above and / or claimed below, generates an overlay of a real field of view with a virtual representation of the 3D data. MX or AR applications are thus possible.Alternatively or additionally, it can be provided that a real environment is shielded with the head-mounted display, in particular a head-mounted display according to the invention, for example as described above and / or claimed below. VR applications are thus possible. Additionally, one of the described methods can provide for a real model, for example one of the already mentioned real models, to be adjusted by a motor. Thus, an adjustment to a position and / or orientation of a virtual object can be carried out more easily and / or more precisely. Alternatively or additionally, one of the described methods can provide for a real model, for example one of the already mentioned real models, to be adjusted preferably by a motor and / or automatically, until a preferably automatically detected deviation in a position and / or orientation of a virtual body is detected by a PC 24 0192 C 12 / 64 28.February 2024 corresponding virtual object lies within a tolerance range. In this way, an automatic integration of a real model into the method can be achieved. These two embodiments can be used advantageously together or individually, for example, in the case of the shoulder rings described in more detail below. To achieve the object mentioned at the outset, the invention further provides a device for the visual representation of 3D data, comprising a head-mounted display which is configured to determine a moving field of view, a device for determining a recording pose of the head-mounted display, and a device for comparing the recording pose with the field of view. In this way, a spatially precise embedding of a field of view in a virtual world of virtual objects can be realized with low computational requirements for the head-mounted display.This can be used, for example, for the precise location of information and messages. The device can be designed, for example, as part of an inventive device for functional testing of a system, for example as described above and / or claimed below. An advantageous embodiment can be designed with a 3D engine for the visual representation of the 3D data in the field of view. Known algorithms for controlling visual representations can thus be used. An advantageous embodiment can be designed with a preferably stationary 3D measuring device for determining the recording pose. A stationary 3D measuring device can be designed with greater spatial coverage, for example through a spatial distribution of corresponding cameras.An advantageous embodiment can be provided with a device for generating a virtual space for a virtual body captured with a 3D measuring device, for example, the one already mentioned. This allows for the capture of real models and their changes. This can be used, for example, to connect a virtual world to a real world. An example of a 3D measuring device is the combination of the Prime cameras. X 13 and / or Prime X13W from OptiTrack (NaturalPoint, Inc., PO Box 2317, Corvallis, OR 97339) with the motion capture software Motive from OptiTrack. An advantageous embodiment can alternatively or additionally be designed with a device for generating a virtual space for the visual representation of the 3D data. Thus, a scene can be provided for the generation of virtual visual impressions. An advantageous embodiment can alternatively or additionally be designed with a device for establishing a correspondence between two virtual spaces, preferably the virtual spaces already mentioned, in particular for embedding the virtual bodies in the virtual space for the virtual representation. Thus, an easy-to-use means is created for creating virtual objects by manipulating real,corresponding models. An advantageous embodiment can be designed with a device for embedding a field of view of the head-mounted display into the virtual space for the virtual representation (PC 24 0192 C 14 / 64 February 28, 2024). This enables a true-to-life visual representation of the virtual world through the eyes of a viewer, as if they were actually visually perceiving the virtual world. An advantageous embodiment can be designed with a device for calculating an air flow, in particular for a visual representation of the air flow. This makes it possible to make air flows, in particular as streamlines, visible. To achieve the stated object, alternatively or additionally, in a method for functional testing of a system, the system is represented as a virtual 3D model made up of virtual objects.wherein a real model of at least one virtual object is provided, and wherein a virtual body is aligned with the real model using a 3D position measurement at regular intervals, and the at least one virtual object is linked to the virtual body and brought into a desired positional relationship with the virtual body, wherein the link between the virtual body and the at least one virtual object is changed by a user. Thus, the invention enables a haptic experience of virtual modeling that allows real functional testing without requiring a complete, real image of the system to be tested. This can significantly simplify functional testing, since the entire system does not have to be constructed as a real model. This can generally be said,that the mentioned links can only refer to a subset of the degrees of freedom of movement of the respective objects or bodies PC 24 0192 C 15 / 64 February 28, 2024 or force a complete definition. For example, a desired positional relationship can also mean that only parts of the movement are reproduced (e.g. only the X and Y axes, no rotation). This applies to the hologram as well as to the target (glove port). For example, the real model can be tilted relative to, for example, a glass pane plane, so that upon activation of the link, a corresponding virtual object would be pulled out of the (virtual) pane plane. Here, it can be provided that a boundary condition is formulated that allows the orientation of this object with respect to the virtual body only in certain degrees of freedom and fixes it in the degrees of freedom of the pane, so that the virtual object,For example, a shoulder ring or a glove port remains in the disc. This avoids distracting visual impressions. For example, real objects that do not come into contact with a user in a particular test because they would be too far away can be omitted. The concept of activating a link enables, for example, a coupling of the virtual world to the real world, making details of the 3D model haptically tangible through appropriately positioned real models. The concept of deactivating a link enables, for example, the exchange of virtual objects and thus the multiple use of a very limited supply of real models, for example, at different locations within an industrial facility, especially when design details are used multiple times. The user who activates or deactivates the linkscan be, for example, a viewer of the (virtual) system, in particular a person who performs a PC 24 0192 C 16 / 64 February 28, 2024 functional test or a functional test of the system, or an assistant who maintains a 3D engine or, in general, software that implements the invention. A 3D engine, also a graphics engine, can be characterized, for example, as an integrated or externally stored program code that is responsible for calculating the graphics interface in parallel to the actual program. A virtual object can be characterized, for example, as a functional and / or constructive part of the 3D model. Examples can be static parts such as shoulder rings or boundary walls of an isolator as a special (pharmaceutical) system or movable parts such as doors, in particular of transfer ports or rapid transfer ports ("quick change system", RTP for short, also Alpha-Beta port system) or locks,or functional stations such as filling stations, sealing stations, or material storage or manipulators. This list is not exhaustive. Other examples can be used to advantage. A virtual body can, for example, be characterized as a rigid body formed from fixedly arranged measuring points. For example, it can be provided that in order to change the link, it is activated (or started) and / or deactivated (or ended). This makes it possible to establish or release a spatial coupling between the virtual object and the virtual body in a virtual space. Since the virtual body is coupled to a real model via 3D position measurement and necessarily replicates its position and position changes in a virtual space,The link can thus – in the case of activation – couple the virtual objects of the 3D model to reality or – in the case of deactivation PC 24 0192 C 17 / 64 February 28, 2024 – separate the virtual objects from reality. In an advantageous embodiment, it can be provided that the linking of the virtual body with the at least one virtual object comprises forcing a desired positional relationship of a position and / or an orientation of the virtual object to the virtual body. Thus, an impression of a co-movement of a virtual object with a haptically perceivable real model can be created. This can be used, for example, to test the feasibility of real work steps on a 3D model. This forcing, especially if it is time-limited, can also be used as a simple means of making a change to the real model,For example, an ergonomic improvement, to be transferred to the virtual object. The enforcement can relate to all degrees of freedom of movement or to a subset of the degrees of freedom of movement, in particular to take boundary conditions into account. In general, a position of a virtual object or a real model can be described, for example, by three coordinates of a selected point, in particular a center of gravity, center point, or another distinguished or special point. A location of a virtual object or a real model can be described, for example, by angular information, an orientation with respect to rotations around the selected point to which the position refers, and / or by information on the position of another point on the virtual object or the real model, which can be in a fixed relationship to the selected point.be describable. A pose can, for example, be describable by a position and a position. PC 24 0192 C 18 / 64 February 28, 2024 For example, it can be provided that the position and / or position of the virtual object is set to the position and / or position of the virtual body. Thus, displacement-free following or movement is possible. Alternatively or additionally, it can be provided that the forcing is triggered by activating a request. Thus, an exchange of virtual objects and / or real models during linking is possible. Alternatively or additionally, it can be provided that the forcing is carried out permanently, for example recurringly over time, preferably automatically. Thus, for example, the virtual object can be carried along with the virtual body over a movement section. In an advantageous embodiment, it can be providedthat the linking is deactivated for a preferably defined or indefinite period of time. Thus, an alignment of a real model, in particular with respect to another real model whose virtual body is already linked, can be carried out in order to align the real model with a virtual world, in particular the virtual 3D model to which the at least one virtual object belongs, in such a way that the further real model remains in register with this virtual world. It can be provided that deviations between the at least one virtual object and the virtual body are displayed when the link is deactivated. This can be used, for example, to bring a real model into a desired position so that a desired relationship to a virtual object is established. In an advantageous embodiment, it can be providedPC 24 0192 C 19 / 64 February 28, 2024 that the link between the virtual body and the at least one virtual object is replaced by another link between the virtual body and another virtual object. This enables the reuse of a real model for testing on other virtual objects of the 3D model. Thus, a complete setup of the system is not required. This can save space and time for creating the real models and enable the functional test to be carried out at remote locations or by users who are distant from each other. It also saves costs for the manufacture and assembly of the models. There are also technological advantages, for example, a section can be placed in the virtual model or a hologram can be displayed for better comprehensibility. In an advantageous embodiment, it can be provided thatthat the 3D model is subjected to an isometric transformation when the link is replaced by another link until the virtual body and the other virtual object are aligned at least within a tolerance range. This allows the user to relocate within the virtual world without having to change their location in the real world. This makes it easy to use already constructed real structures for further testing without modifications. Adapting the existing real models to the position and / or orientation of the new virtual objects is then easy to perform as described above. Such an isometric transformation can, for example, include rotating and / or translating. Thus, the relocation simply corresponds to any change of location in the real world. Preferably, only isometric transformations are permitted.PC 24 0192 C 20 / 64 February 28, 2024 which are given an orientation, i.e., for example, are not mirrored. Thus, changes are blocked that have no equivalent in the real world. In an advantageous embodiment, it can be provided that a position of the real model is preferably changed manually or automatically until the associated virtual body is aligned with the at least one virtual object or with the other virtual object. This enables an alignment of the real models such that a haptic impression in interaction with the real model coincides with a visual impression when viewing the virtual object. For example, a shoulder ring can first be aligned with the 3D model by activating a link to the respective virtual object. Subsequently, another shoulder ring or another part,For example, a door or a functional unit to be manipulated, can be modified as a real model in such a way that this real model is aligned with the corresponding virtual object and the thus positioned and / or aligned real model is inserted into the virtual world. In this case, it can be provided that a link between the virtual body and the virtual object or the other virtual object is subsequently activated. Thus, a movement of the real model can subsequently be reproduced by the virtual object. This makes it possible for a viewer of the virtual world to have the feeling of actually moving or manipulating the virtual objects, since the viewer receives haptic or tactile sensory information that matches the visual sensory information. PC 24 0192 C 21 / 64 February 28, 2024 In an advantageous embodiment, it can be provided thatthat several virtual bodies are linked to a respective virtual object of the 3D model, wherein the individual links are changed independently of one another, in particular activated and / or deactivated. Thus, different real models, for example two shoulder rings, can be set independently of one another and / or individual real models can be selected as movable parts of the system, for which the virtual object must be carried along, while other real models can be or remain usable as reference points of the real world to which the virtual world can dock. In an advantageous embodiment, it can be provided thatthat an update of the coordinates of the at least one virtual object is output. This can be used, for example, to edit design data of the 3D model. Thus, adjustments and ergonomically and / or process-economically necessary changes to the system can be easily made without having to create a new complete model in the real world. In an advantageous embodiment, it can be provided that the system is for the pharmaceutical sector, preferably for filling medications into containers and / or in conjunction with a protected space, preferably an isolator. Here, regulatory requirements and / or ergonomic constraints for workflows can be easily tested. Alternatively or additionally, the stated object is achieved by a method for functional testing of a system, wherein the system is represented as a virtual 3D model made up of virtual objects.wherein a real model of at least one virtual object is provided, and wherein PC 24 0192 C 22 / 64 28 February 2024 a virtual body is aligned with the real model at regular intervals using a 3D position measurement, and the at least one virtual object is linked to the virtual body and brought into a desired positional relationship with the virtual body, wherein a real model corresponding to the at least one virtual object is produced and provided with identifiable features, in particular markers, for a 3D position measurement, and that a correspondence between the identified features and the at least one virtual object is stored. This makes it easy to identify details of the system that are relevant for the tests and with which physical interaction is desired.to produce and integrate. The identifiable features can be easily used to generate the virtual body that is to be linked to the object. This aspect can be advantageously combined with the previously described aspect. For example, by activating the link, a real model prepared for use with markers can be easily used in the method according to the invention. The markers can, for example, be realized by preferably two- or three-dimensional markers. The real model is preferably produced using an additive process, in particular from CAD data or other data of the virtual object. This enables the 3D model to be realized as faithfully as possible, in order to also make details haptically perceptible. Another advantageous variant is to use the real model and provide it directly with markers.to achieve an even better haptic experience. Alternatively, a virtual object can also be derived from a 3D scan of a real model. Thus, a prototype PC 24 0192 C 23 / 64 February 28, 2024 or a sample from a manufacturer can be used directly without the need for CAD data, and / or the complex 3D printing of a complex object can be avoided. In an advantageous embodiment, it can be provided that the identifiable features are formed at predetermined positions on the real model. This enables a quick and easy integration or creation of a correspondence between the virtual body, which can be given by the features, and the virtual object, on which the positions of the features can be noted. In an advantageous embodiment, it can be providedthat at least one position of the formed features is measured on the real model. This can be done, for example, with a 3D camera. The measurement allows for the attachment of any markers. This can simplify the preparation of the real models for use. In an advantageous embodiment, it can be provided that an operator wears a glove and / or a hand tracking device (smart glove, metaglove, motion capture glove, finger tracking device). Alternatively, direct tracking of hands is also possible. The detection of hands is advantageous for the most realistic reproduction of manipulation actions in the virtual world. Isolator or shoulder gloves can also be used, for example, to create a realistic simulation of the resulting physical constraints. In this case, it can be provided that a 3D position, in particular a position and a location,one or more fingers and / or a hand and / or an arm is repeatedly determined. Thus, the integration of hands and / or arms, PC 24 0192 C 24 / 64 February 28, 2024 with which manipulations are performed and / or for which collision checks are required, into the virtual world is easy to implement. For example, this can be realized by detecting a glove, in particular the one already mentioned, and / or a hand tracking device, in particular the one already mentioned. Thus, realistic manipulation actions can be represented virtually. In an advantageous embodiment, it can be provided that the 3D model represents a shoulder ring, to the position of which a real shoulder ring is adjusted, in particular in a preceding setup step and / or wherein an operator inserts an arm through the shoulder ring,preferably in a manipulation glove attached to the shoulder ring. In an advantageous embodiment, it can be provided that the recording pose of the observer is defined relative to the shoulder ring. Thus, the observer position and orientation can be used as a reference for the representation of the virtual objects. In an advantageous embodiment, it can be provided that the at least one virtual object is a door of a transfer port or a lock. Other details of a system that must be manipulated during use can also be used, for example, air samplers, agar plates, sampling devices, filling stations, pump bodies, hoses, generally semi-stationary (for example, those whose mobility is restricted by joints or guides) or freely movable parts of the system. In general, the real models can be divided into those that have a reference point with respect to PC 24 0192 C 25 / 64 February 28, 2024For example, a boundary of the facility and / or with respect to an access, in particular with respect to a shoulder ring, are movable, and those that are immovable. In an advantageous embodiment, it can be provided that the 3D model has a further virtual object, for which a further real model is provided, wherein the real model is arranged so as to be movable relative to the further real model. Thus, individual real models can be used as reference points for connecting the virtual world, and other real models can be used for location-accurate manipulations in a virtual world registered with reality. In an advantageous embodiment, it can be provided that the further real model is at least partially immovable and / or at least partially movable relative to a boundary of the facility. Thus, a boundary can be used as a reference point or reference surface.to establish a correspondence between the virtual world and the real world. A non-exhaustive list of examples of at least partially movable components of a system that can advantageously be used as a real model includes a shoulder ring and / or a door frame of a transfer port and / or a door, in particular of a transfer port or a lock door, and / or a lock and / or a Petri dish, an air sampler, at least one agar plate, a sampling device, a pump body, and at least one hose. An embodiment of potentially independent inventive quality proposes a method for functional testing of a system, in particular as described above, with the following steps: providing CAD data of the system, creating at least one real model of at least part of the CAD data,Setting up at least one real model in a 3D measuring device, displaying a virtual 3D model created from the CAD data by processing at least 3D measurement data from the 3D measuring device. This enables a functional test of a complex system with minimal material expenditure, based on haptic impressions of the real model. In an advantageous embodiment, it can be provided that a field of view of a head-mounted display is determined, preferably with the 3D measuring device. This enables an embedding of an observer and / or operator in a virtual scene of virtual objects of the CAD model. In an advantageous embodiment, it can be provided that the display of the 3D model occurs in relation to a field of view of a head-mounted display. This enables a realistic viewing of the 3D model from a viewing position. In an advantageous embodiment, it can be providedthat a change to at least one real model is automatically reproduced in the 3D model. Thus, changes in the real world can be easily reproduced in the virtual world in which the 3D model is defined. A viewer can thus be given the impression that the virtual objects can be changed by – haptically perceivable – changing the associated real model, for example, corresponding to the linked virtual body. This makes it possible to conduct functional tests of complex industrial plants, such as pharmaceutical plants, with minimal use of material, time, and space. PC 24 0192 C 27 / 64 February 28, 2024. In this case, or in general, it can be provided that modified design data is generated and output from the modified 3D model or modified virtual objects. This enables the specification of design changes,which arose during the functional test. In an advantageous embodiment, it can be provided that the 3D measuring device is transported in a fixed measuring setup before being set up. Thus, a device according to the invention can be easily transported to a remote location, for example, for an on-site functional test. The object mentioned above is achieved alternatively or additionally by a device for functional testing of a system, wherein the system is present as a virtual 3D model, with a 3D measuring device, at least one real model of a virtual object of the 3D model, a device for automatically integrating a virtual body, captured with the 3D measuring device, into the 3D model, a device for automatically moving the virtual object with the virtual body, and a device for visually displaying the 3D model.in particular a 3D engine. Thus, means are provided for testing a haptically perceivable, virtually representable system. In an advantageous embodiment, it can be provided that a means for activating and / or deactivating a link between the virtual body and the at least one virtual object is formed. Thus, an operator can easily determine how the virtual world of the 3D model is to be linked to reality. PC 24 0192 C 28 / 64 February 28, 2024 In an advantageous embodiment, it can be provided that a head-mounted display is set up to generate a field of view of the 3D model. Thus, a natural viewing position can be realized. In an advantageous embodiment, it can be provided that a device for generating a field of view of the 3D model is connected to measured values ​​of the 3D measuring device at a, in particular the already mentioned,Head-mounted display is fed. This enables viewing of the 3D model from a human observer position. In an advantageous embodiment, it can be provided that a device for isometric transformation of the 3D model relative to the field of view is formed. This enables repositioning of the 3D model or a virtual change of position of an operator of the system. An advantageous embodiment can be designed with means for carrying out a method according to the invention, in particular as described above and / or claimed below. Thus, a way to implement the described methods is specified. In an advantageous embodiment of one of the described devices, it can be providedthat the device is designed with a device for a motorized adjustment of at least one real model. This enables a precise and / or automatic and / or remotely triggered adjustment. Alternatively or additionally, in an advantageous embodiment of one of the described devices, it can be provided that the device is designed with a device for a preferably automatic determination of a deviation in PC 24 0192 C 29 / 64 28 February 2024 a position and / or orientation of a virtual body from a corresponding virtual object. Thus, integration can be supported by computer assistance. Alternatively or additionally, in an advantageous embodiment of one of the described devices, it can be provided that the device is designed with a device for a motorized adjustment of at least one real model,until a preferably automatically detected deviation in the position and / or orientation of a virtual body from a corresponding virtual object lies within a tolerance range. Thus, a fully automatic or semi-automatic integration of real models is achievable. Alternatively or additionally, in an advantageous embodiment of one of the described devices, the device can be provided with a device for collision testing for a virtual light beam. This can enable a simulation of a light barrier, for example, a light grid. For example, the associated light barrier modules can be stored as virtual objects on the 3D model, and the light beam is automatically generated and monitored based on the orientation and position of the light barrier modules. The invention will now be described in more detail using exemplary embodiments.However, it is not limited to the exemplary embodiments. Further exemplary embodiments arise by combining the features of individual or multiple claims with one another and / or with individual or multiple features of the exemplary embodiments. It shows: PC 24 0192 C 30 / 64 February 28, 2024 Figure 1 shows a head-mounted display according to the invention and its use in a device for the visual representation of 3D data, Figure 2 shows a highly schematic representation of a device for functional testing of a system with a head-mounted display and with a device for the visual representation of 3D data, Figure 3 shows a more realistic individual representation of a real model of the device according to Figure 2 with two adjustable shoulder rings and a 3D measuring device, Figure 4 shows a further more realistic representation of the arrangement according to Figure 3 in a side view of a glove,Figure 5 shows a further, more realistic individual representation of a real model of the device according to Figure 2 with a movable door, Figure 6 shows an adaptation of a virtual object of a 3D model of the device according to Figure 2 to achieve a desired positional relationship and to establish a link, Figure 7 shows a modification of a real model in a device according to Figure 2 to achieve a desired positional relationship with respect to an associated virtual object and to establish a link, Figure 8 shows a schematic representation of a 3D model in different orientations for a virtual change of location of a viewer,PC 24 0192 C 31 / 64 February 28, 2024 Figure 9 shows a detailed representation of a 3D model of a pharmaceutical plant in plan view, and Figure 10 shows a schematic representation of a comparison of an intrinsically determined recording pose and an extrinsically determined recording pose for synchronizing a representation of a virtual scene. Figure 1 shows a device, designated as a whole by 1, for functional testing of a plant. A virtual 3D model 2 of a plant 1 is composed of virtual objects 3, 4 and provided in a first virtual space 5. The virtual 3D model 2 is derived from CAD data of an industrial plant (not shown in further detail). This plant is shown with the virtual objects 3 and 4 only very schematically in order to explain the functional principle of the method according to the invention. In fact, the plant comprises several components. A preferred application of the invention providesthat the system is a pharmaceutical system, which may be intended, for example, in a protected room or an isolator for carrying out specific processes, such as refilling / filling medications or assembling dispensing devices for medical preparations. The first virtual room 5 contains a large number of virtual objects 3, 4. Further virtual objects 63 may be present. Corresponding real models 7, 8 are placed in a real room 6 for some of these virtual objects 3, 4. No real models are placed for the other virtual objects 63. These real models 7, 8 are attached to special stands 9 so that they remain in a desired position in the real room 6. These stands 9 are not part of the virtual 3D model 2, since in this, the virtual objects 3 and 4 are attached to other structural details,for example, glass walls, boundary walls, or tables. However, these glass walls, boundary walls, and tables are not present in the real space 6. The real models 7 and 8 are also equipped with additional markers 10 that have no corresponding location in the virtual objects 3 and 4. These markers 10 are intended for position and orientation detection by a 3D measuring device 11 that is set up in the real space 6. The 3D measuring device 11 detects these markers 10 and calculates their position in a second virtual space 12. Therefore, in this second virtual space 12, the virtual objects 3 and 4 are not present, but only the positions of the markers 10, which are combined into virtual bodies 13, 14, depending on which real models 7, 8 they are attached to. A correspondence 15 is established between the first virtual space 5 and the second virtual space 12.which connects spatial points of the first virtual space 5 with corresponding spatial points in the second virtual space 12 and vice versa. In the real space 6, a head-mounted display 16 is also arranged, for example on the head of a user (not shown in more detail). PC 24 0192 C 33 / 64 February 28, 2024 This head-mounted display 16, for example VR glasses, is not necessarily represented in the virtual 3D model 2, but likewise has markers 17 in order to detect its location and position in the real space 6 and to display it in the second virtual space 12. In other words, in the second virtual space 12 there exists a virtual body 18 which represents the head-mounted display 16 via the markers 17. The head-mounted display 16, in a manner known per se, generates a field of view 19 for generating a visual 3D-dimensional impression for the user. This visual impression 20 is calculated from the measured location and position,i.e., recording pose, of the head-mounted display 16 and the location and position of the virtual objects 3 and 4 based on the aforementioned correspondence 15. For the visual impression 20, the virtual objects 3 and 4 are used, so that, for example, the stand 9 and the markers 10, 17 are not displayed. The field of view 19 of the head-mounted display 16 is defined by a wearing position of the head-mounted display 16 on the head of a user and their natural field of vision. To generate the visual impression 20, the field of view data 21, the position and orientation data 22 from the second virtual space 12, and the object data 23 from the first virtual space 5 are schematically processed together in a manner known per se in Figure 1. To determine the field of view 19, the head-mounted display 16 can be equipped with its own sensors 46, not shown here. PC 24 0192 C 34 / 64 28 February 2024 For example,The head-mounted display 16 can be equipped with a number of cameras that capture the visual field of a user of the head-mounted display 16 and calculate a position and location and / or a change in these values ​​based on spatial features such as edges and corners and the like. For this purpose, it is technically known to equip the head-mounted display 16 with the appropriate computing capacity itself, so that no external computing capacity is required. Since the real models 7 and 8 are set up in the real room 6, a user in the real room 6 can feel these real models 7 and 8, even if the head-mounted display 16 is of the VR type and thus prevents the view of the real models 7, 8. To achieve a correspondence between this haptic impression and the visual impression 20,the real models 7 and 8 were initially aligned with the virtual objects 3 and 4 assigned to them. The method according to the invention now makes it possible to activate a link 24 between the virtual objects 3 and 4 on the one hand and the corresponding virtual bodies 13, 14 on the other. This link 24 results in the virtual object 3, 4, in the example the virtual object 4, being moved along with the virtual body 13, 14, in the example the virtual body 14, based on the correspondence 15. Accordingly, if the real model 8 is changed by a movement 25, this movement 25 is mapped in the second virtual space 12 by the 3D measuring device 11. Direct following can also be modified depending on the situation so that only certain axes follow and certain are "fixed", for example, to meet boundary conditions, as already mentioned. The link 24 now causesthat the virtual object 4 moves equally in the first virtual space 5 according to the correspondence 15. This results in an apparent movement 26 in the visual impression 20. For the user, who generates the movement 25 by manipulating the real model 8, the impression thus arises that the virtual object 4 executes an apparent movement 26 due to the manipulation. If the link 24 is deactivated by the user or another person, manipulation of the real model 8 does not result in a change in the visual impression 20. This can be decided for the objects individually; it does not necessarily have to be the case everywhere. A head-mounted tracking device 27 is also arranged in the real space 6. The aforementioned user wears this head-mounted tracking device 27 like a glove in order to perform the aforementioned manipulation on the real models 7.8. Markers 28 on the head-mounted tracking device 27 are also represented by the 3D measuring device 11 as a virtual body 29 in the second virtual space 12, so that a hand replica 30 appears in the visual impression 20. The head-mounted display 16 can be connected wirelessly or by cable to a preferably stationary processing unit for transmitting measurement data of the recording pose and / or image data for the visual impression 20. A 3D engine (not shown) is used to generate the visual impression 20. This engine forms a device for generating a field of view onto the 3D model 39. A device for isometrically transforming the 3D model 39 relative to the field of view 19 operates on the PC 24 0192 C 36 / 64 February 28, 2024 first virtual space 6.as will be explained in more detail below with reference to Fig. 8. Figure 2 shows, in a somewhat more realistic representation, the real model 7 from Figure 1 in a front view, and Figure 3 shows this arrangement from the side. The 3D measuring device 11 is only shown in detail in both representations. In fact, in the real space 6, typically three or even more than five cameras 31 are arranged on a special support structure 32. The position and orientation of this camera 31 is precisely known. To facilitate on-site assembly, the fully assembled support structure 32 can be transported to the site in a container or packed as a whole. The invention offers the advantage here that transporting a model structure of the system is not necessary. Rather, the assembled support structure 32 can be used as a mobile measuring setup. The real model 7 has two shoulder rings 33, 34,as are known on insulators for attaching insulator gloves 49. The shoulder rings 33, 34 are often formed in glass walls in the system. The position of the shoulder rings 33, 34 thus clarifies a position of a boundary of the system, for example, a protected or controlled space. These shoulder rings 33, 34 can be adjusted horizontally and vertically in their position on the stand 9. PC 24 0192 C 37 / 64 February 28, 2024 The hand tracking device 27 is connected to one of the shoulder rings 33, 34 to form an insulator glove 49. The other shoulder ring 33, 34 can similarly have a hand tracking device 27 for another hand of the user. In use, the user thus stands in front of the shoulder rings 33, 34 and grasps one of these shoulder rings 33, 34 with both arms.to operate the respective hand tracking device 27 with the hands. In further embodiments, instead of the hand tracking device 27, the position and shape of the user's hand is detected using optical recognition algorithms. The hand shape can also be detected using special sensors in the fingers 35, which will not be discussed further here. For example, head-mounted tracking devices 27 in the form of the METAGLOVES "Quantum" from Manus, Floor 9, Kennedyplein 200, NL-5611 ZT Eindhoven, are known and usable. Figure 4 shows a more realistic representation of the real model 8 from Figure 1. It can be seen that the real model 8 consists of a movable part 36 and a stationary part 37. The illustration shows, as an example, a door 47 such as can be used on a wall of an isolator.for example, as a transfer port 48 or a rapid transfer port or in a lock. The details of this door 47 are irrelevant for the explanation of the invention; what is important is that this PC 24 0192 C 38 / 64 February 28, 2024 transfer port 48 has a movable part 36 and a stationary part 37. This movable part 36 can be grasped and opened by the user in order to perform the movement 25 mentioned in Figure 1. This results in a change in the associated multi-part virtual object 4 being displayed in the visual impression 20, which corresponds to the opening of a door 47. The user can thus, for example, check whether they can reach and operate a door 47 in an isolator through the shoulder rings 33, 34. Figure 5 shows the setup of the aforementioned link 24 using the shoulder rings 33, 34 as an example. This setup is carried out before the user begins the planned tests.to bring the shoulder rings 33, 34 into exact alignment with their virtual counterparts. The real model 7 is shown in the front row, and behind it, a corresponding virtual body 13 is shown in dashed lines, and the corresponding virtual object 3 is shown in solid lines. This representation is chosen for simplification. In fact, the real model 7, the virtual object 3, and the virtual body 13 are located in different spaces 6, 12, 5. The projection lines 38 between the real model 7 and the virtual body 13 are intended to symbolize the 3D measurement via the 3D measuring device 11. PC 24 0192 C 39 / 64 February 28, 2024 When a request is activated, the virtual object 3 is brought to a position that corresponds to the position of the virtual body 13 via the correspondence 15. To support this process, it can be providedthat both the virtual body 13 and the virtual object 3 are reproduced in the visual impression 20. For the right shoulder ring 34, this process has already been completed in Figure 5. By activating the aforementioned request, a desired positional relationship between the position and orientation of the virtual object 3 to the virtual body 13 is enforced. In Figure 6, the real model 7 is shown in the foreground and the associated virtual object 3 in the background. The projection lines 38 again illustrate the effect of the 3D measuring device 11. To simplify the representation, the virtual body 13 is not shown. In the visual impression 20, the user now sees that the virtual object 3 and the virtual body 13, which is also displayed, are not superimposed. The user or an assistant can now change the stand 9 in such a way thatthat the virtual body 13 lies above the virtual object 3. The link 24 can then be activated. This procedure has the effect, compared to the procedure according to Figure 5, that the virtual object 3 is not changed by the activation of the link 24 and, in particular, remains unchanged with respect to other virtual objects 4. PC 24 0192 C 40 / 64 February 28, 2024 Since the shoulder rings 33, 34 remain stationary, it is not necessary to activate the link 24; rather, it can be permanently deactivated. The formation of individual links 24 between the virtual body 14 and the virtual object 4 allows the individual links 24 to be permanently deactivated for individual virtual bodies 13, 14. This makes it possible to make such adjustments independently of the other virtual objects 3, 4. The real model 7 can be adjusted by motor, for example, untiluntil an automatically detected deviation 64 in a position and / or orientation of a virtual body 13, 14 (not shown, see Fig. 5) from a corresponding virtual object 3 lies within a tolerance range. For this purpose, the device shown comprises a device for motor-driven adjustment of at least one real model 7, 8 and a device for preferably automatically determining a deviation 64 in a position and / or orientation of a virtual body 13, 14 from a corresponding virtual object 3, 4 and a device for motor-driven adjustment of at least one real model 7, 8 until an automatically and / or manually detected deviation 64 in a position and / or orientation of a virtual body 13, 14 from a corresponding virtual object 3, 4 lies within a tolerance range. Figure 8 shows a schematic representation of a 3D model 39 of an industrial plant,for example, a pharmaceutical plant. The 3D model here has a wall 40 in which, for example, three access points 41, 42, 43 are arranged. PC 24 0192 C 41 / 64 February 28, 2024 Each of these access points 41, 42, 43 can, for example, contain virtual equivalents of pairs of shoulder rings 33, 34. The left-hand illustration of Figure 8 shows a position in which a real model 7 of the access point is brought into alignment with the virtual equivalent or into a desired positional relationship using a method according to Figure 6 or 5. This state serves to test and verify the accessibility of the plant, which leads to the 3D model 39, through this access point 41. If a different access point 42, 43 is now to be tested, the 3D model 39 can be isometrically transformed, particularly relative to the virtual body 13, in such a way thatthat the further access 42 can be aligned with the real model 7 or its virtual body 13. This changes the position of the 3D model 39 in the first virtual space 6 or the correspondence 15 between the first virtual space 6 and the second virtual space 12. Testing of the system can now be undertaken through this access 42. This situation is depicted in the middle part of Fig. 8. The right-hand part of the image shows another real model 44, which can be set up in a separate real space 6 or in the same real space 6. For this further real model 44, there is thus another virtual body 14, which is generated either via the same 3D measuring device 11 or via another 3D measuring device 11 if the further real model 44 is set up in a different (real) space. In this way, it is possible for two users to test the system simultaneously.without these users having to be in any real spatial relationship to each other. These two users can, for example, perform a (virtual) handshake or check for handovers or mutual obstructions. When changing from the left situation to the middle situation in Figure 8, the link 24 between the access 41 as a virtual object and the virtual body 13, 14 of the real model 7 is thus deactivated in order to be replaced by a link 24 between the same virtual body 13 and another access 42 as a virtual object. When establishing the link 24, a tolerance range is specified within which a link 24 is accepted without the virtual object 3 having to be changed. The users can now, for example, carry out the filling of medications in the protected space, here an isolator.test. With the discussed setup, a method for functional testing of a system that is composed of the virtual 3D model 39 with a plurality of virtual objects 3, 4 can thus be carried out, wherein a real model 7, 8 that is as realistic as possible is provided for each selected virtual object 3, 4. For example, these real models 7, 8 are created as a 3D print from the virtual objects 3, 4. The similarity should be such that an optical impression when touching the real model 7, 8 corresponds to a visual impression when viewing the virtual object 3, 4. The 3D measuring device 11 now repeatedly carries out a measurement of the real models 7, 8 in order to align an associated virtual body 13, 14 accordingly in the second space 12. Here, the real models 7, 8 are provided with markers 10,to enable identification based on features. To enable the virtual objects 3, 4 to be carried along, provided a link 24 is activated, correspondences 15 are stored between these identified features, i.e., the markers 10, and the virtual objects 3, 4, so that virtual bodies 13, 14 can be moved with virtual objects 3, 4. The virtual objects 3, 4 can contain predetermined positions, for example, drill holes, to which the markers 10 are attached. This makes it easy to arrange the markers 10 at positions on the real models 7 and 8, so that the virtual body 13, 14 can be easily located and aligned with respect to the virtual object 3, 4. Alternatively, the markers 10 can also be applied arbitrarily to the real models 7, 8, and a position of the formed features, in particular the markers 10, on the real model 7,8 can be measured. The method for functional testing of a system 1 can therefore begin with CAD data of the system being provided by appropriate design, this CAD data being processed into a 3D model 39, real models 7, 8 being generated for this 3D model 39 or for part of the CAD data for selected details, in particular using 3D printing or an alternative manufacturing process, these real models 7, 8 being set up in a 3D measuring device 11, and the 3D model 39 being displayed from the observer position in the visual impression 20 PC 24 0192 C 44 / 64 February 28, 2024. If changes to the 3D model 39 are necessary during the test, for example according to the procedure in Figure 5, these changes to the 3D model 39 can be output as changed design data at the end of the test. This may be the case, for example, if it has been foundthat certain details of the 3D model 39 are ergonomically unfavorable and therefore require structural revision. During testing, the users can now perform any manipulations on the real models 7, 8 to test their effects on the visual impression 20 at the level of the virtual objects 3, 4. This is made possible by the link 24, which forces the virtual objects 3, 4 to be moved along with the associated virtual bodies 13, 14. In the presented embodiment, this is achieved with a device for automatically moving the virtual objects 3, 4 along with the associated virtual bodies 13, 14 and a 3D engine as a device for visually displaying the 3D model 39. Figure 7 shows a head-mounted display 16 in a schematic representation with a 3D measuring device 11. This structure can be used in the structure according to Figure 1.However, it can also be operated independently of the structure shown in Figure 1. In this head-mounted display 16, the position and orientation of the field of view 19 is determined repeatedly over time, whereby, for example, in the visual impression 20, moving information, such as virtual objects 3, 4 in the manner described or other location-related information such as warnings or work instructions, are displayed. PC 24 0192 C 45 / 64 February 28, 2024. Here, the field of view 19 is determined using intrinsic, i.e., integrated, means of the head-mounted display 16. This means that this field of view 19 can only be created with respect to real models 7, 8 that lie within the field of view 19. In order to also enable an alignment of the head-mounted display 16 with respect to the other real models outside the field of view 19,The 3D measuring device extrinsically determines the position and location of the head-mounted display 16 using markers 10. This information can then be associated with the field of view 19 to enable precise and virtually uninterrupted or completely uninterrupted detection of the position and location of the head-mounted display 16, thus enabling a continuous visual experience in the visual impression 20. It is known that controlled air flows are often used in isolators and other controlled environments to remove potentially occurring contaminants in a controlled manner and to keep sensitive areas free of contaminants. The present invention now makes it possibleto calculate such air flows as streamlines and to represent their changes, particularly during movements 25, in the visual impression 20. Figure 9 shows a further virtual 3D model 39 for use in the invention. It is a pharmaceutical system with a wall 40, access points 41, 42, 43, 50, measuring stations 51, for example for measuring with agar plates and / or by means of particle measurement, a feed 52 from an automation system, a discharge 53 to another automation system, light barrier modules 54 with light beams 55 for monitoring the access points 41, 42, 43, PC 24 0192 C 46 / 64 28 February 2024 50 for unexpected and / or unauthorized access, a sorting pot for the correct positional provision of stoppers or other components of packaging or medical dispensing devices, a material supply 57 for the sorting pot 56, which can be refilled, for example, via a pure transfer port 48, a transport and processing area 58,for example, for the processing (filling and closing) of containers (vials, etc.), a filling station 59 for filling containers, a separating station 60 for separating packages from containers fed through the feeder 52, a placing station 61 for closing the containers with the aforementioned stoppers, and a control station 62 for checking the filled and closed containers. Some of the components require haptic contact with a user during a functional test and are therefore used as a real model 7, 8. For example, this is not necessary for the sorting pot 56 – a virtual object 63 is sufficient here. In contrast, for the filling station 59 and the measuring stations 51, it is advantageous to use a real model 7,8. This can be an actual product instead of the 3D print already described. This can be easier for complex structures. The light barrier modules 54 can also be present as real models 7, 8, but for example, without any function. In the virtual world, the light beam 55 is simulated, and it is checked whether a user virtually interrupts the light beam 55, and if so, a signal is generated. In a method for functional testing of a system 1, it is thus proposed to create real models 7, 8 from details of a virtual 3D model 39 of the system, the spatial position and location of which is recorded with a 3D measuring device 11 during the functional test, whereby these specific locations and positions can be used to carry virtual objects 3, 4 of the 3D model 39.to represent a visual impression 20 in a virtual reality, a guided manipulation of the real models 7, 8. Fig. 10 shows a schematic plan for synchronizing a guided virtual scene. A head-mounted display 16, for example as described above, has means for intrinsically determining a recording pose 65. For example, an acceleration sensor can be designed for this purpose in a manner known per se, or an optical flow in a recorded video sequence can be evaluated. Typically, a method is implemented in which changes in the recording pose are detected and integrated into a recording pose. The intrinsically determined recording pose 69 is transmitted to means for display 67 of the head-mounted display 16.to move a virtual scene 72 along with a movement of the head-mounted display 16. A 3D measuring device 11 extrinsically determines a recording pose 70. This is fed to a means for comparison 66. The means for comparison 66 also receives the intrinsically determined recording pose 69. If the deviation is too large and / or due to a temporal or manual specification, a synchronization 71 of the means for display 67 is generated.to align or relate the virtual scene 72 with the extrinsically acquired recording pose 70. In a further embodiment not shown, the 3D measuring device (or a part thereof) is attached to the head-mounted PC display 16. The markers or other markings can, for example, be fixedly arranged in space as reference points. This also realizes a combination of an extrinsic measurement of the recording pose with an intrinsic measurement of a recording pose. In a head-mounted device 16, it is thus proposed to form or attach at least one marker 10, 17 on the outside to enable a recording pose of the head-mounted device 16 (Fig. 1). / List of reference symbols,

[0002] PC 24 0192 C 49 / 64 February 28, 2024 List of reference symbols 1 Device for functional testing of a system 2 virtual 3D model 3 virtual object 4 virtual object 5 first virtual space 6 real space 7 real model 8 real model 9 stand 10 marker 11 3D measuring device 12 second virtual space 13 virtual body 14 virtual body 15 correspondence 16 head-mounted display 17 marker 18 virtual body 19 field of view 20 visual impression 21 field of view data 22 position and attitude data 23 object data 24 link 25 movement 26 apparent movement 27 hand tracking device 28 marker 29 virtual body 30 hand replica 31 camera 32 support structure 33 shoulder ring 34 shoulder ring 35 finger PC 24 0192 C 50 / 64 28.February 2024 36 Movable part 37 Stationary part 38 Projection line 39 3D model 40 Wall 41 Access 42 Access 43 Access 44 Further real model 45 Streamline 46 Sensor 47 Door 48 Transfer port 49 Isolator glove 50 Further access 51 Measuring station 52 Infeed 53 Discharge 54 Light barrier module 55 Light beam 56 Sorting pot 57 Material supply 58 Transport and processing area 59 Filling station 60 Separation station 61 Placement station 62 Control station 63 Further virtual object 64 Deviation 65 Means for intrinsically detecting a recording pose 66 Means for comparison 67 Means for representation 68 Position change 69 Intrinsically detected recording pose 70 Extrinsically detected recording pose 71 Synchronization PC 24 0192 C 51 / 64 February 28, 2024 72 virtual scene.

Claims

PC 24 0192 C 52 / 64 February 28, 2024 Claims 1. A head-mounted display (16), in particular VR, AR, and / or XR glasses, comprising means for extrinsically determining a recording pose and means for intrinsically determining a recording pose.

2. A head-mounted display (16), in particular according to claim 1 and / or VR, AR, and / or XR glasses, comprising at least one marker (10, 17), in particular with more than two markers (10, 17), for preferably extrinsically determining a recording pose.

3. A head-mounted display (16) according to claim 1 or 2, wherein means are provided for comparing (66) the recording pose (69) determined by the means for intrinsically determining the recording pose (65) with a preferably extrinsically determined further recording pose (70). 4.Head-mounted display (16) according to one of the preceding claims, wherein a preferably extrinsically determined recording pose (70) can be input, in particular in addition to an intrinsically determined recording pose and / or for comparison with an intrinsically determined recording pose (69).

5. Head-mounted display (16) according to one of the preceding claims, wherein a means for displaying (67) a virtual scene (72) can be controlled based on the or a preferably extrinsically determined recording pose (70).

6. Device for displaying at least one virtual object (3, 4), with a head-mounted display (16) according to one of the preceding claims, with a 3D. PC 24 0192 C 53 / 64 February 28, 2024 Measuring device (11) for extrinsically detecting the at least one marker (10, 17), in particular wherein the means for comparison (66) are fed from the 3D measuring device (11).

7. Use of a head-mounted display (16), in particular VR, XR, and / or AR glasses, and a 3D measuring device (11) that is preferably stationary and / or operates independently of the head-mounted display (16) for creating a virtual view of a 3D model (39) of a system in the head-mounted display (16), wherein individual virtual objects (3, 4) correspond to real models (7, 8) detected by the 3D measuring device (11), in particular for a functional test and / or during operation of a preferably pharmaceutical system. 8.Method for the visual representation of 3D data, wherein a field of view (19) of a head-mounted display (16) (display attached to the head), in particular VR and / or XR and / or AR glasses, is intrinsically determined in a time-recurring manner and information that moves along with the field of view (19) is displayed in the head-mounted display (16), wherein a recording pose of the head-mounted display (16) that specifies the field of view (19) is determined, preferably in a time-recurring manner, and compared with the field of view (19).

9. Method according to claim 8, characterized in that the recording pose is determined using a 3D measuring device (11) that is designed independently of the head-mounted display (16) and / or is stationary, in particular comprising at least one or more cameras (31).

10. Method according to one of claims 8 or 9, characterized. PC 24 0192 C 54 / 64 February 28, 2024, characterized in that the recording pose is determined using a measuring device that moves along with the field of view (19) and / or is independent of the determination of the field of view (19).

11. Method according to one of claims 8 to 10, characterized in that the intrinsic determination is carried out with the aid of at least one moving sensor, in particular a camera (31) and / or a motion and / or acceleration and / or position sensor.

12. Method according to one of claims 8 to 11, wherein the recording pose is measured using active markers (10, 17) on the head-mounted display (16).

13. Method according to one of claims 8 to 12, wherein the recording pose is measured using passive markers (10, 17) on the head-mounted display (16).

14. Method according to one of claims 8 to 13, wherein the recording pose is measured by means of a stationary measuring device, in particular by means of stationary cameras (31).Method according to one of claims 8 to 14, wherein the intrinsic determination of the recording pose is measured by means of cameras (31) that move with the head-mounted display (16).

16. Method for the visual representation of a system and / or as part of a method according to one of the preceding method claims, wherein a field of view (19) of a head-mounted display (16), in particular VR and / or XR and / or AR glasses, is intrinsically determined in a time-repeated manner, and wherein an air flow is calculated and visually displayed as preferably moving 3D data in the head-mounted display (16). PC 24 0192 C 55 / 64 February 28, 2024 17. The method according to any one of claims 8 to 16, wherein the 3D data comprises a 3D model (39) of a system and / or wherein the 3D data comprises AR metadata relating to components of the or a system.

18. The method according to any one of claims 8 to 17, wherein the head-mounted display (16), in particular a head-mounted display (16) according to claim 1, is used to create an overlay of a real field of view (19) with a virtual representation of the 3D data, or to shield a real environment.

19. A device for the visual representation of 3D data, in particular for use in a method according to one of claims 8 to 18, comprising a head-mounted display (16) configured to determine a co-moving field of view (19), a device for determining a recording pose of the head-mounted display (16), and a device for comparing the recording pose with the field of view. 20.Device according to claim 19, with a 3D engine for the visual representation of the 3D data in the field of view (19).

21. Device according to one of claims 19 or 20, with a preferably stationary 3D measuring device (11) for determining the recording pose.

22. Device according to one of claims 19 to 21, with a device for generating a virtual space for virtual bodies (13, 14) recorded with the or a 3D measuring device (11) and / or with a device for generating a virtual space (5, 6) for the visual representation of the 3D data and / or with a device for establishing a correspondence (15) between the virtual. PC 24 0192 C 56 / 64 February 28, 2024 spaces (5, 6), in particular for embedding the virtual bodies (13, 14) in the virtual space (5, 6) for the virtual representation.

23. Device according to one of claims 19 to 22, with a device for embedding a field of view (19) of the head-mounted display (16) in the virtual space (5, 6) for the virtual representation.

24. Device according to one of claims 19 to 23, with a device for calculating an air flow, in particular for a visual representation of the air flow. 25.A method for functional testing of a system, in particular comprising a method according to one of claims 8 to 18, wherein the system is represented as a virtual 3D model (2) made up of virtual objects (3, 4), wherein a real model (7, 8) of at least one virtual object (3, 4) is provided, and wherein, recurring in time with respect to the real model (7, 8), a virtual body (13, 14) is aligned using a 3D position measurement, and the at least one virtual object (3, 4) is linked to the virtual body (13, 14) and brought into a desired positional relationship with the virtual body (13, 14), wherein the link (24) of the virtual body (13, 14) to the at least one virtual object (3, 4) is changed by a user, in particular activated or started and / or deactivated or ended. 26.Method according to one of claims 8 to 18 or 25, characterized in that the linking (24) of the virtual body (13, 14) with the at least one virtual object involves forcing a desired positional relationship of a position and / or an attitude. PC 24 0192 C 57 / 64 February 28, 2024 of the virtual object (3, 4) to the virtual body (13, 14), in particular on its position and / or location and / or by activating a request and / or permanently.

27. Method according to one of claims 8 to 18 or 25 to 26, characterized in that the linking (24) is deactivated for a preferably defined or indefinite period of time, in particular so that deviations between the at least one virtual object and the virtual body (13, 14) are displayed when the linking (24) is deactivated.

28. Method according to one of claims 8 to 18 or 25 to 27, wherein the linking (24) of the virtual body (13, 14) to the at least one virtual object (3, 4) is replaced by another linking of the virtual body (13, 14) to another virtual object (3, 4). 29.Method according to one of claims 8 to 18 or 25 to 27, wherein the 3D model (39) is subjected to an isometric transformation, in particular rotated and / or shifted, when the link (24) is replaced by another link (24), until the virtual body (13, 14) and the other virtual object (3, 4) are brought into coincidence at least within a tolerance range.

30. Method according to one of claims 8 to 18 or 25 to 29, wherein a position of the real model (7, 8) is preferably changed manually or automatically until the associated virtual body (13, 14) is brought into coincidence with the at least one virtual object (3, 4) or with the other virtual object (3, 4), in particular wherein a link (24) is subsequently created between the virtual body (13, 14) and the virtual object (3, 4) or the. PC 24 0192 C 58 / 64 February 28, 2024 another virtual object (3, 4) is activated.

31. Method according to one of claims 8 to 18 or 25 to 30, wherein a plurality of virtual bodies (13, 14) are linked to a respective virtual object (3, 4) of the 3D model (39), wherein the individual links (24) are changed independently of one another, in particular activated and / or deactivated.

32. Method according to one of claims 8 to 18 or 25 to 31, wherein an update of coordinates of the at least one virtual object (3, 4) is output, in particular for processing design data of the 3D model (39).

33. Method according to one of claims 8 to 18 or 25 to 32, characterized in that it is a system for the pharmaceutical sector, preferably for filling medicaments into containers and / or in conjunction with a protected space, preferably an isolator. 34.Method for functional testing of a system, in particular according to one of claims 25 to 33 and / or comprising a method according to one of claims 8 to 18 or 25 to 33, wherein the system is represented as a virtual 3D model (2) made up of virtual objects (3, 4), wherein a real model (7, 8) is provided from at least one virtual object (3, 4), and wherein a virtual body (13, 14) is aligned with the real model (7, 8) using a 3D position measurement in a time-recurring manner, and the at least one object is linked to the virtual body (13, 14) and brought into a desired positional relationship with the virtual body (13, 14), wherein a 3D position measurement is provided for the at least one virtual object (3, 4). PC 24 0192 C 59 / 64 February 28, 2024 corresponding real model (7, 8), preferably produced using an additive process, and provided with identifiable features for a 3D position measurement, and that a correspondence (15) between the identified features, in particular markers (10, 17), and the at least one virtual object (3, 4) is stored.

35. Method according to one of claims 8 to 18 or 25 to 34, wherein the identifiable features are formed at predetermined positions of the real model (7, 8).

36. Method according to one of claims 8 to 18 or 25 to 35, wherein at least one position of the formed features on the real model (7, 8) is measured. 37.Method according to one of claims 8 to 18 or 25 to 36, wherein an operator wears a glove and / or a hand tracking device (27) and / or wherein a 3D position of one or more fingers and / or a hand and / or an arm, preferably of the or a glove and / or the or a hand tracking device (27), is repeatedly determined.

38. Method according to one of claims 8 to 18 or 25 to 37, wherein the 3D model (39) represents a shoulder ring, to the position of which a real shoulder ring (33, 34) is set, in particular in a preceding setup step and / or wherein an operator puts an arm through the shoulder ring (33, 34), preferably in a manipulation glove attached to the shoulder ring (33, 34).

39. Method according to one of claims 8 to 18 or 25 to 38, wherein the recording pose of the observer relative to the. PC 24 0192 C 60 / 64 February 28, 2024 shoulder ring (33, 34) is defined.

40. Method according to one of claims 8 to 18 or 25 to 39, wherein the at least one virtual object (3, 4) is or has a door (47) of a transfer port (48).

41. Method according to one of claims 8 to 18 or 25 to 40, wherein the 3D model (39) has a further virtual object (3, 4), for which a further real model (7, 8) is provided, wherein the real model (7, 8) is arranged to be movable relative to the further real model (44).

42. Method according to one of claims 8 to 18 or 25 to 41, wherein the further real model (44) is at least partially immobile and / or at least partially movable relative to a boundary of the system. 43.Method for functional testing of a system, in particular according to one of claims 25 to 42 and / or comprising a method according to one of claims 8 to 18 or 25 to 42, with the following steps: providing CAD data of the system, creating at least one real model (7, 8) for at least part of the CAD data, setting up the at least one real model (7, 8) in a 3D measuring device (11), displaying a virtual 3D model (2) created from the CAD data by processing at least 3D measurement data from the 3D measuring device (11).

44. Method according to one of claims 8 to 18 or 25 to 44, characterized in that a field of view (19) of a head-mounted display (16) is determined, preferably with the 3D measuring device (11).

45. Method according to one of claims 8 to 18 or 25 to 45, characterized in that the representation of the 3D model (39) with respect to a field of view (19) of a head-mounted device. PC 24 0192 C 61 / 64 February 28, 2024 displays (16).

46. Method according to one of claims 8 to 18 or 25 to 45, characterized in that a change to the at least one real model (7, 8) is automatically reproduced on the 3D model (39), in particular wherein modified design data are generated and output from the modified 3D model (39).

47. Method according to one of claims 8 to 18 or 25 to 46, characterized in that the 3D measuring device (11) is transported in a fixed measuring setup before being set up.

48. Method according to one of claims 8 to 18 or 25 to 47, characterized in that a real model (7, 8) is adjusted by a motor and / or that a real model (7, 8) is adjusted until a preferably automatically detected deviation (64) in a position and / or orientation of a virtual body (13, 14) from a corresponding virtual object (3, 4) lies within a tolerance range. 49.Method according to one of claims 8 to 18 or 25 to 48, characterized in that a virtual light beam (55) is generated, in particular wherein it is automatically checked whether the virtual light beam (55) is interrupted.

50. Device for functional testing of a system (1), wherein the system is present as a virtual 3D model (2), with a 3D measuring device (11), at least one real model (7, 8) of a virtual object (3, 4) of the 3D model (39), a device for automatically integrating a virtual body (13, 14) detected by the 3D measuring device (11) into the 3D model in relation to the real model (7, 8). PC 24 0192 C 62 / 64 February 28, 2024 (39), a device for automatically moving the virtual object (3, 4) with the virtual body (13, 14), and a device for visually displaying the 3D model (39), in particular a 3D engine.

51. Device according to claim 50, characterized in that a means for activating and / or deactivating a link between the virtual body (13, 14) and the at least one virtual object (3, 4) is formed.

52. Device according to claim 50 or 51, characterized in that a head-mounted display (16) is configured to generate a field of view (19) of the 3D model (39).

53. Device according to one of claims 50 to 52, characterized in that a device for generating a field of view (19) on the 3D model (39) is fed with measured values ​​from the 3D measuring device (11) to the or a head-mounted display (16).Use of a head-mounted display (16) according to one of claims 1 to 5 in a method according to one of claims 8 to 18 or 25 to 49 and / or in a device according to one of claims 19 to 24 or 50 to 53.

55. Device according to one of claims 18 to 24 or 49 to 52, with means for carrying out a method according to one of claims 8 to 18 or 25 to 49.

56. Device according to one of claims 19 to 24 or 49 to 55, with a device for a motorized adjustment of at least one real model (7, 8) and / or with a device for a preferably automatic determination of a deviation (64) in a position and / or location of a. PC 24 0192 C 63 / 64 February 28, 2024 virtual body (13, 14) from a corresponding virtual object (3, 4) and / or with a device for motorized adjustment of at least one real model (7, 8) until a preferably automatically detected deviation (64) in a position and / or orientation of a virtual body (13, 14) from a corresponding virtual object (3, 4) lies within a tolerance range.

57. Device according to one of claims 19 to 24 or 50 to 56, with a device for collision testing for a virtual light beam (55). / Summary

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