HRP20211664T1 - Sustav za i postupak rada s daljinski upravljanim vozilima uz superponirane 3d slike - Google Patents
Sustav za i postupak rada s daljinski upravljanim vozilima uz superponirane 3d slike Download PDFInfo
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- HRP20211664T1 HRP20211664T1 HRP20211664TT HRP20211664T HRP20211664T1 HR P20211664 T1 HRP20211664 T1 HR P20211664T1 HR P20211664T T HRP20211664T T HR P20211664TT HR P20211664 T HRP20211664 T HR P20211664T HR P20211664 T1 HRP20211664 T1 HR P20211664T1
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- Prior art keywords
- virtual
- video
- angle
- vehicle
- video transmission
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Links
- 238000000034 method Methods 0.000 title claims 10
- 230000005540 biological transmission Effects 0.000 claims 13
- 238000012800 visualization Methods 0.000 claims 2
- 238000004590 computer program Methods 0.000 claims 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/50—Lighting effects
- G06T15/503—Blending, e.g. for anti-aliasing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/62—Semi-transparency
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Graphics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Software Systems (AREA)
- Computer Hardware Design (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Geometry (AREA)
- Instructional Devices (AREA)
- Processing Or Creating Images (AREA)
- Navigation (AREA)
- User Interface Of Digital Computer (AREA)
- Closed-Circuit Television Systems (AREA)
- Selective Calling Equipment (AREA)
Claims (16)
1. Sustav za istraživanje koji sadrži:
daljinski upravljano vozilo (ROV) (1), pri čemu navedeni ROV (1) sadrži video kameru koja snima video prijenos uživo (21);
umreženi operativni sustav (3), koji sadrži vizualizacijski stroj, pri čemu navedeni vizualizacijski stroj dodatno sadrži:
modul s bazom podataka (10) 3D elemenata koji predstavljaju objekte razmještene u radnom okolišu navedenog daljinski upravljanog vozila (1);
modul za generiranje virtualnog videa (11), koji generira virtualni video prijenos (20) koji sadrži navedene 3D elemente;
sinkronizacijski modul (12), koji sinkronizira kut i položaj virtualne kamere s kutom i položajem video kamere montirane na vozilo, pri čemu virtualna kamera definira vidno polje virtualnog video prijenosa (20), pri čemu je vidno polje između otprilike 45 i 144 stupnjeva od središnje točke gledanja; i
modul za superponiranje (13), koji superponira navedeni virtualni video prijenos (20) i navedeni video prijenos uživo (21), pri čemu je navedeni modul za superponiranje (13) konfiguriran za moduliranje prozirnosti ili neprozirnosti područja od manjeg interesa u jednom od virtualnog ili video prijenosa uživo (20, 21) na osnovi praga luminantnosti, tako da je odgovarajuće područje drugog video prijenosa vidljivije, gdje navedeni superponirani virtualni i video prijenos uživo (20, 21) sadrže hibridnu 3D sliku (22); i
navigacijsko sučelje (2), konfigurirano za prikazivanje navedene hibridne 3D slike (22), gdje navedeno navigacijsko sučelje (2) sadrži najmanje jedan umreženi monitor (7),
naznačen time što se sinkroniziranje kuta i položaja video kamere sastoji u koracima:
izračunavanja kuta između smjera kretanja vozila (1) i smjera vidnog polja video kamere;
izračunavanja kuta između okomite orijentacije vozila (1) i smjera vidnog polja video kamere; i
izračunavanja kuta između vozila (1) i zemljopisnog horizonta.
2. Sustav u skladu s patentnim zahtjevom 1, pri čemu je modul za superponiranje (13), konfiguriran za superponiranje grafičkih informacija, tekstualnih informacija, ili oboje, na hibridnu 3D sliku (22).
3. Sustav u skladu s bilo kojim od patentnih zahtjeva 1 ili 2, pri čemu je prag luminantnosti u heksadecimalnom formatu crveno-zeleno-plavo (RGB), te pri čemu je luminantnost podešena na vrijednosti između 0-0-0 i 255-255-255.
4. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-3, pri čemu operativni sustav može dijeliti podatke s više udaljenih monitora, gdje navedeno više uključuje do 12 udaljenih monitora, te između 3 i 9 udaljenih monitora.
5. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-4, koji dodatno uključuje vanjski sustav konfiguriran za određivanje radi li sustav ili je u stanju kvara.
6. Sustav u skladu s patentnim zahtjevom 5, pri čemu je vanjski sustav konfiguriran za prebacivanje monitorskog ulaza iz hibridne 3D slike (22) na navedeni video prijenos uživo (21) ako je sustav u stanju kvara.
7. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-6, pri čemu navigacijsko sučelje (2) sadrži najmanje tri umrežena monitora (7), pri čemu se navedeni monitori (7) nalaze jedan uz drugog, tako da srednji monitor prikazuje superponirani virtualni i video prijenos uživo (20, 21), dok oba bočna monitora prikazuju prošireni prikaz radnog polja.
8. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-7, pri čemu se 3D elemente dobiva iz bilo kojih od prethodno snimljenih podataka iz sonara, podataka iz sonara uživo, programiranih 3D objekata, podataka koje je unio korisnik, te batimetrije.
9. Postupak istraživanja, koji se sastoji u:
spremanju 3D elemenata u modul s bazom podataka (10), gdje navedeni 3D elementi predstavljaju objekte razmještene u radnom okolišu daljinski upravljanog vozila (1);
generiranju virtualnog video prijenosa (20) navedenih 3D elemenata;
dobivanju video prijenosa uživo (21) video kamerom;
sinkroniziranju kuta i položaja virtualne kamere s kutom i položajem video kamere montirane na daljinski upravljano vozilo (1), pri čemu virtualna kamera definira vidno polje virtualnog video prijenosa (20); i
superponiranju navedenog virtualnog video prijenosa (20) i navedenog video prijenosa uživo (21) na video ekranu, pri čemu superponiranje dodatno uključuje korak moduliranja prozirnosti ili neprozirnosti područja od manjeg interesa u jednom od virtualnog ili video prijenosa uživo (20, 21) na osnovi praga luminantnosti, tako da je odgovarajuće područje drugog video prijenosa vidljivije, gdje navedeni superponirani virtualni i video prijenos uživo (20, 21) sadrže hibridnu 3D sliku (22),
naznačen time što se sinkroniziranje kuta i položaja video kamere sastoji u koracima:
izračunavanja kuta između smjera kretanja vozila (1) i smjera vidnog polja video kamere;
izračunavanja kuta između okomite orijentacije vozila (1) i smjera vidnog polja video kamere; i
izračunavanja kuta između vozila (1) i zemljopisnog horizonta.
10. Postupak u skladu s patentnim zahtjevom 9, koji dodatno uključuje superponiranje grafičkih informacija, tekstualnih informacija, ili oboje, na hibridnu 3D sliku (22).
11. Postupak u skladu s patentnim zahtjevom 9, pri čemu se moduliranje na osnovi praga luminantnosti sastoji u održavanju pozadine virtualnog video prijenosa (20) uz veću prozirnost nego pozadinu stvarnog video prijenosa (21).
12. Postupak u skladu s bilo kojim od patentnih zahtjeva 9-11, pri čemu korak superponiranja dodatno uključuje moduliranje količine 2D ili 3D informacija superponiranih na video ekran na osnovi položaja ROV (1) u odnosu na objekte razmještene u radnom okolišu daljinski upravljanog vozila (1).
13. Postupak u skladu s bilo kojim od patentnih zahtjeva 9-12, pri čemu korak superponiranja dodatno uključuje osiguravanje minikarte (39), gdje navedena minikarta (39), koja definira računalnu grafiku koja pokazuje bilo koje od ili i kardinalne točke ili položaj objekta u 3D.
14. Postupak u skladu s bilo kojim od patentnih zahtjeva 9-13, koji se sastoji u koraku konfiguriranja operativnog sustava, tako da dolaženje, odlaženje, ili ostajanje dulje od zadanog vremena na položaju određenom GPS-om aktivira bilo koje od ili kombinaciju alarma, obavijesti, promjenu procedure ili promjenu zadatka.
15. Postupak u skladu s bilo kojim od patentnih zahtjeva 9-14, pri čemu se 3D elemente dobiva iz bilo kojih od prethodno snimljenih podataka iz sonara, podataka iz sonara uživo, programiranih 3D objekata, podataka koje je unio korisnik, te batimetrije.
16. Računalni programski proizvod, spremljen na računalno čitljivim mediju, namijenjen primjeni postupka u skladu s bilo kojim od patentnih zahtjeva 9-15.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PT10598911 | 2011-11-09 | ||
| US201261681411P | 2012-08-09 | 2012-08-09 | |
| PCT/IB2012/002281 WO2013068821A2 (en) | 2011-11-09 | 2012-11-08 | System and method of operation for remotely operated vehicles with superimposed 3d imagery |
| EP12791544.5A EP2777024B1 (en) | 2011-11-09 | 2012-11-08 | System and method of operation for remotely operated vehicles with superimposed 3d imagery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| HRP20211664T1 true HRP20211664T1 (hr) | 2022-02-18 |
Family
ID=48290705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| HRP20211664TT HRP20211664T1 (hr) | 2011-11-09 | 2012-11-08 | Sustav za i postupak rada s daljinski upravljanim vozilima uz superponirane 3d slike |
Country Status (10)
| Country | Link |
|---|---|
| US (3) | US9195231B2 (hr) |
| EP (1) | EP2777024B1 (hr) |
| AU (3) | AU2012335330B2 (hr) |
| BR (1) | BR112014011172B1 (hr) |
| CA (1) | CA2854595C (hr) |
| ES (1) | ES2895454T3 (hr) |
| HR (1) | HRP20211664T1 (hr) |
| PT (1) | PT2777024T (hr) |
| SG (1) | SG11201402114PA (hr) |
| WO (1) | WO2013068821A2 (hr) |
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2012
- 2012-11-08 BR BR112014011172-3A patent/BR112014011172B1/pt active IP Right Grant
- 2012-11-08 WO PCT/IB2012/002281 patent/WO2013068821A2/en active Application Filing
- 2012-11-08 US US14/357,100 patent/US9195231B2/en active Active
- 2012-11-08 AU AU2012335330A patent/AU2012335330B2/en active Active
- 2012-11-08 HR HRP20211664TT patent/HRP20211664T1/hr unknown
- 2012-11-08 EP EP12791544.5A patent/EP2777024B1/en active Active
- 2012-11-08 ES ES12791544T patent/ES2895454T3/es active Active
- 2012-11-08 CA CA2854595A patent/CA2854595C/en active Active
- 2012-11-08 PT PT127915445T patent/PT2777024T/pt unknown
- 2012-11-08 SG SG11201402114PA patent/SG11201402114PA/en unknown
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2015
- 2015-11-09 US US14/935,979 patent/US9741173B2/en active Active
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2017
- 2017-07-20 US US15/654,974 patent/US10424119B2/en active Active
- 2017-09-29 AU AU2017236009A patent/AU2017236009B2/en active Active
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2019
- 2019-11-14 AU AU2019264604A patent/AU2019264604B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CA2854595C (en) | 2022-04-26 |
| AU2012335330B2 (en) | 2017-07-20 |
| EP2777024B1 (en) | 2021-08-04 |
| SG11201402114PA (en) | 2014-06-27 |
| US9195231B2 (en) | 2015-11-24 |
| AU2012335330A1 (en) | 2014-06-05 |
| EP2777024A2 (en) | 2014-09-17 |
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| US9741173B2 (en) | 2017-08-22 |
| WO2013068821A2 (en) | 2013-05-16 |
| WO2013068821A3 (en) | 2014-04-24 |
| US20160063768A1 (en) | 2016-03-03 |
| AU2019264604A1 (en) | 2019-12-05 |
| CA2854595A1 (en) | 2013-05-16 |
| AU2017236009B2 (en) | 2019-08-22 |
| US20140316611A1 (en) | 2014-10-23 |
| BR112014011172A2 (pt) | 2017-05-09 |
| AU2017236009A1 (en) | 2017-10-26 |
| ES2895454T3 (es) | 2022-02-21 |
| AU2019264604B2 (en) | 2020-05-21 |
| US20170323487A1 (en) | 2017-11-09 |
| US10424119B2 (en) | 2019-09-24 |
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