CN100373302C - Virtual reality system locomotion interface utilizing a pressure-sensing mat - Google Patents

Virtual reality system locomotion interface utilizing a pressure-sensing mat Download PDF

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Publication number
CN100373302C
CN100373302C CNB038259206A CN03825920A CN100373302C CN 100373302 C CN100373302 C CN 100373302C CN B038259206 A CNB038259206 A CN B038259206A CN 03825920 A CN03825920 A CN 03825920A CN 100373302 C CN100373302 C CN 100373302C
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virtual reality
reacting force
user
reality system
virtual
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CN1742250A (en
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小W·C·考维里恩
R·R·罗佩斯
J·凌
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Southwest Research Institute SwRI
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
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  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Position Input By Displaying (AREA)
  • Processing Or Creating Images (AREA)

Abstract

The present invention relates to a virtual reality system used for converting user's position and locomotion in real space into virtual space. The virtual reality system comprises a locomotion interface which outputs signals indicating the user's position in the real space, wherein the locomotion interface comprises a pressure-sensing mat which comprises a base layer, a plurality of pressure-sensing elements and a counter-force generating layer which are arranged on the base layer, and a top layer which is arranged on the pressure-sensing elements, and the pressure-sensing elements output signals used for indicating the pressure exerted on the top layer. A virtual reality processor uses signals output by the locomotion interface for generating the output which indicates the position in the virtual space corresponding to user's position and locomotion in the real space. A display uses the output of the virtual reality processor for generating an image of the virtual space.

Description

Virtual reality system and the mobile interface and the method for movable signal are provided to this system
Background of invention
The present invention relates to make the user to incorporate the virtual reality system of Virtual Space fully.
Background technology
Virtual reality is the environment that computing machine generates, and the user can incorporate wherein.User's action is converted to the input that influences virtual environment (VE) by computing machine.The sensation that virtual reality system can simulating nature takes place as vision, the sense of hearing, sense of touch with move, makes that the user can the browsing virtual environment, places oneself in the midst of in the real world seemingly.
A main challenge facing the virtual reality system designer is the virtual reality system that design allows the mankind to move naturally.The existing virtual reality system that allows the user to move naturally needs the equipment of complex and expensive.And other virtual reality systems have been given up the notion of natural human motion, only use simple hardware, make the user can be by artificial posture browsing virtual environment, as flying in the Virtual Space on the direction of pointing indication the user.
Existing virtual reality system comprises can the mobile treadmill devices of track user on treadmill.Such equipment discloses in the United States Patent (USP) 5,562,572 of authorizing Carmein.Though these treadmill devices allow the user to move with orthostatism, they do not allow the user to move with prone position.They can not the sensing user be in stance, the posture of creeping or prone position.In addition, these treadmill devices are mechanically very complicated usually, and therefore are subject to inherent time-delay and the momentum problems relevant with mobile mechanical mass.
Other existing virtual reality systems allow users to move with prone position, but are cost not moving naturally.For example, a kind of existing equipment comprises simple foot-pedal interface, is similar to the accelerator pedal of automobile.Depend on where the user presses pedal, pedal allows the user to move forward or backward.In such system, the user always moves towards the center of visual field, and if the user his head is turned over specific angle, then visual field rotation.System although it is so allows the user to browse by any posture, but the user must constantly keep in touch just and can browse with pedal.Such system does not allow the user to move naturally yet.
Summary of the invention
In various example embodiment, virtual reality system comprises the pressure sensing mat of the signal of the position of output indication user in realistic space according to an aspect of the present invention.The signal of virtual reality processor working pressure sensor mat output produces indication corresponding to the output of the position of user in realistic space with the Virtual Space of moving.Display device uses the output of virtual reality processor, makes the user can incorporate the Virtual Space fully.
In various example embodiment, pressure sensing mat comprises basic unit, is formed on a plurality of pressure sensors of basic unit top, be formed on the top layer of a plurality of pressure sensors top, and between described pressure sensing mat any two-layer or be positioned at the top of pressure sensing mat or the reacting force of lower surface produces layer, wherein reacting force produces the amount that the reacting force that provided according at least one signal adjustment is provided layer, and a plurality of pressure sensor output indicative function is in the signal of the pressure of top layer.
The invention provides a kind of method, the signal that provides input indication user to move to virtual reality system is provided, it is characterized in that, described method comprises: sensing acts on the pressure of mobile interface, described mobile interface comprises pressure sensing mat, described pressure sensing mat comprises basic unit, be formed on a plurality of pressure sensors of basic unit top, be formed on the top layer of a plurality of pressure sensors top, and between described pressure sensing mat any two-layer or be positioned at the top of pressure sensing mat or the reacting force of lower surface produces layer, wherein reacting force produces the amount that the reacting force that provided according at least one signal adjustment is provided layer.
The invention provides virtual reality system with simple designs, allow the user in any direction by any posture (as, stance, the posture of creeping, prone position) mobile naturally.Virtual reality system of the present invention is better than existing virtual reality system.In the various example embodiment of system of the present invention, enhanced flexibility makes that the user can be by prone position, the posture of creeping or stance forward, move backward or to the side.Therefore, virtual reality system of the present invention has a lot of application, as, strengthen the training of army, real video game environment, and medical treatment widely and therapeutic applications.
By the detailed description of following various example embodiment to system and method for the present invention, illustrate these and other characteristics of the present invention and advantage, or make them apparent.
Description of drawings
Accompanying drawing with reference to following describes various example embodiment of the present invention in detail, wherein:
Fig. 1 shows an example embodiment of virtual reality system of the present invention;
Fig. 2 shows an example embodiment of pressure sensing mat of the present invention;
Fig. 3 shows an example embodiment of the voltage dependent resistor (VDR) that can use in the various example embodiment of virtual reality system of the present invention;
Fig. 4 shows the equivalent electrical circuit of pressure sensing mat of the present invention;
Fig. 5 shows another example embodiment of pressure sensing mat of the present invention; And
Fig. 6 is a structural drawing, shows the example embodiment of virtual reality processor of the present invention.
Embodiment
Fig. 1 shows an example embodiment of virtual reality system of the present invention.Virtual reality system 1 comprises pressure sensing mat 100, virtual reality (VR) processor 200 and display 400.The various example embodiment that should be understood that virtual reality system of the present invention can have any amount and configured parts, wherein each parts all the working pressure sensor mat come moving of sensing user so that generate virtual environment.
Fig. 2 shows an example embodiment of pressure sensing mat 100 of the present invention.Pressure sensing mat 100 comprises semirigid basic unit 120.Any suitable material may be used to basic unit 120, as, plastics, hardwood and polycarbonate (Rec mulberry).The grid 140 of pressure sensor 150-1 to 150-n (that is two-dimensional array) is on basic unit 120.Top layer 160 is on grid 140.Any suitable layer may be used to top layer 160, as, preferably can use rubber, natural rubber, buna, and the black rubber of structure enhancing.
The pressure of pressure sensor 150-1 to 150-n detection effect on the point of fixity of the top layer 160 of pressure sensing mat 100 in the grid 140.Any suitable pressure sensor device can be used as pressure sensor 150-1 to 150-n, as, dynamo-electric pressure transducer.Generally speaking, any pressure sensor device existing or future can be used as pressure sensor 150-1 to 150-n.
In example embodiment shown in Figure 1, pressure sensor 150-1 to 150-n comprises voltage dependent resistor (VDR).In the prior art, voltage dependent resistor (VDR) comprises the element that serves as voltage divider simply.Fig. 3 shows an example embodiment of the voltage dependent resistor (VDR) 180 that can use in the various example embodiment of virtual reality system of the present invention.Pressure sensor 150-1 to 150-n comprises corresponding voltage dependent resistor (VDR) 180-1 to 180-n.Each voltage dependent resistor (VDR) 180 all comprises upper film 181, lower film 182, first electrode pattern 183 on lower film 182, on upper film second electrode pattern 184 relative with electrode pattern 183, and the pressure sensitive conductor 185 on second electrode pattern 184.When pressing upper film 181, pressure sensitive conductor 185 is pressurized between first and second electrode patterns.In the prior art, the resistance of pressure sensitive conductor 185 reduces when pressurized.Therefore, the output of the voltage of voltage dependent resistor (VDR) 180 will change along with acting force.The more details of relevant voltage dependent resistor (VDR) are please referred to United States Patent (USP) 5,948,990, and it is included in this as a reference.
Fig. 4 shows the equivalent electrical circuit of pressure sensing mat 100.Voltage output V Output-1To V Output-nCorresponding to the corresponding pressure sensor 150-1 to 150-n that constitutes grid 140.When user's browsing virtual actual environment, the user exerts pressure to the point on the pressure sensing mat 100.Acting force has changed the resistance of voltage dependent resistor (VDR) 180-1 to 180-n, so the voltage of each corresponding pressure sensor 150-1 to 150-n output is moved along with the user and changed.Grid 140 produces voltage output, can generate the pattern that move of user in the Virtual Space that project by analyzing this voltage output.
Fig. 5 shows another example embodiment of pressure sensing mat 100 of the present invention.In this embodiment, pressure sensing mat 100 comprises and first embodiment components identical that promptly, the grid of semirigid basic unit 120, pressure sensor 150-1 to 150-n reaches top layer 160, and comprises that reacting force produces layer 190.Though the reacting force that Fig. 5 shows produces layer 190 between grid 140 and top layer 160, should be understood that reacting force produces layer 190 can be between pressure sensing mat 100 any two-layer or be positioned at the top or the lower surface of pressure sensing mat 100.Reacting force produces layer 190 and can be made up of the grid of reacting force producing component 195-1 to 195-n.Any suitable reacting force produces equipment can be used as reacting force producing component 195-1 to 195-n, as, spring, hydraulic means, pneumatic shuttle, or electromechanical assembly.
In operation, the output of the voltage of each pressure sensor 150-1 to 150-n can be used for activating one or one group of reacting force producing component corresponding among the reacting force producing component 195-1 to 195-n.When the user was mobile on pressure sensing mat 100, reacting force producing component 195-1 to 195-n can provide reacting force to user's health.As following more detailed description, the type of the virtual ground that the reacting force that reacting force producing component 195-1 to 195-n produces can produce based on virtual reality system 1 and difference.
Fig. 6 is a structural drawing, shows an example embodiment of virtual reality processor 200.Virtual reality processor comprises controller 210, storer 220 (for example, comprising RAM and ROM), mode producing equipment 230, mobile identification equipment 240, virtual environment display device 250, input interface 260, and output interface 270.Controller 210 uses control/data bus 280 to connect miscellaneous part 220-270.Though exemplary virtual reality processor 200 is used bus structure, it should be understood that exemplary virtual reality processor 200 also can be used any existing or structure in the future, comprises ASIC, general programmable computing machine, discrete logic devices or the like.
Under the control of controller 210, input interface 260 can receive the analog voltage signal from pressure sensor 150-1 to 150-n.Input interface 260 can comprise that the switch analog voltages signal is the A-D converter of digital signal.Input interface 260 can be stored in storer 220 by supplied with digital signal.
Next, controller 210 can provide the data-signal that is stored in the storer 220 to mode producing equipment 230.Mode producing equipment 230 is taken a sample to the digital signal that is stored in the storer 220 with fixing interval, and produces pattern with fixing interval based on digital signal.The all places of modal representation user on pressure sensing mat 100 that mode producing equipment 230 produces.
Controller 210 arrives mobile identification equipment 240 with the mode transfer that mode producing equipment 230 produces.Mobile identification equipment 240 can comprise the pattern recognition apparatus (not shown), and pattern recognition apparatus is discerned given pattern to user's correspondence position.Pattern recognition apparatus can be by comparing recognition mode with pattern and the pattern database that is stored in the storer 220.Pattern recognition apparatus also can come recognition mode based on size, shape and/or the pressure distribution of pattern.For example, if pattern greater than the predetermined threshold value size, then the pattern device pattern can be " prone user position " pattern with this pattern-recognition.Similarly, if similar two patterns of mat output indication size at the signal that alternately moves, then processor can determine the user be upright (as, walk, run or stand (if two patterns do not move)).If not only detect two less moving, determine that then the user is creeping in pattern.The pattern that is stored in the storer 220 can provide demonstration by the neuralward network, so that how study discerns different patterns.
Based on determined posture of processor and directional information, can suitably revise virtual environment (as, the image of demonstration).
When user's browsing virtual environment, a series of customer location of being discerned by pattern recognition apparatus can be stored in the storer 220 by fixing interval.Preferably, along with user's moving on pressure sensing mat 100, follow the trail of the barycenter of each pattern in a series of pattern.Mobile identification equipment 240 can fixed intervals at last to the sampling of a series of customer location, and based on this a series of customer location, identification user moving in fixed intervals.Move and to comprise, for example, direction (forward, backward, left, to the right or the like) and speed.Also can analyze these patterns and determine user's posture (stand, creep, prone position).
The direction that the user faced can be determined by the sensor that directly links to each other with the user.In various embodiments, sensor can be the magnetic tracing system that is connected to user's waist, determines the direction that waist is faced.Virtual reality system of the present invention significantly is better than existing virtual reality system, directly links to each other with the user because only need a sensor.Therefore, the user be subjected to complicated sensor line and equipment comparatively speaking interference still less.
Controller 210 can be transformed into user mobile in the virtual environment that virtual environment display device 250 generates.The data of virtual environment comprise dummy object, can be stored in the storer 220.Virtual environment display device 250 can upgrade virtual environment with given interval based on the data that are stored in the storer 220.Virtual environment display device 250 can upgrade the Virtual Space at every turn when identifying user mobile.Therefore, along with the user moves in the Virtual Space, the user can influence virtual environment, or is subjected to the virtual environment influence.For example, when user's browsing virtual space, the perspective of user in the Virtual Space can change, and visual object can appear on user's the path, and the user can the mobile visible object.
Virtual environment display device 250 can also depend on the position of the user in the Virtual Space, produces virtual ground surface.The type of the virtual ground surface that virtual environment display device 250 produces can determine that the reacting force of pressure sensing mat 100 produces the amount of the reacting force of layer 190 generation.For example, if virtual ground surface is soft meadow, then can controls reacting force generation layer 190 a pin and apply the same reacting force of spring to the user.
Controller 210 can be controlled output interface 270 to display 400 output virtual reality environment data.Though display 400 shown in Figure 1 is head mounted displays, can use any display existing or that occur in the future.Preferably, display provides the ability of seeing, listen, smell, touching to the user in virtual world, so that the user incorporates in the Virtual Space fully.
In various embodiments, can imagine that pressure sensing mat 100 can be done greatly as move required size like that in the Virtual Space with the permission user.For example, pressure sensing mat 100 can be done to such an extent that cover the bottom in big place or room.In addition, if the space is limited, then pressure sensing mat 100 also can be done smallerly, and in this situation, the user need move in the zone on border is arranged or move in " original place ".
Virtual reality system 1 can be used as at general programmable computing machine, special purpose computer, and microprocessor or the like is gone up the software of carrying out and realized.
Though describe the present invention, should be understood that the present invention is not limited to preferable example embodiment or structure with reference to example embodiment.On the contrary, the present invention should cover various modifications and equivalent arrangements.In addition, though the various elements of showing with various combinations and configuration in example embodiment, they are schematically, and other combinations and configuration comprise more, element still less or discrete component, all comprise within the spirit and scope of the present invention.

Claims (32)

1. mobile interface, described mobile interface provides indication user's the input signal that moves to virtual reality system, it is characterized in that described mobile interface comprises:
Pressure sensing mat, described pressure sensing mat comprises basic unit, is formed on a plurality of pressure sensors of basic unit top, be formed on the top layer of a plurality of pressure sensors top, and between described pressure sensing mat any two-layer or be positioned at the top of pressure sensing mat or the reacting force of lower surface produces layer, wherein reacting force produces the amount that the reacting force that provided according at least one signal adjustment is provided layer, and wherein said a plurality of pressure sensor output indicative function is in the signal of the pressure of top layer.
2. mobile interface as claimed in claim 1 is characterized in that, described reacting force produces layer and is made of a plurality of reacting force producing components.
3. mobile interface as claimed in claim 2 is characterized in that, described a plurality of reacting force producing components constitute a grid.
4. mobile interface as claimed in claim 2 is characterized in that, described reacting force producing component is at least a in spring, hydraulic means, pneumatic shuttle and the electromechanical assembly.
5. mobile interface as claimed in claim 1 is characterized in that, described a plurality of pressure sensors constitute a grid.
6. mobile interface as claimed in claim 1 is characterized in that, described a plurality of pressure sensors comprise voltage dependent resistor (VDR).
7. mobile interface as claimed in claim 1 is characterized in that described basic unit comprises semi-rigid material.
8. mobile interface as claimed in claim 1 is characterized in that described basic unit comprises plastics.
9. mobile interface as claimed in claim 1 is characterized in that described top layer comprises rubber.
10. mobile interface as claimed in claim 1 is characterized in that, described reacting force produces the amount that the reacting force that provided according at least one the signal adjustment from described a plurality of pressure sensors is provided layer.
11. mobile interface as claimed in claim 1 is characterized in that, described reacting force produces the amount that the reacting force that provided according to the signal adjustment from the virtual environment renderer is provided layer.
12. a virtual reality system, described virtual reality system is characterized in that with the position of user in realistic space and mobile being transformed in the Virtual Space described virtual reality system comprises:
The mobile interface of the signal of the position of output indication user in realistic space, described mobile interface comprises pressure sensing mat, described pressure sensing mat comprises basic unit, be formed on a plurality of pressure sensors of basic unit top, be formed on the top layer of a plurality of pressure sensors top, and between described pressure sensing mat any two-layer or be positioned at the top of pressure sensing mat or the reacting force of lower surface produces layer, wherein reacting force produces layer the reacting force that provided according at least one signal adjustment is provided, and described a plurality of pressure sensor output indicative function is in the signal of the pressure of top layer;
Use the signal of described mobile interface output produce the indication user in the Virtual Space with the position of user in realistic space with move the virtual reality processor of the output of corresponding position; And
The output of use virtual reality processor produces the display of the image of Virtual Space.
13. virtual reality system as claimed in claim 12 is characterized in that, described reacting force produces layer and is made of a plurality of reacting force producing components.
14. virtual reality system as claimed in claim 13 is characterized in that, described a plurality of reacting force producing components constitute a grid.
15. virtual reality system as claimed in claim 13 is characterized in that, described reacting force producing component is at least a in spring, hydraulic means, pneumatic shuttle and the electromechanical assembly.
16. virtual reality system as claimed in claim 12 is characterized in that, described demonstration is a head mounted display.
17. virtual reality system as claimed in claim 12 is characterized in that, described a plurality of pressure sensors constitute a grid.
18. virtual reality system as claimed in claim 12 is characterized in that, described a plurality of pressure sensors comprise voltage dependent resistor (VDR).
19. virtual reality system as claimed in claim 12 is characterized in that, described basic unit comprises semi-rigid material.
20. virtual reality system as claimed in claim 12 is characterized in that, described basic unit comprises plastics.
21. virtual reality system as claimed in claim 12 is characterized in that, described top layer comprises rubber.
22. virtual reality system as claimed in claim 12 is characterized in that, described virtual reality processor comprises:
The signal that uses mobile interface to export generates the pattern generator of a plurality of associative modes;
A plurality of patterns of using described pattern generator to generate are discerned a plurality of customer locations of correspondence and the mobile recognizer that the user moves; And
Use the customer location discerned and move to generate the Virtual Space, make the virtual environment renderer that the user can influence described Virtual Space and influenced by described Virtual Space.
23. virtual reality system as claimed in claim 22 is characterized in that, the Virtual Space that described virtual environment renderer generates comprises virtual ground surface.
24. virtual reality system as claimed in claim 23 is characterized in that, the virtual ground surface that described virtual environment renderer generates determines that described reacting force produces the amount of the reacting force of layer generation.
25. virtual reality system as claimed in claim 22 is characterized in that, described a plurality of positions of being identified by described mobile recognizer comprise creep in posture and the user's stance at least one of user's prone position, user.
26. virtual reality system as claimed in claim 22 is characterized in that, described a plurality of positions of being identified by described mobile recognizer comprise that the user moves backward, the user to the side move, the user moves forward with the user diagonal angle in moving at least one.
27. virtual reality system as claimed in claim 12 is characterized in that, described reacting force produces the amount that the reacting force that provided according at least one the signal adjustment from described a plurality of pressure sensors is provided layer.
28. the signal that provides input indication user to move to virtual reality system is provided a method, it is characterized in that described method comprises:
Sensing acts on the pressure of mobile interface, described mobile interface comprises pressure sensing mat, described pressure sensing mat comprises basic unit, is formed on a plurality of pressure sensors of basic unit top, be formed on the top layer of a plurality of pressure sensors top, and between described pressure sensing mat any two-layer or be positioned at the top of pressure sensing mat or the reacting force of lower surface produces layer
Wherein reacting force produces the amount that the reacting force that provided according at least one signal adjustment is provided layer.
29. method as claimed in claim 28 is characterized in that, also comprises:
The signal of handling described mobile interface output responds the described pressure that senses, with produce the indication user in the Virtual Space with the position of user in realistic space with move the input signal of corresponding position.
30. method as claimed in claim 28 is characterized in that, the step of the signal of the mobile interface output of described processing comprises:
Generation is corresponding to a plurality of patterns of the signal of described mobile interface output; And
Identification is moved corresponding to a plurality of customer locations and the user of described a plurality of patterns.
31. method as claimed in claim 28 is characterized in that, the amount of the reacting force that is provided according at least one the signal adjustment from described a plurality of pressure sensors.
32. mobile interface as claimed in claim 28 is characterized in that, the amount of the reacting force that is provided according to the signal adjustment from the virtual environment renderer.
CNB038259206A 2003-02-06 2003-02-06 Virtual reality system locomotion interface utilizing a pressure-sensing mat Expired - Fee Related CN100373302C (en)

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