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WO2015028978A1 - Procédé et système permettant l'inspection et/ou la maintenance d'un panneau électrique au moyen de la réalité augmentée - Google Patents

Procédé et système permettant l'inspection et/ou la maintenance d'un panneau électrique au moyen de la réalité augmentée Download PDF

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Publication number
WO2015028978A1
WO2015028978A1 PCT/IB2014/064140 IB2014064140W WO2015028978A1 WO 2015028978 A1 WO2015028978 A1 WO 2015028978A1 IB 2014064140 W IB2014064140 W IB 2014064140W WO 2015028978 A1 WO2015028978 A1 WO 2015028978A1
Authority
WO
WIPO (PCT)
Prior art keywords
electrical panel
image
components
panel part
installed components
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2014/064140
Other languages
English (en)
Inventor
Simone BUONCOMPAGNI
Dario MAIO
Davide MALTONI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
UMPI ELETTRONICA - A RESPONSABILITA' LIMITATA Soc
Original Assignee
UMPI ELETTRONICA - A RESPONSABILITA' LIMITATA Soc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by UMPI ELETTRONICA - A RESPONSABILITA' LIMITATA Soc filed Critical UMPI ELETTRONICA - A RESPONSABILITA' LIMITATA Soc
Publication of WO2015028978A1 publication Critical patent/WO2015028978A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4183—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by data acquisition, e.g. workpiece identification
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32014—Augmented reality assists operator in maintenance, repair, programming, assembly, use of head mounted display with 2-D 3-D display and voice feedback, voice and gesture command
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
    • H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to a method for the inspection and/or maintenance of an electrical panel by means of augmented reality, and to a corresponding system for guiding the inspection and/or maintenance of an electrical panel by means of augmented reality.
  • the present invention is advantageously but non-exclusively applied in the inspection and/or maintenance of electrical panels of industrial plants, to which the following description will explicitly refer without losing in generality.
  • the electrical panels of industrial plants typically comprise a large number of electrical components connected to one another in a complex manner.
  • an industrial plant may comprise an equally large number of electrical panels all different in size and combination of electrical components.
  • the maintenance technician who carries out the maintenance of the electrical panel does not have at hand all the information of the electrical panel needed to carry out the maintenance work in an effective and efficient manner, and therefore he/she may make mistakes when interconnecting the replaced components or waste time to find the missing information, searching on paper documents or communicating frequently with an operations center during maintenance.
  • Systems are known for guiding a technician during the installation or maintenance of industrial products through the use of augmented reality.
  • Such systems include special vision devices specifically constructed which superimpose a virtual information layer to the images of a part of a plant or of a machine to be mounted or serviced.
  • Such vision devices typically include a binocular viewer provided with a video camera, wearable by the technician and permanently connected with a computer configured to generate the virtual information layer.
  • the known systems for the maintenance of plants based on augmented reality are expensive and particularly difficult to be used.
  • a method for the inspection and/or maintenance of a part of an industrial plant using augmented reality and a system for guiding inspection and/or maintenance of a part of an industrial plant using augmented reality are provided as defined in the appended claims.
  • FIG. 1 shows a front view of an electrical panel to be subjected to maintenance
  • - figure 2 schematically shows the system for guiding, by means of augmented reality, the inspection and/or maintenance of the electrical panel in figure 1, which system is implemented and operates according to the dictates of the present invention
  • - figure 3 shows an example of an image of an electrical panel, wherein an intermediate step of the method of the present invention is shown;
  • FIG. 4 shows an example of a video frame of the electrical panel in figure 1 with superimposed augmented reality information generated according to the method of the present invention.
  • reference numeral 1 generally refers as a whole to an electrical panel of the known type, which includes a plurality of DIN rails (not shown in figure 1), and a plurality of electrical components 2, which consist of respective DIN modules installed along the DIN rails so as to form rows 3 of components 2 parallel to a normally horizontal direction 4.
  • the electrical panel 1 comprises a frame 5 in the shape of a rectangular frame, which is normally mounted on a wall (not shown) with the major vertical side, and a plurality of rectangular front panels 6, which cover respective DIN rails and are mounted in a known manner on frame 5 so as to be mutually contiguous at the major sides, with the latter parallel to direction 4. In each panel, openings are made which are aligned parallel to direction 4 from which the front parts of respective components 2 mounted on the underlying DIN rail protrude.
  • the electrical panel 1 further comprises a plurality of artificial fiducial elements 8, also known as "markers”, arranged in respective distinctive points of the electrical panel 1.
  • figure 1 shows four fiducial elements 8 applied outside the four corners of frame 5, so as to be clearly visible from the front of the electrical panel 1, and each consisting of a respective adhesive element having circular shape and a color that contrasts with the color of frame 5.
  • each artificial fiducial element is printed on the outer surface of frame 5.
  • each fiducial element consists of a specific DIN module, which is mounted on a DIN rail in a specific position as any of the other components and is passive, i.e. has a graphic sign which is easily identifiable, or of the active type, i.e. has a bright element, for example an LED.
  • reference numeral 10 generally indicates the system for guiding the inspection and/or maintenance of the electrical panel 1 by means of augmented reality, implemented and operating according to the present invention .
  • system 10 includes a memory 12 to store a database 13 containing information r
  • the 6 relating to all the components installable in the electrical panel 1 and which includes in particular, for each of the installable components, respective geometric data, respective visual information to be displayed with augmented reality, and a respective numerical descriptor indicative of certain local visual features of the component.
  • the geometric data contain the dimensions and the geometric proportions of the corresponding component.
  • the visual information includes: technical specifications, and/or function, and/or logical group, and/or interconnection modes of the corresponding component.
  • the numerical descriptor of each component is a vector of numerical values calculated on an image of the component according to known techniques.
  • the numerical values of each numerical descriptor relate to visual features of the component sampled in a plurality of points of the component image.
  • the sampling points are the vertices of a regular mesh grid or are located in significant regions of the component, such as the corners of the component body.
  • numerical values are calculated which are representative of some features of the image, such as image gradient (module and phase) , response to 2D filters, color components, etc. Therefore, a numerical descriptor is representable in principle as an array of numerical values related to visual features of the component and calculated in a neighborhood of each one of multiple points of an component image. Assuming that the number of sampling points is N and that the number of visual features calculated for each point is M, the descriptor is represented as an array of N x M numerical values, which for convenience of calculation is stored as a vector of N x M numerical values.
  • System 10 also comprises an installation device 14, which consists for example of a personal computer or a laptop computer capable of acquiring data from database 13, and a mobile inspection device 15, which typically consists of a smartphone or a last-generation tablet computer and is therefore provided with a respective digital video camera and a respective display screen, preferably consisting of a touchscreen.
  • Memory 12 consists, for example, of a network disk forming part of a remote data network or is arranged inside a remote server. In both cases, the installation device 14 must be provided with its own wired or wireless communication means in order to connect to the remote data network or remote server. According to a variant (not shown) of the present invention, memory 12 is an internal component of the installation device 14.
  • System 10 also comprises a description device 16 (figures 1 and 2) , which is adapted to be mounted on the electrical panel 1 and comprises a memory 17 for storing information related to the electrical panel 1, as will be better explained below, a control unit 18 and a communication module 19 to communicate with the mobile inspection device 15 and, optionally, with the installation device 14.
  • the description device 16 consists for example of a single RFID integrated chip to communicate via radio through known standard radio protocols, for example the NFC (Near Field Communication) standard, with similar RFID modules integrated in the devices 14 and 15.
  • the description device 16 is specifically constructed, and in particular the control unit 18 consists of a microcontroller of industrial type and the communication module 19 includes an RFID interface and/or a Wi-Fi interface and/or a serial interface (RS-232) .
  • System 10 also comprises, as part of one of the devices 14 or 15, or as a stand-alone device, an image acquisition device consisting, for example, of a digital camera of a known type, and thus not shown, for acquiring at least one image of the electrical panel 1.
  • an image acquisition device consisting, for example, of a digital camera of a known type, and thus not shown, for acquiring at least one image of the electrical panel 1.
  • the installation device 14, the mobile inspection device 15 and the description device 16 comprise respective software objects, in the case of devices 14 and 15, or firmware, in the case of device 16, stored in the respective memories and designed to implement, when executed on the respective processing or control units, the following steps of the inspection and/or maintenance method of the present invention.
  • the description device 16 is subject to an installation step, in which the technician acquires, using the image acquisition device, at least one digital image IM of the front view of the electrical panel 1 and transfers image IM to the installation device 14, which is programmed to create a general model MD of the electrical panel 1 on the basis of the image IM received and of the information contained and acquired from database 13.
  • the general model MD includes a geometric model MG of the electrical panel 1 and the visual information related to components 2 installed in the electrical panel 1.
  • the software with which the installation device 14 is programmed allows the latter to recognize the components 2 in image IM on the basis of all the numerical descriptors acquired from database 13 and determine, on the basis of the geometric data of the components 2 that have been recognized, the position coordinates, referred to image IM, of the recognized components 2.
  • the geometric model MG created consists of the coordinates, referred to image IM, of the position of the recognized components 2.
  • the recognition of the components 2 in image IM is performed by calculating, for different areas of image IM, respective numerical descriptors of the same type as the numerical descriptors stored in database 13, and then comparing each numerical descriptor calculated with at least part of the numerical descriptors stored in database 13 to find, among the latter, one which is equivalent to the calculated numerical descriptor.
  • the numerical descriptor calculated in a certain area has a high similarity with a numerical descriptor stored in database 13, then it means that it is highly likely that in that area there is the component with which that numerical descriptor stored is associated.
  • the comparison between two numerical descriptors consists, for example, in calculating the Euclidean distance in the space at N x M dimensions, between the two vectors which define the two numerical descriptors.
  • the recognition of components 2 occurs after a preliminary identification, in image IM, of horizontal linear image portions in which there are the rows 3 of components 2.
  • image IM image IM
  • the linear image portions to be identified are indicated with reference numeral 9 and substantially coincide with narrow strips of image IM parallel to the direction 4, in a direction 7 orthogonal to direction 4, around components 2.
  • a scan of image IM is performed to record the image contrast variability rate in direction 4 upon the variation of the position along direction 7, according to calculation techniques known in the field of artificial vision.
  • the intervals of positions along direction 7 in which the image contrast variability rate exceeds a certain threshold value are then searched. Indeed, in the positions along direction 7 corresponding to image areas where there are no components 2, the contrast variability rate is necessarily very low.
  • the image portions 9 are thus defined by the positions along direction 7 in which the image contrast variability rate exceeds the threshold value.
  • Model MD is transferred from the installation device 14 to the description device 16 to be stored in memory 17.
  • the transfer of model MD from the installation device 14 to the description device 16 takes place indirectly by means of a first data transmission from the installation device 14 to the inspection device 15 and a second data transmission from the inspection device 15 to the description device 16, or directly by means of a temporary connection established during the single installation step, for example via a serial cable RS-232, between the installation device 14 and the description device 16.
  • a serial cable RS-232 serial cable
  • the technician controls the inspection device 15 so that it acquires the model MD of the electrical panel 1 from the description device 16 and loads it onto its memory.
  • the technician places the inspection device 15 so that the latter focuses with its digital video camera on the electrical panel 1 in a substantially front view.
  • the inspection device 15 automatically carries out, after loading model MD or on explicit subsequent control entered by the technician, a continuous acquisition of video frames of the electrical panel 1.
  • the controls are entered via the touchscreen or keyboard provided with the inspection device 15.
  • the inspection device 15 is programmed to display in real time at least part of the visual information contained in the model MD as a function of the geometric model MG and in a manner consistent with the real-time display of the video frames to guide the technician during the inspection and/or maintenance event.
  • the software with which the inspection device 15 is programmed allows the latter to carry out the following processing operations.
  • the inspection device 15 analyzes each video frame to detect in real time the position of fiducial points on the electrical panel 1 in the video frame.
  • the inspection device 15 searches for fiducial elements 8 in the video frame and determines the position coordinates thereof referred to the video frame. Knowing the fiducial points in the video frame allows the inspection device 15 to infer its distance and orientation with respect to the electrical panel 1.
  • the inspection device 15 determines in real time, in each video frame, the position of the components 2 as a function of the geometric model MG and of the position of the fiducial points in the video frame.
  • the inspection device 15 calculates the position coordinates of the components 2 by means of a perspective transformation of the position coordinates of the components of the geometric model MG, as a function of the position coordinates of the fiducial points in the video frame.
  • the perspective transformation also known as "image warping" allows locating, in the video frames, the components of the geometric model MG even if the video shooting angle varies.
  • the inspection device 15 superimposes in real time at least part of the visual information extracted from model MD to each video frame as a function of the position of the components 2 in the video frame.
  • the inspection device 15 displays on its screen the sequence of video frames in real time with the corresponding visual information superimposed, thus creating an augmented reality display of the electrical panel 1 which guides the technician during inspection and/or maintenance.
  • the inspection device 15 optionally manages the superimposition of the visual information to the video frames in an interactive manner, to allow the technician to select, for example via the touchscreen or keyboard of the inspection device 15, the components 2 for which he/she wishes to display the information.
  • Figure 4 shows an example of augmented-reality display of the electrical panel 1 in figure 1, in which the information relating to two components selected by the technician and indicated with reference numerals 2a and 2b is displayed.
  • the information includes first information concerning the logical group to which components 2a and 2b belong, indicated with DEVICE DEVICE-A and-B, and second information concerning the operating status of the two components 2a and 2b, indicated with STATUS-A and STATUS-B.
  • Figure 3 also shows a label, indicated with DATASHEET, which is clickable to access one or more files outside the model MD with more detailed information on the technical specifications of components 2 in the electrical panel 1.
  • the technician may repair or replace any faulty component 2 installed or simply note that the installed component 2 does not work properly. Any change to the electrical panel 1, or any indication of a fault of some components 2 must be recorded in the description device 16. For this purpose, the technician inputs the information relating to the replaced or faulty component in the inspection device 15 and the inspection device 15 transmits it to the description device 16 so that the latter stores it in memory 17 among the visual information of such a component .
  • the electrical panel 1 is free from the artificial fiducial elements 8 in figure 1 and the installation device 14 is programmed to identify, in the image IM, the fiducial elements of the electrical panel 1 and include the geometry of the fiducial elements in the general model MD to be stored in the description device 16.
  • the fiducial elements to locate in image IM consist of particular distinctive elements which characterize the front view of the electrical panel 1, for example the outer or inner edges of frame 5.
  • the inspection device 15 detects the fiducial points in each frame as a function of the geometry of the fiducial elements contained in the model MD .
  • the advantages of the method for the inspection and/or maintenance of an electrical panel by means of augmented reality appear clearly from the above description.
  • the augmented- reality inspection and/or maintenance method and the corresponding system 10 for guiding the inspection and/or maintenance by means of augmented reality allow the service technician to have access, in real time during the inspection and/or maintenance operation, to the features of all components 2 of the electrical panel and to have information often difficult to be found, especially if the service technician is not sufficiently expert in the specific electrical panel 1.
  • the inspection and/or maintenance method of the invention is adapted to the inspection and/or maintenance of any part of an industrial plant comprising a plurality of components installed therein .

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)

Abstract

L'invention concerne un procédé permettant l'inspection et/ou la maintenance d'un panneau électrique (1) comportant de multiples composants (2) au moyen de la réalité augmentée, ledit procédé consistant à créer une base de données (13) comportant des données géométriques et des informations visuelles des composants installables, à appliquer au panneau électrique (1) un dispositif de description (16) comportant une mémoire (17) et une interface de communication (19), à acquérir une image (IM) du panneau électrique (1), à créer, sur la base de cette image (IM) et de la base de données (13), au moyen d'un ordinateur (14) ayant accès à la base de données (13), un modèle (MD) du panneau électrique (1) contenant des informations géométriques et visuelles qui se rapportent aux composants (2), à stocker le modèle (MD) dans la mémoire (17) et, pour chaque événement d'inspection, à charger le modèle (MD) sur un dispositif d'inspection mobile (15) équipé de caméras vidéo pour afficher le panneau électrique (1) au moyen de la réalité augmentée, par superposition des informations visuelles du modèle (MD) sur des trames vidéo du panneau électrique (1) en fonction des informations géométriques du modèle (MD).
PCT/IB2014/064140 2013-08-29 2014-08-29 Procédé et système permettant l'inspection et/ou la maintenance d'un panneau électrique au moyen de la réalité augmentée Ceased WO2015028978A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT000466A ITBO20130466A1 (it) 2013-08-29 2013-08-29 Metodo di ispezione e/o manutenzione di una parte di un impianto industriale mediante realta' aumentata, e corrispondente sistema per guidare l'ispezione e/o la manutenzione della parte di impianto industriale
ITBO2013A000466 2013-08-29

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Publication Number Publication Date
WO2015028978A1 true WO2015028978A1 (fr) 2015-03-05

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CN104834379A (zh) * 2015-05-05 2015-08-12 江苏卡罗卡国际动漫城有限公司 一种基于ar技术的维修向导系统
EP3076253A1 (fr) * 2015-03-27 2016-10-05 Rockwell Automation Technologies, Inc. Systèmes et procédés de présentation d'une réalité augmentée
WO2016202454A1 (fr) * 2015-06-16 2016-12-22 Liebherr-Components Biberach Gmbh Procédé de montage d'installations de distribution électriques et dispositif de montage auxiliaire pour faciliter le montage de telles installations de distribution
WO2017097902A1 (fr) * 2015-12-11 2017-06-15 Sms Group Gmbh Assistance visuelle mobile dans des ateliers de métallurgie, de laminage, de forge et de fabrication de tuyaux
WO2017129594A1 (fr) * 2016-01-29 2017-08-03 Robert Bosch Gmbh Procédé de reconnaissance d'objets, en particulier d'objets tridimensionnels
EP3229175A1 (fr) * 2016-04-08 2017-10-11 Abb Ag Système informatique et procédé pour générer des données d'entrée pour configuration d'automatisation de bâtiments à partir d'images d'armoire
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ES2643863A1 (es) * 2016-05-24 2017-11-24 Sonovisión Ingenieros España, S.A.U. Método para proporcionar mediante realidad aumentada guiado, inspección y soporte en instalación o mantenimiento de procesos para ensamblajes complejos compatible con s1000d y dispositivo que hace uso del mismo
CN109118515A (zh) * 2018-06-26 2019-01-01 全球能源互联网研究院有限公司 一种电力设备的视频跟踪方法及装置
CN109598177A (zh) * 2017-09-30 2019-04-09 施耐德电气工业公司 用于识别电气设备的状态的方法和装置
CN109636944A (zh) * 2018-12-12 2019-04-16 国网重庆市电力公司信息通信分公司 基于增强现实的可穿戴设备电网巡视检修方法及其系统
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JP2021533719A (ja) * 2018-08-03 2021-12-02 リタール ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディトゲゼルシャフト 計画に従った設置後にスイッチキャビネットの内容物を試験するためのデバイス及び方法
WO2022258343A1 (fr) 2021-06-10 2022-12-15 Sms Group Gmbh Système d'assistance audiovisuelle, procédé et programme informatique pour supporter des travaux de maintenance, des travaux de réparation ou des travaux d'installation dans un système industriel
EP4345558A1 (fr) * 2022-09-30 2024-04-03 Murrelektronik GmbH Procédé de fonctionnement d'un module de connexion
WO2024068816A1 (fr) * 2022-09-30 2024-04-04 Murrelektronik Gmbh Procédé de fonctionnement d'un module de connexion
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US10950051B2 (en) 2015-03-27 2021-03-16 Rockwell Automation Technologies, Inc. Systems and methods for presenting an augmented reality
EP3076253A1 (fr) * 2015-03-27 2016-10-05 Rockwell Automation Technologies, Inc. Systèmes et procédés de présentation d'une réalité augmentée
CN104834379A (zh) * 2015-05-05 2015-08-12 江苏卡罗卡国际动漫城有限公司 一种基于ar技术的维修向导系统
WO2016202454A1 (fr) * 2015-06-16 2016-12-22 Liebherr-Components Biberach Gmbh Procédé de montage d'installations de distribution électriques et dispositif de montage auxiliaire pour faciliter le montage de telles installations de distribution
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