CN104635579A - Bird control system and method based on virtual reality robot remote operation technology - Google Patents
Bird control system and method based on virtual reality robot remote operation technology Download PDFInfo
- Publication number
- CN104635579A CN104635579A CN201510011289.1A CN201510011289A CN104635579A CN 104635579 A CN104635579 A CN 104635579A CN 201510011289 A CN201510011289 A CN 201510011289A CN 104635579 A CN104635579 A CN 104635579A
- Authority
- CN
- China
- Prior art keywords
- module
- core processing
- processing module
- flying bird
- scene
- 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.)
- Granted
Links
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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Processing Or Creating Images (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
The invention discloses a bird control system and a bird control method based on a virtual reality robot remote operation technology. Under the conditions that a bird is not injured and the living habit of flying birds is not affected to the maximum extent, the flying direction and the path of the flying birds are controlled, and the bird control system can work for a log time and stably and can be repeatedly used for multiple times; the bird control system and the bird control method can be used in the fields of natural science researches, disaster rescue, environment friendliness, militaries and the like and are used for completing tasks such as geographic data detection and 3D solid figure drawing.
Description
Technical field
The present invention relates to technical field of virtual reality.
Background technology
Virtual reality utilizes computer simulation to produce a three-dimensional virtual world, there is provided user about the simulation of the sense organs such as vision, the sense of hearing, sense of touch, allow user as being personally on the scene, the things in three dimensions can be observed in time, ad lib.Virtual reality technology can be applied to higher mammal completely, and vision, the sense of hearing of some birds are similar to the mankind, can accept data presentation technique and digital broadcast technology completely, and it is easy to be commanded, and under the prerequisite not injuring them, can control its behavior.And existing experiment, the application controlling the Biology seed coating such as birds, all in various degree it can be damaged, and cannot control by lasting, stable carrying out.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of birds control system based on virtual reality machines people teleoperation and method.
The technical solution adopted for the present invention to solve the technical problems is:
Based on a birds control system for virtual reality machines people teleoperation, comprise land station and wear-type display module.
Land station, for being received the satellite location data and real time video data that transmit and by wireless communication technique, is sent control signal simultaneously.
Wear-type display module, be fixed on the head of flying bird, comprise power module, core processing module, radio receiving transmitting module, head movement tracker, loudspeaker, Vib., 3D stereoscopic display device, satellite positioning module and camera, the control signal that radio receiving transmitting module satellite receiver sends out, through core processing module process, build the corresponding virtual scene of synthesis, again by virtual scene display on 3D stereoscopic display device, loudspeaker cooperation simultaneously sends corresponding sound, Vib. cooperation realizes simulate effect, the rotation of head movement tracker real-time tracing flying bird head, feed back to core processing module, core processing module adjusts the visual angle of the virtual scene of 3D stereoscopic display device display accordingly, satellite positioning module obtains the satellite location data of flying bird, camera collection video data, after core processing module process, satellite location data and video data send back land station by radio receiving transmitting module.
Further, described camera comprises left camera and right camera, after receiving corresponding switch-over control signal, through core processing module process, the video data of left camera and right camera collection can be presented on 3D stereoscopic display device in real time.
Further, described radio receiving transmitting module is connected by 3G, 4G or satellite communication signal with between land station.
Further, described head movement tracker comprises gyroscope and accelerometer.
Further, described satellite positioning module is big-dipper satellite locating module or gps satellite locating module.
Further, described power module comprises high density lithium battery.
A kind of birds control method based on said system, land station transmits control signal as required, this control signal includes the structure parameter for building scene, 's receive by the radio receiving transmitting module of wear-type display module, after core processing module process, core processing module builds synthesis virtual cave scene, this virtual cave extends the target direction advanced toward flying bird flight, and this target direction is provided with the light of luring flying bird to ride, this virtual scene is shown by 3D stereoscopic display device, and the signal that core processing module is fed back according to head movement tracker adjusts visual angle in real time, when satellite positioning module detects flying bird deviation, under the control of core processing module, the scene of 3D stereoscopic display device display collision, loudspeaker sends the sound of collision simultaneously, the effect of Vib. simulated crash, on the navigation channel of impelling flying bird to get back to set, when needing to remove the control to flying bird flight, land station sends the control signal of switching, 's receive by the radio receiving transmitting module of wear-type display module, under the control of core processing module, the video data of camera collection is presented on 3D stereoscopic display device in real time.
Further, described virtual scene is arranged to the single cave scene of environment that is sinuous or straight extension as required, and the light in virtual scene is arranged on the front that distance remains unchanged substantially.
Further, the video data of camera collection, after core processing module process, sends back land station in real time by radio receiving transmitting module, with the heading of the control making controllers over the horizon real-time, adjustment flying bird.
The invention has the beneficial effects as follows: do not injuring flying bird health, when not affecting flying bird self life habit to greatest extent, control heading and the route of flying bird, work is lasting, stable, and can repeated multiple timesly use, can be used for the numerous areas such as physicism, the condition of a disaster rescue, environmental protection, military affairs, complete detecting geodata, the tasks such as drafting 3 D solid figure.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the wearing effect figure of wear-type display module of the present invention;
Fig. 2 is structure principle chart of the present invention.
Embodiment
The ultimate principle of the technical program is: imagine a flying bird among cave, fly out towards hole, cave diameter is smaller, and flying bird relies on vision can not encounter hole wall, if cave extends left, flying bird can fly left in hole; If cave extends to the right, flying bird can fly to the right in hole.
We dress a kind of equipment will to this flying bird now, and such as to the 3D stereoscopic display device of flying bird, the scene allowing flying bird see is the virtual scene very true to nature of computing machine synthesis.Virtual scene can be turn left, turn right, upwards turn, or the sight in the cave turned downwards.
Like this, when the flying bird that this puts on equipment on high in time, if we wish that it flies left, turn left in the virtual cave that only computing machine need be allowed to synthesize.To the right, upwards, downward several directions reason is the same.Although truth is flown in empty skies, flying bird feels it oneself is fly towards hole in a cave of constantly turning round.
Except vision deception, we can also give flying bird with the sense of hearing and tactile engagement.Arrange Vib. and loudspeaker with it flying bird, if turn in the cave of flying bird not in virtual video, hit virtual hole wall, we can allow Vib. simulated crash effect, and are play the collision sound of synthesis by loudspeaker.Vib. and loudspeaker, according to the feedback accepted to flying bird after vision deception, revise the behavior of flying bird.This feedback contributes to flying bird in the initial training phase and forms the visual condition reflection that we want.
Meanwhile, flying bird is also equipped with binocular camera with it, passes the real time tridimensional video of flying bird first person vision for ground station controllers back, controls flying bird heading to allow controllers over the horizon.When land station's controllers discharges the control to flying bird, this binocular camera can also be used for real for front three-dimensional video-frequency to be directly shown to flying bird by 3D three-dimensional display, allows flying bird freely circle in the air.
According to above-mentioned principle, see figures.1.and.2, a kind of birds control system based on virtual reality machines people teleoperation of the present invention, comprises land station and wear-type display module simultaneously.
Land station, for being received the satellite location data and real time video data that transmit and by wireless communication technique, is sent control signal simultaneously, and this control signal comprises the structure parameter being responsible for controlling generating virtual scene, as bearing of trend etc.
Wear-type display module, is fixed on the head of flying bird, comprises power module, core processing module, radio receiving transmitting module, head movement tracker, loudspeaker, Vib., 3D stereoscopic display device, satellite positioning module and camera.Described power module comprises the lighter high density lithium battery of weight, for supplying the electricity needed for whole wear-type display module.Described radio receiving transmitting module is connected by 3G, 4G or satellite communication signal with between land station, the control signal that radio receiving transmitting module satellite receiver sends out, through core processing module process, build the corresponding virtual scene of synthesis, again by virtual scene display on 3D stereoscopic display device, loudspeaker cooperation simultaneously sends corresponding sound, and Vib. cooperation realizes simulate effect.Head movement tracker comprises gyroscope and accelerometer, and the rotation of real-time tracing flying bird head, feeds back to core processing module, and core processing module adjusts the visual angle of the virtual scene of 3D stereoscopic display device display accordingly.Satellite positioning module is big-dipper satellite locating module or gps satellite locating module, obtain the satellite location data of flying bird, camera collection video data, after core processing module process, satellite location data and video data send back land station by radio receiving transmitting module.
Further, described camera comprises left camera and right camera, for the stereoscopic vision data of Real-time Collection flying bird binocular position.After receiving corresponding switch-over control signal, through core processing module process, can the video data of left camera and right camera collection be presented on 3D stereoscopic display device in real time, simultaneously, arranging of dual camera can the depth information of formation picture, and reduce sight line blind area, or conveniently realize the operations such as the three-dimensional drawing of drafting 3 D.
A kind of birds control method based on said system, land station transmits control signal as required, this control signal includes the structure parameter for building scene, 's receive by the radio receiving transmitting module of wear-type display module, after core processing module process, core processing module builds synthesis virtual cave scene, this virtual cave extends the target direction advanced toward flying bird flight, and this target direction is provided with the light of luring flying bird to ride, in order to prevent the notice of disperseing flying bird, reduce the modeling data amount of virtual scene simultaneously, described virtual scene is arranged to the single cave scene of environment that is sinuous or straight extension as required, light in virtual scene is arranged on the front that distance remains unchanged substantially.This virtual scene is shown by 3D stereoscopic display device, and the signal that core processing module is fed back according to head movement tracker adjusts visual angle in real time, when satellite positioning module detects flying bird deviation, time flight in cave not in virtual scene, under the control of core processing module, the scene of 3D stereoscopic display device display collision, loudspeaker sends the sound of collision simultaneously, the effect of Vib. simulated crash, on the navigation channel of impelling flying bird to get back to set; When needing to remove the control to flying bird flight, land station sends the control signal of switching, 's receive by the radio receiving transmitting module of wear-type display module, under the control of core processing module, the video data of camera collection is presented on 3D stereoscopic display device in real time, allows flying bird see true visual field and free manual control and freely circle in the air.
Further, the video data of camera collection, after core processing module process, sends back land station in real time by radio receiving transmitting module, with the heading of the control making controllers over the horizon real-time, adjustment flying bird.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention but not to be limited, although with reference to preferred embodiment to invention has been detailed description, but those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of the technical program, it all should be encompassed in right of the present invention.
Claims (9)
1., based on a birds control system for virtual reality machines people teleoperation, it is characterized in that, comprising:
Land station, for being received the satellite location data and real time video data that transmit and by wireless communication technique, is sent control signal simultaneously;
Wear-type display module, be fixed on the head of flying bird, comprise power module, core processing module, radio receiving transmitting module, head movement tracker, loudspeaker, Vib., 3D stereoscopic display device, satellite positioning module and camera, the control signal that radio receiving transmitting module satellite receiver sends out, through core processing module process, build the corresponding virtual scene of synthesis, again by virtual scene display on 3D stereoscopic display device, loudspeaker cooperation simultaneously sends corresponding sound, Vib. cooperation realizes simulate effect, the rotation of head movement tracker real-time tracing flying bird head, feed back to core processing module, core processing module adjusts the visual angle of the virtual scene of 3D stereoscopic display device display accordingly, satellite positioning module obtains the satellite location data of flying bird, camera collection video data, after core processing module process, satellite location data and video data send back land station by radio receiving transmitting module.
2. a kind of birds control system based on virtual reality machines people teleoperation according to claim 1, it is characterized in that: described camera comprises left camera and right camera, after receiving corresponding switch-over control signal, through core processing module process, the video data of left camera and right camera collection can be presented on 3D stereoscopic display device in real time.
3. a kind of birds control system based on virtual reality machines people teleoperation according to claim 1, is characterized in that: described radio receiving transmitting module is connected by 3G, 4G or satellite communication signal with between land station.
4. a kind of birds control system based on virtual reality machines people teleoperation according to claim 1, is characterized in that: described head movement tracker comprises gyroscope and accelerometer.
5. a kind of birds control system based on virtual reality machines people teleoperation according to claim 1, is characterized in that: described satellite positioning module is big-dipper satellite locating module or gps satellite locating module.
6. a kind of birds control system based on virtual reality machines people teleoperation according to claim 1, is characterized in that: described power module comprises high density lithium battery.
7. the birds control method based on system described in claim 1-6, it is characterized in that: land station transmits control signal as required, this control signal includes the structure parameter for building scene, 's receive by the radio receiving transmitting module of wear-type display module, after core processing module process, core processing module builds synthesis virtual cave scene, this virtual cave extends the target direction advanced toward flying bird flight, and this target direction is provided with the light of luring flying bird to ride, this virtual scene is shown by 3D stereoscopic display device, and the signal that core processing module is fed back according to head movement tracker adjusts visual angle in real time, when satellite positioning module detects flying bird deviation, under the control of core processing module, the scene of 3D stereoscopic display device display collision, loudspeaker sends the sound of collision simultaneously, the effect of Vib. simulated crash, on the navigation channel of impelling flying bird to get back to set, when needing to remove the control to flying bird flight, land station sends the control signal of switching, 's receive by the radio receiving transmitting module of wear-type display module, under the control of core processing module, the video data of camera collection is presented on 3D stereoscopic display device in real time.
8. a kind of birds control method according to claim 7, is characterized in that: described virtual scene is arranged to the single cave scene of environment that is sinuous or straight extension as required, and the light in virtual scene is arranged on the front that distance remains unchanged substantially.
9. a kind of birds control method according to claim 7, it is characterized in that: the video data of camera collection, after core processing module process, send back land station in real time by radio receiving transmitting module, with the heading of the control making controllers over the horizon real-time, adjustment flying bird.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510011289.1A CN104635579B (en) | 2015-01-09 | 2015-01-09 | Birds control system and method based on virtual reality machines people's teleoperation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510011289.1A CN104635579B (en) | 2015-01-09 | 2015-01-09 | Birds control system and method based on virtual reality machines people's teleoperation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104635579A true CN104635579A (en) | 2015-05-20 |
| CN104635579B CN104635579B (en) | 2017-07-11 |
Family
ID=53214455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510011289.1A Expired - Fee Related CN104635579B (en) | 2015-01-09 | 2015-01-09 | Birds control system and method based on virtual reality machines people's teleoperation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104635579B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105828062A (en) * | 2016-03-23 | 2016-08-03 | 常州视线电子科技有限公司 | Unmanned aerial vehicle 3D virtual reality shooting system |
| CN107221223A (en) * | 2017-06-01 | 2017-09-29 | 北京航空航天大学 | A kind of band is strong/the virtual reality aircraft cockpit system of touch feedback |
| WO2018098792A1 (en) * | 2016-12-01 | 2018-06-07 | SZ DJI Technology Co., Ltd. | Methods and associated systems for managing 3d flight paths |
| CN110187700A (en) * | 2019-06-10 | 2019-08-30 | 北京科技大学 | Bionic flapping-wing flying robot tele-control system and method based on virtual reality |
| CN111862828A (en) * | 2019-04-30 | 2020-10-30 | 陈逸曦 | Display matrix composed of disordered moving display units |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030025714A1 (en) * | 2001-07-16 | 2003-02-06 | Ebersole John Franklin | Method to view unseen atmospheric phenomenon using augmented reality |
| CN1480839A (en) * | 2003-08-07 | 2004-03-10 | 刘自鸿 | In doors integrated motion simulation system based on technique of virtual realty |
| US20090046140A1 (en) * | 2005-12-06 | 2009-02-19 | Microvision, Inc. | Mobile Virtual Reality Projector |
| US20120156652A1 (en) * | 2010-12-16 | 2012-06-21 | Lockheed Martin Corporation | Virtual shoot wall with 3d space and avatars reactive to user fire, motion, and gaze direction |
| CN202587217U (en) * | 2011-12-16 | 2012-12-05 | 新时代集团国防科技研究中心 | Auxiliary display device used for unmanned air vehicle operation |
| CN103677715A (en) * | 2013-12-13 | 2014-03-26 | 深圳市经伟度科技有限公司 | Immersive virtual reality experiencing system |
-
2015
- 2015-01-09 CN CN201510011289.1A patent/CN104635579B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030025714A1 (en) * | 2001-07-16 | 2003-02-06 | Ebersole John Franklin | Method to view unseen atmospheric phenomenon using augmented reality |
| CN1480839A (en) * | 2003-08-07 | 2004-03-10 | 刘自鸿 | In doors integrated motion simulation system based on technique of virtual realty |
| US20090046140A1 (en) * | 2005-12-06 | 2009-02-19 | Microvision, Inc. | Mobile Virtual Reality Projector |
| US20120156652A1 (en) * | 2010-12-16 | 2012-06-21 | Lockheed Martin Corporation | Virtual shoot wall with 3d space and avatars reactive to user fire, motion, and gaze direction |
| CN202587217U (en) * | 2011-12-16 | 2012-12-05 | 新时代集团国防科技研究中心 | Auxiliary display device used for unmanned air vehicle operation |
| CN103677715A (en) * | 2013-12-13 | 2014-03-26 | 深圳市经伟度科技有限公司 | Immersive virtual reality experiencing system |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105828062A (en) * | 2016-03-23 | 2016-08-03 | 常州视线电子科技有限公司 | Unmanned aerial vehicle 3D virtual reality shooting system |
| WO2018098792A1 (en) * | 2016-12-01 | 2018-06-07 | SZ DJI Technology Co., Ltd. | Methods and associated systems for managing 3d flight paths |
| US11295621B2 (en) | 2016-12-01 | 2022-04-05 | SZ DJI Technology Co., Ltd. | Methods and associated systems for managing 3D flight paths |
| US11961407B2 (en) | 2016-12-01 | 2024-04-16 | SZ DJI Technology Co., Ltd. | Methods and associated systems for managing 3D flight paths |
| CN107221223A (en) * | 2017-06-01 | 2017-09-29 | 北京航空航天大学 | A kind of band is strong/the virtual reality aircraft cockpit system of touch feedback |
| CN107221223B (en) * | 2017-06-01 | 2020-04-14 | 北京航空航天大学 | Virtual reality cockpit system with force/tactile feedback |
| CN111862828A (en) * | 2019-04-30 | 2020-10-30 | 陈逸曦 | Display matrix composed of disordered moving display units |
| CN110187700A (en) * | 2019-06-10 | 2019-08-30 | 北京科技大学 | Bionic flapping-wing flying robot tele-control system and method based on virtual reality |
| CN110187700B (en) * | 2019-06-10 | 2021-01-08 | 北京科技大学 | Bionic flapping wing flying robot remote control system and method based on virtual reality |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104635579B (en) | 2017-07-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200394009A1 (en) | Systems and methods for gimbal simulation | |
| US9335764B2 (en) | Virtual and augmented reality cockpit and operational control systems | |
| CN110531846B (en) | Bi-directional real-time 3D interaction of real-time 3D virtual objects within a real-time 3D virtual world representation real-world | |
| CN107533233B (en) | System and method for augmented reality | |
| CN104635579B (en) | Birds control system and method based on virtual reality machines people's teleoperation | |
| US11467399B2 (en) | Augmentation of relative pose in co-located devices | |
| EP3971674B1 (en) | Systems and methods for uav flight control | |
| US20180136461A1 (en) | Virtual reality methods and systems | |
| JP7094970B2 (en) | Unmanned aerial vehicle with modular flight formation control unit | |
| CN105759833A (en) | Immersive unmanned aerial vehicle driving flight system | |
| US20180310116A1 (en) | Emulating spatial perception using virtual echolocation | |
| CN106796761A (en) | System and method for supporting simulation mobile | |
| CN105222761A (en) | The first person immersion unmanned plane control loop realized by virtual reality and binocular vision technology and drive manner | |
| CN106227231A (en) | The control method of unmanned plane, body feeling interaction device and unmanned plane | |
| CN105828062A (en) | Unmanned aerial vehicle 3D virtual reality shooting system | |
| CN107153462A (en) | A kind of unmanned plane fixed point VR goes sightseeing system | |
| CN105391988A (en) | Multi-view unmanned aerial vehicle and multi-view display method thereof | |
| CN203899120U (en) | Realistic remote-control experience game system | |
| Mangina et al. | Drones for live streaming of visuals for people with limited mobility | |
| CN205563276U (en) | Interactive control system of outdoor scene | |
| JP2016122277A (en) | Content providing server, content display terminal, content providing system, content providing method, and content display program | |
| US20210335145A1 (en) | Augmented Reality Training Systems and Methods | |
| CN108475064B (en) | Method, apparatus, and computer-readable storage medium for apparatus control | |
| CN116631262A (en) | Man-machine collaborative training system based on virtual reality and touch feedback device | |
| Nith et al. | Falconer: A tethered aerial companion for enhancing personal space |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170711 Termination date: 20220109 |