CN104473618A - Body data acquisition and feedback device and method for virtual reality - Google Patents
Body data acquisition and feedback device and method for virtual reality Download PDFInfo
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- A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
- A61B5/0015—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network characterised by features of the telemetry system
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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Abstract
The invention provides a body data acquisition and feedback device and method for a virtual reality environment. The device comprises a body posture data acquisition module and a force feedback data output module, wherein the body posture data acquisition module comprises an inertial sensor, a UWB ultra-wide-band ranging submodule and a wireless network submodule which are used for acquiring body posture data information and acquisition point relative position information in real time, and the information is transmitted to a central controller in a wireless mode. The force feedback data output module comprises an electrical pulse feedback device used for wirelessly receiving force feedback signals sent by the central controller, and acting on corresponding body parts by receiving and recognizing feedback data transmitted by a core.
Description
Technical field
The present invention relates to virtual reality technology, more specifically, relate to a kind of body data acquiring feedback device for virtual reality and method.
Background technology
Along with the development of modern technologies, intelligent clothing product not only has simple wearing functions, new technique incorporate the focus making Wearable device more and more become concern.By computer system wear or implantable, clothing have become an independently intelligent carrier.
Georgia Institute of Technology have developed a kind of sensor vest for fighting, and university of Finland develops the intelligence rescue clothing being applicable to polar region environment, human body physiological parameter can be carried out measuring and integrated treatment.Increasing country starts to specialize in this problem now, and US and European maintains the leading position, in daily production and life, all had concrete application, particularly in the middle of special.
The body data acquiring of current comparative maturity concentrates on the static measurement of Human Physiology index mostly, relevant physiological location is directly arranged in by multiple sensor, obtain some physiological parameters, especially medical physiological parameter, such as temperature, pulse, blood pressure etc.And for the timely collection of athletic posture, the sensor arranged by health can simply be gathered and catch.
Current acquisition mode mechanical motion is caught, electromagnetic type capturing movement, acoustics formula capturing movement, optical motion are caught and the capturing movement of inertial sensor.Wherein, mechanical motion catches and relies on machinery to measure motion, and motion-captured by being connected with machinery by object to be captured, moving object driving mechanical device moves, thus by object under test motion under the sensor record on machinery.Mechanical motion catching mode is difficult to realize catching for multivariant joint motions, and simultaneously due to own dimensions and weight, the motion (particularly strenuous exercise) of measuring targets causes more serious obstruction and interference.Electromagnetic type is motion-captured to be generally made up of emission source, receptor and data processing unit.This motion-captured mode is strict for environmental requirement, and neighbouring can not have metal, and the movement limit of wire cable to object is larger, and sample frequency is lower.Acoustics formula is motion-captured: with the motion-captured comparing class of electromagnetic type seemingly, be made up of ultrasonic transmitter, receptor and processing unit.The motion-captured cost of acoustics formula is lower, but low precision and require between emitter and receptor unobstructed.Optical motion catches and usually comprises 10 ~ 20 cameras, and around object under test arrangement, the range of movement of object under test is in the overlapping region of camera.But this system price is expensive, and the marked ratio of system is more loaded down with trivial details, can only catch the object of which movement of camera overlapping region, and when motion more complicated, mark is easily obscured and blocked, thus produce the result of mistake.
The cooperation immersion virtual environment that the U.S. discloses comprises the display etc. of virtual environment emulator, optical motion capture system, spherical camera, head installation.Adopt optical motion capture system to catch motion, equipment costly.If adopt the hard-wired video camera of metope, then can be subject to motion-captured place restriction; If adopt spider to install video camera, then the demarcation of system can be very loaded down with trivial details, and if when range of activity is larger, may need repeatedly to move spider and need repeatedly to demarcate; When motion more complicated, optical markers easily produces obscures or blocks, thus makes the mistake; Because do not adopt the interactivity equipment of special such as sense of touch, the program mainly realizes visual impression, and can not bring the multi-faceted impression of virtual environment to user.In virtual environment, such as experienced tactile wall, the program only can be made corresponding display and can not give Consumer's Experience on the sense organ of sense of touch and so on the picture of virtual environment.
Wherein, comprise two functions for the collection of the body data under reality environment and the equipment of feedback, body posture data acquisition and force feedback data export.Conventional inertia attitude transducer is employed the motion capture aspect with film and game more, and application space is little, and towards professional user, equipment cost is high.And mostly force feedback equipment is to realize in the mode of non-equilibrium vibrations, module is comparatively large, is worn on health very inconvenient.
Summary of the invention
For overcoming the above-mentioned defect of prior art, the present invention proposes a kind of body data acquiring feedback device for virtual reality and method.
According to an aspect of the present invention, propose a kind of collection for the body data under reality environment and feedback device, comprise: body posture data acquisition module and force feedback data outputting module, wherein, body posture data acquisition module comprises inertial sensor, UWB ultra-broadband ranging submodule and wireless network submodule, for Real-time Collection body posture data message and collection point relative position information, be wirelessly transferred to central controller; Wherein, force feedback data outputting module comprises electric pulse feedback device, for the force feedback signal that wireless receiving central controller sends, identifies that the feedback data of core transmission acts on corresponding body part by receiving.
According to a further aspect in the invention, propose that a kind of the method comprises: step 1 for the collection of the body data under reality environment and the method for feedback, in whole body limbs key node position placement sensor, composition cordless communication network; Step 2, each junction sensor is non-interfering is sent to attitude information integral unit by data, the data fusion that junction sensor is uploaded by attitude information integral unit, after calculating human body limb position and movement locus and speed data, is transferred to central controller; Step 3, receives from the feedback triggering signal of central controller platform by force feedback data outputting module, controls to be worn on experiencer's node generation current pulse with it or vibrations are done.
Body data acquiring feedback device (VRGate-Body) of the present invention, in conjunction with functions such as inertial sensor, wifi range finding, wireless transmission and electrostatic force feedback, wirelessly can be transferred to computer with some relative position information by Real-time Collection body posture data message.And the force feedback signal that wireless receiving computer sends, act on corresponding body part, reach the effects such as game is intended very, physical massage, there is many-sided application direction.
The each module of body data acquiring feedback device (VRGate-Body) of the present invention is placed in special containing box, gets final product wireless charging.Save the trouble of plug wire charging.Other products, not only want plug wire to charge, and must be also special wire rods, bother very much.Each sensor of equipment adopts radio connection, and no matter user is install or activity, all can not be fettered by electric wire; Other products mostly are wired, or part is wireless.
Body data acquiring feedback device (VRGate-Body) parts of the present invention are integrated electric pulse feedback device simultaneously, can wireless receiving computer send force feedback signal, identify that the feedback data of core transmission acts on corresponding body part by receiving, human feeling is allowed to arrive the sensations such as touch, beating, shock, reaching game intends true, the effects such as physical massage, have many-sided application direction.
Accompanying drawing explanation
Fig. 1 is the module diagram according to a kind of body data acquiring feedback device for virtual reality of the present invention;
Fig. 2 is the schematic flow sheet according to a kind of body data acquiring feedback method for virtual reality of the present invention.
In order to the structure of embodiments of the invention clearly can be realized, specific size, structure and device are marked in the drawings, but this is only signal needs, be not intended to limit the invention in this specific dimensions, structure, device and environment, according to specific needs, these devices and environment can carry out adjusting or revising by those of ordinary skill in the art, and the adjustment carried out or amendment are still included in the scope of accompanying claim.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, a kind of body data acquiring feedback device for virtual reality provided by the invention and method are described in detail.
In the following description, by description multiple different aspect of the present invention, but, for those skilled in the art, can only utilize some or all structure of the present invention or flow process to implement the present invention.In order to the definition explained, set forth specific number, configuration and order, but clearly, also can implement the present invention when there is no these specific detail.In other cases, in order to not obscure the present invention, will no longer be described in detail for some well-known features.
The invention provides the equipment (RGate-Body) of a kind of collection for the body data under reality environment and feedback, comprise body posture data acquisition module and force feedback data outputting module, wherein, body posture data acquisition module comprises inertial sensor, UWB ultra-broadband ranging submodule and wireless network submodule, for Real-time Collection body posture data message and collection point relative position information, be wirelessly transferred to computer.Wherein, force feedback data outputting module comprises electric pulse feedback device, for the force feedback signal that wireless receiving computer sends, identify that the feedback data of core transmission acts on corresponding body part by receiving, human feeling is allowed to arrive the sensations such as touch, beating, shock, reaching game intends true, the effects such as physical massage.
Wherein, the collection of this body data and the equipment of feedback are for gathering experiencer's human body attitude, by experiencer's limbs and whole body feedback signal and hub processor effective integration, to control under virtual environment virtual body to reach and allow human body under actual environment experience the sensations such as touch, beating, shock, reaching game intends true, the effects such as physical massage.
Wherein, body posture data acquisition module comprises the sensor being arranged in whole body limbs key node position, and wherein, sensor comprises 9 degree of freedom sensors, and this 9 degree of freedom sensor comprises 3 axle gyroscopes, 3 axle compass and 3 axis accelerometers.Wherein, key node position comprise brothers' acra node, ankle carpal joint node, knee joint elbow joint node, the shoulder necessary node such as trans-articular node and head, neck, trunk node and other can the expanding node of provisional configuration.
Wherein, all nodes and coordinator form Star Network, and the plurality of node is in the end of star network.Wherein, processor arranged by bottom, for carrying out the basic fault-tolerant filter operations such as preliminary Kalman filtering.Wherein, this sensor independent battery is powered, and has a style of one's own, and can increase and decrease number of nodes at any time, reduces the wearing complexity of On-site Experience link.
Wherein, the wireless communication networks (ZIGBEE network) of each standalone sensor comprises special address information and self-organizing network system, comprise a coordinator and some nodes in network system, after each node powers on, configure networking by coordinator, form the Star Network centered by coordinator.Each junction sensor is non-interfering is sent to attitude information integral unit by data, and this attitude information integral unit is a control centre comprising coordinator.
Wherein, the data (comprising acceleration, deflection, angular acceleration) that attitude information integral unit is used for junction sensor to upload merge, be aided with bones of extremities network algorithm fusion technology, after calculating human body limb node and the data such as movement locus and speed, be transferred to central controller platform, realize the laminating of application scenarios and anthropometric dummy node further.
Wherein, force feedback data outputting module is for receiving the feedback triggering signal (as impacted, contact etc.) from central controller platform, to control to be worn on experiencer's node generation current pulse with it or vibrations are done, allow human body under actual environment experience the sensations such as touch, beating, shock, reaching game and intending the effects such as true, physical massage.
In another embodiment of the present invention, provide that a kind of the method comprises: step 1 for the collection of the body data under reality environment and the method for feedback, in whole body limbs key node position placement sensor, composition cordless communication network; Step 2, each junction sensor is non-interfering is sent to attitude information integral unit by data, the data fusion that junction sensor is uploaded by attitude information integral unit, after calculating human body limb position and movement locus and speed data, is transferred to central controller; Step 3, receives from the feedback triggering signal of central controller platform by force feedback data outputting module, controls to be worn on experiencer's node generation current pulse with it or vibrations are done, and allows human body under actual environment experience touch, beating, impact feeling.
Wherein, in step 1, the sensor at whole body limbs key node position comprises 9 degree of freedom sensors, and 9 degree of freedom sensors comprise 3 axle gyroscopes, 3 axle compass, 3 axis accelerometers.Wherein, whole body limbs critical stage position comprise brothers' acra node, ankle carpal joint node, knee joint elbow joint node, the shoulder necessary node such as trans-articular node and head, neck, trunk node and other can the expanding node of provisional configuration, wherein, all nodes and coordinator form Star Network, are in the end of star network.
Wherein, in step 2, the wireless communication networks (ZIGBEE network) of each standalone sensor comprises special address information and self-organizing network system, a coordinator and some nodes is comprised in this network system, configure networking by coordinator after each node powers on, form the Star Network centered by coordinator.This each junction sensor is non-interfering is sent to attitude information integral unit by data, and this attitude information integral unit is a control centre comprising coordinator.
Wherein, in step 2, what junction sensor was uploaded by attitude information integral unit comprise acceleration, deflection, angular acceleration data merge, be aided with bones of extremities network algorithm fusion technology, after calculating human body limb position and the data such as movement locus and speed, send central controller platform to, realize the laminating of application scenarios and anthropometric dummy action further.
Wherein, in step 3, force feedback data outputting module receives the feedback triggering signal (as impacted, contact etc.) from central controller platform, control to be worn on experiencer's node generation current pulse with it or vibrations are done, human body under actual environment is allowed to experience the sensations such as touch, beating, shock, reaching game intends true, the effects such as physical massage.
Finally it should be noted that, above embodiment is only in order to describe technical scheme of the present invention instead of to limit this technical method, the present invention can extend in application other amendment, change, application and embodiment, and therefore think that all such amendments, change, application, embodiment are all in spirit of the present invention and teachings.
Claims (11)
1. the collection for the body data under reality environment and feedback device, comprise: body posture data acquisition module and force feedback data outputting module, wherein, body posture data acquisition module comprises inertial sensor, UWB ultra-broadband ranging submodule and wireless network submodule, for Real-time Collection body posture data message and collection point relative position information, be wirelessly transferred to central controller; Wherein, force feedback data outputting module comprises electric pulse feedback device, for the force feedback signal that wireless receiving central controller sends, identifies that the feedback data of core transmission acts on corresponding body part by receiving.
2. the collection for the body data under reality environment according to claim 1 and feedback device, wherein, the collection of this body data and the equipment of feedback are for gathering experiencer's human body attitude, by experiencer's limbs and whole body feedback signal and hub processor effective integration, to control under virtual environment virtual body to reach and allow human body under actual environment experience touch, beating, impact feeling.
3. the collection for the body data under reality environment according to claim 1 and feedback device, wherein, body posture data acquisition module comprises the sensor being arranged in whole body limbs key node position, wherein, sensor comprises 9 degree of freedom sensors, and this 9 degree of freedom sensor comprises 3 axle gyroscopes, 3 axle compass and 3 axis accelerometers.
4. the collection for the body data under reality environment according to claim 3 and feedback device, wherein, key node position comprise brothers' acra node, ankle carpal joint node, knee joint elbow joint node, shoulder trans-articular node and head, neck, the necessary node of trunk node and other can the expanding node of provisional configuration.
5. the collection for the body data under reality environment according to claim 1 and feedback device, wherein, the wireless communication networks of each standalone sensor comprises special address information and self-organizing network system, a coordinator and some nodes is comprised in network system, configure networking by coordinator after each node powers on, form the Star Network centered by coordinator.
6. the collection for the body data under reality environment according to claim 1 and feedback device, wherein, each junction sensor is non-interfering is sent to attitude information integral unit by data, and this attitude information integral unit is a control centre comprising coordinator.
7. the collection for the body data under reality environment according to claim 6 and feedback device, wherein, what attitude information integral unit was used for junction sensor to upload comprise acceleration, deflection, angular acceleration data merge, be aided with bones of extremities network algorithm fusion technology, after calculating human body limb position and the data such as movement locus and speed, be transferred to central controller platform.
8., for the collection of the body data under reality environment and a method for feedback, the method comprises:
Step 1, in whole body limbs key node position placement sensor, composition cordless communication network;
Step 2, each junction sensor is non-interfering is sent to attitude information integral unit by data, the data fusion that junction sensor is uploaded by attitude information integral unit, after calculating human body limb position and movement locus and speed data, is transferred to central controller;
Step 3, receives from the feedback triggering signal of central controller platform by force feedback data outputting module, controls to be worn on experiencer's node generation current pulse with it or vibrations are done.
9. according to claim 8 for the collection of the body data under reality environment and the method for feedback, wherein, in step 1, the sensor at whole body limbs key node position comprises 9 degree of freedom sensors, and 9 degree of freedom sensors comprise 3 axle gyroscopes, 3 axle compass, 3 axis accelerometers; Wherein, whole body limbs critical stage position comprise brothers' acra node, ankle carpal joint node, knee joint elbow joint node, the shoulder necessary node such as trans-articular node and head, neck, trunk node and other can the expanding node of provisional configuration.
10. according to claim 8 for the collection of the body data under reality environment and the method for feedback, wherein, in step 2, the wireless communication networks of each standalone sensor comprises special address information and self-organizing network system, a coordinator and some nodes is comprised in this network system, configure networking by coordinator after each node powers on, form the Star Network centered by coordinator.
11. is according to claim 8 for the collection of the body data under reality environment and the method for feedback, wherein, in step 2, this each junction sensor is non-interfering is sent to attitude information integral unit by data, and this attitude information integral unit is a control centre comprising coordinator;
Further wherein, in step 2, what junction sensor was uploaded by attitude information integral unit comprise acceleration, deflection, angular acceleration data merge, be aided with bones of extremities network algorithm fusion technology, after calculating human body limb position and the data such as movement locus and speed, send central controller platform to.
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104856684A (en) * | 2015-04-10 | 2015-08-26 | 深圳市虚拟现实科技有限公司 | Moving object acquisition method and system |
| CN105446362A (en) * | 2015-12-07 | 2016-03-30 | 陆宁远 | Posture detection adjusting device and method based on assistance of computer science |
| CN105641926A (en) * | 2016-04-07 | 2016-06-08 | 深圳易万创新科技有限公司 | Action collection and simulation system with feedback function and method of action collection and simulation system |
| CN106055099A (en) * | 2016-05-25 | 2016-10-26 | 北京行云时空科技有限公司 | Differential positioning method and apparatus based on virtual reality system |
| CN106125936A (en) * | 2016-06-30 | 2016-11-16 | 联想(北京)有限公司 | A kind of motion sensing control method and electronic installation |
| CN106267781A (en) * | 2016-09-19 | 2017-01-04 | 清华大学 | Water proof type motion capture system for athletic training |
| CN106308810A (en) * | 2016-09-27 | 2017-01-11 | 中国科学院深圳先进技术研究院 | Human motion capture system |
| CN106445176A (en) * | 2016-12-06 | 2017-02-22 | 腾讯科技（深圳）有限公司 | Man-machine interaction system and interaction method based on virtual reality technique |
| CN106527680A (en) * | 2016-09-19 | 2017-03-22 | 清华大学 | Waterproof type motion capture system |
| CN106843483A (en) * | 2017-01-20 | 2017-06-13 | 深圳市京华信息技术有限公司 | A kind of virtual reality device and its control method |
| CN107644686A (en) * | 2016-07-20 | 2018-01-30 | 郎焘 | Medical data acquisition system and method based on virtual reality |
| CN109388142A (en) * | 2015-04-30 | 2019-02-26 | 广东虚拟现实科技有限公司 | A kind of method and system carrying out virtual reality travelling control based on inertial sensor |
| CN109407840A (en) * | 2018-10-18 | 2019-03-01 | 看见故事（苏州）影视文化发展有限公司 | A kind of visual angle effect method of motion capture technology |
| CN109481917A (en) * | 2017-09-09 | 2019-03-19 | 深圳市赛亿科技开发有限公司 | A kind of intelligence follows golf club vehicle |
| CN110811941A (en) * | 2019-11-07 | 2020-02-21 | 北京精博现代假肢矫形器技术有限公司 | Intelligent data acquisition device for bionic knee joint |
| CN115844381A (en) * | 2022-12-05 | 2023-03-28 | 立讯精密科技(南京)有限公司 | Human body action recognition method and device, electronic equipment and storage medium |
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2014
- 2014-11-27 CN CN201410693395.8A patent/CN104473618A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104856684A (en) * | 2015-04-10 | 2015-08-26 | 深圳市虚拟现实科技有限公司 | Moving object acquisition method and system |
| CN109388142A (en) * | 2015-04-30 | 2019-02-26 | 广东虚拟现实科技有限公司 | A kind of method and system carrying out virtual reality travelling control based on inertial sensor |
| CN105446362B (en) * | 2015-12-07 | 2019-01-22 | 陆宁远 | Posture detection based on computer science auxiliary adjusts devices and methods therefor |
| CN105446362A (en) * | 2015-12-07 | 2016-03-30 | 陆宁远 | Posture detection adjusting device and method based on assistance of computer science |
| CN105641926A (en) * | 2016-04-07 | 2016-06-08 | 深圳易万创新科技有限公司 | Action collection and simulation system with feedback function and method of action collection and simulation system |
| CN106055099A (en) * | 2016-05-25 | 2016-10-26 | 北京行云时空科技有限公司 | Differential positioning method and apparatus based on virtual reality system |
| CN106125936A (en) * | 2016-06-30 | 2016-11-16 | 联想(北京)有限公司 | A kind of motion sensing control method and electronic installation |
| CN106125936B (en) * | 2016-06-30 | 2019-03-08 | 联想(北京)有限公司 | A kind of motion sensing control method and electronic device |
| CN107644686A (en) * | 2016-07-20 | 2018-01-30 | 郎焘 | Medical data acquisition system and method based on virtual reality |
| CN106527680A (en) * | 2016-09-19 | 2017-03-22 | 清华大学 | Waterproof type motion capture system |
| CN106267781A (en) * | 2016-09-19 | 2017-01-04 | 清华大学 | Water proof type motion capture system for athletic training |
| CN106308810A (en) * | 2016-09-27 | 2017-01-11 | 中国科学院深圳先进技术研究院 | Human motion capture system |
| CN106445176A (en) * | 2016-12-06 | 2017-02-22 | 腾讯科技（深圳）有限公司 | Man-machine interaction system and interaction method based on virtual reality technique |
| CN106843483A (en) * | 2017-01-20 | 2017-06-13 | 深圳市京华信息技术有限公司 | A kind of virtual reality device and its control method |
| CN109481917A (en) * | 2017-09-09 | 2019-03-19 | 深圳市赛亿科技开发有限公司 | A kind of intelligence follows golf club vehicle |
| CN109407840A (en) * | 2018-10-18 | 2019-03-01 | 看见故事（苏州）影视文化发展有限公司 | A kind of visual angle effect method of motion capture technology |
| CN110811941A (en) * | 2019-11-07 | 2020-02-21 | 北京精博现代假肢矫形器技术有限公司 | Intelligent data acquisition device for bionic knee joint |
| CN115844381A (en) * | 2022-12-05 | 2023-03-28 | 立讯精密科技(南京)有限公司 | Human body action recognition method and device, electronic equipment and storage medium |
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