CN108572723B - Carsickness prevention method and equipment - Google Patents
Carsickness prevention method and equipment Download PDFInfo
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- CN108572723B CN108572723B CN201810109052.0A CN201810109052A CN108572723B CN 108572723 B CN108572723 B CN 108572723B CN 201810109052 A CN201810109052 A CN 201810109052A CN 108572723 B CN108572723 B CN 108572723B
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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
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
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- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
Abstract
The invention discloses a carsickness prevention method and equipment. The method comprises the following steps: s1: generating a virtual 3D landscape space, and arranging a binocular virtual camera in the virtual 3D landscape space, wherein the binocular virtual camera collects images; s2: the variable-speed motion information of an inertial system where a user is located is acquired, the binocular virtual camera moves in the virtual 3D landscape space according to the variable-speed motion information, and the display equipment displays images acquired by the binocular virtual camera. The equipment comprises head-mounted VR equipment, wherein the head-mounted VR equipment comprises a central processing unit and display equipment, a triaxial accelerometer and a triaxial gyroscope are arranged on the head-mounted VR equipment, and the central processing unit is electrically connected with the display equipment, the triaxial accelerometer and the triaxial gyroscope respectively. The invention can make the user see the picture which is consistent with the motion condition sensed by the self-sense receptor, thereby solving the problem of carsickness without side effect.
Description
Technical Field
The invention relates to the technical field of car sickness prevention, in particular to a car sickness prevention method and equipment.
Background
Motion sickness in the air and sea in most people is the result of an inconsistency between the picture motion perceived by the eyes and the motion perceived by the body. Motion sickness is the result of the eye seeing a stationary car environment while the vestibular organs of the cochlea are subjected to motor stimuli. People who are sick often have symptoms reduced if they drive the vehicle by themselves or sit in a copilot position, because they can see in front of the front windshield in positive and negative driving positions, and the vision and the sense of the position are basically consistent with the judgment of the movement. At present, carsickness prevention methods are to take carsickness medicines, but the carsickness medicines can only relieve carsickness symptoms, have no effect on some people with serious carsickness, and have side effects.
Disclosure of Invention
The present invention has been made to solve the above problems, and provides an anti-carsickness method which enables a user to see a picture in accordance with a motion situation felt by a proprioception receptor of the user, thereby solving carsickness without side effects.
In order to solve the problems, the invention adopts the following technical scheme:
the invention relates to a carsickness prevention method, which comprises the following steps:
s1: generating a virtual 3D landscape space, and arranging a binocular virtual camera in the virtual 3D landscape space, wherein the binocular virtual camera collects images;
s2: the variable-speed motion information of an inertial system where a user is located is acquired, the binocular virtual camera moves in the virtual 3D landscape space according to the variable-speed motion information, and the display equipment displays images acquired by the binocular virtual camera.
In the technical scheme, the virtual 3D landscape space and the binocular virtual camera are generated by software, and the software adjusts the position of the binocular virtual camera in the virtual 3D landscape space according to the variable speed motion information of the inertial system where the user is located, so that the image seen by the user on the display equipment conforms to the motion condition sensed by the somatosensory receptor.
Preferably, the step S2 includes the steps of:
s201: acquiring acceleration data of a user through a three-axis accelerometer, and acquiring corner data of the user through a three-axis gyroscope;
s202: before the display equipment refreshes the next frame of image each time, calculating the space coordinate of the binocular virtual camera when the next frame of image is refreshed according to the acceleration data, the corner data, the refreshing time of the frame of image of the display equipment and the current space coordinate of the binocular virtual camera;
s203: and moving the binocular virtual camera to the calculated space coordinate to acquire an image, and displaying the image acquired by the binocular virtual camera newly as a next frame image on the display equipment.
And obtaining corner data of the user by using a three-axis gyroscope, wherein the binocular virtual camera in the virtual 3D landscape space rotates along with the corner data, so that the rotation of the binocular virtual camera in the virtual space is consistent with the rotation of the user in reality.
And reading the triaxial accelerometer data to obtain the acceleration data of the user. From the principle of equivalence, an object that is stationary on the earth's surface is equivalent to receiving an acceleration that is the same in magnitude and opposite in direction to the acceleration due to gravity, and this acceleration is referred to as a static acceleration a 0. The triaxial accelerometer outputs this acceleration. The brain automatically recognizes the static state as the acceleration, which human beings have used to during the evolution process, so that the static acceleration A0 needs to be canceled in the code.
Preferably, the step S202 includes the steps of:
n1: initially, presetting a corner quaternion Q0 of a binocular virtual camera according to triaxial gyroscope data, presetting a static acceleration A0 of the binocular virtual camera, presetting an instantaneous speed of the binocular virtual camera as a three-dimensional vector V, presetting V as a zero vector, and presetting a space coordinate of the binocular virtual camera as a three-dimensional vector P, and assigning an arbitrary value to P;
n2: before the display device refreshes the next frame of image each time, calculating the instantaneous acceleration A of the binocular virtual camera to be the inverse multiplied by Q 'multiplied by A' -A0 of Q0, wherein Q 'is a rotation angle quaternion measured by a three-axis gyroscope, and A' is the acceleration measured by the three-axis accelerometer;
calculating the instantaneous speed V of the binocular virtual camera as V + A multiplied by T, wherein T is the time for refreshing one frame of image;
and calculating the space coordinate P of the binocular virtual camera at the time of refreshing the next frame of image, wherein the space coordinate P is P + V multiplied by T.
Preferably, the preset static acceleration a0 is the same as the acceleration of gravity in magnitude and opposite in direction. The static acceleration a0 is a three-dimensional vector that is used to counteract gravity.
Preferably, the binocular virtual camera is initially located at a virtual 3D landscape space center position.
Preferably, the lengths of the virtual 3D landscape space in the three directions of the X axis, the y axis and the z axis are all L, when the binocular virtual camera moves for the distance of E in the X axis, the E multiplied by L space at the tail end of the binocular virtual camera in the direction opposite to the moving direction of the X axis is eliminated, and the E multiplied by L space is generated at the front end of the binocular virtual camera in the moving direction of the X axis; when the binocular virtual camera moves for a distance of E on the Y axis, eliminating the space of LxExL at the tail end of the binocular virtual camera in the opposite direction of the Y axis moving direction, and generating the space of LxExL at the front end of the binocular virtual camera in the Y axis moving direction; when the binocular virtual camera moves for a distance of E on the Z axis, the space of L multiplied by E at the tail end of the binocular virtual camera in the direction opposite to the moving direction of the Z axis is eliminated, and the space of L multiplied by E is generated at the front end of the binocular virtual camera in the moving direction of the Z axis.
The car sickness prevention device is used for the car sickness prevention method and comprises a head-mounted VR device, the head-mounted VR device comprises a central processing unit and a display device, a three-axis accelerometer and a three-axis gyroscope are arranged on the head-mounted VR device, and the central processing unit is electrically connected with the display device, the three-axis accelerometer and the three-axis gyroscope respectively.
The central processing unit is used for generating a virtual 3D landscape space and a binocular virtual camera, calculating the space coordinates of the binocular virtual camera, generating images collected by the binocular virtual camera and sending the images to the display equipment. The display device is used for displaying binocular stereoscopic vision images. The three-axis accelerometer is used for acquiring acceleration data, and the three-axis gyroscope is used for acquiring corner data.
When the head-mounted VR device is used, a user wears the head-mounted VR device, and the display device displays a picture which is consistent with the motion condition sensed by the user's position sensor, so that the user cannot feel carsickness.
The invention has the beneficial effects that: the user can see the picture which is consistent with the motion condition sensed by the somatosensory receptor, thereby solving the problem of carsickness without side effect.
Drawings
FIG. 1 is a flow chart of the anti-motion sickness method of the present invention;
fig. 2 is a schematic circuit connection block diagram of the anti-motion sickness device of the present invention.
In the figure: 1. the device comprises a central processing unit 2, a display device 3, a three-axis accelerometer 4 and a three-axis gyroscope.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b): the carsickness prevention method of the embodiment, as shown in fig. 1, includes the following steps:
s1: generating a virtual 3D landscape space, and arranging a binocular virtual camera in the virtual 3D landscape space, wherein the binocular virtual camera collects images;
s2: the variable-speed motion information of an inertial system where a user is located is acquired, the binocular virtual camera moves in the virtual 3D landscape space according to the variable-speed motion information, and the display equipment displays images acquired by the binocular virtual camera.
Step S2 includes the following steps:
s201: acquiring acceleration data of a user through a three-axis accelerometer, and acquiring corner data of the user through a three-axis gyroscope;
s202: before the display equipment refreshes the next frame of image each time, calculating the space coordinate of the binocular virtual camera when the next frame of image is refreshed according to the acceleration data, the corner data, the refreshing time of the frame of image of the display equipment and the current space coordinate of the binocular virtual camera;
s203: and moving the binocular virtual camera to the calculated space coordinate to acquire an image, and displaying the image acquired by the binocular virtual camera newly as a next frame image on the display equipment.
Step S202 includes the steps of:
n1: initially, presetting a corner quaternion Q0 of a binocular virtual camera according to triaxial gyroscope data, presetting a static acceleration A0 of the binocular virtual camera, presetting an instantaneous speed of the binocular virtual camera as a three-dimensional vector V, presetting V as a zero vector, and presetting a space coordinate of the binocular virtual camera as a three-dimensional vector P, and assigning an arbitrary value to P;
n2: before the display device refreshes the next frame of image each time, calculating the instantaneous acceleration A of the binocular virtual camera to be the inverse multiplied by Q 'multiplied by A' -A0 of Q0, wherein Q 'is a rotation angle quaternion measured by a three-axis gyroscope, and A' is the acceleration measured by the three-axis accelerometer;
calculating the instantaneous speed V of the binocular virtual camera as V + A multiplied by T, wherein T is the time for refreshing one frame of image;
and calculating the space coordinate P of the binocular virtual camera at the time of refreshing the next frame of image, wherein the space coordinate P is P + V multiplied by T.
The predetermined static acceleration a0 is the same magnitude and opposite direction as the acceleration of gravity. The static acceleration a0 is a three-dimensional vector that is used to counteract gravity.
And obtaining corner data of the user by using a three-axis gyroscope, wherein the binocular virtual camera in the virtual 3D landscape space rotates along with the corner data, so that the rotation of the binocular virtual camera in the virtual space is consistent with the rotation of the user in reality.
And reading the triaxial accelerometer data to obtain the acceleration data of the user. From the principle of equivalence, an object that is stationary on the earth's surface is equivalent to receiving an acceleration that is the same in magnitude and opposite in direction to the acceleration due to gravity, and this acceleration is referred to as a static acceleration a 0. The triaxial accelerometer outputs this acceleration. The brain automatically recognizes the static state as the acceleration, which human beings have used to during the evolution process, so that the static acceleration A0 needs to be canceled in the code.
The virtual 3D landscape space and the binocular virtual camera are generated by software, and the software adjusts the position of the binocular virtual camera in the virtual 3D landscape space according to the variable speed motion information of the inertial system where the user is located, so that the image seen by the user on the display equipment conforms to the motion condition sensed by the somatosensory receptors, thereby solving the problem of carsickness without side effects.
The binocular virtual camera is initially located at a virtual 3D landscape space center position. The lengths of the virtual 3D landscape space in the three directions of the X axis, the y axis and the z axis are all L, when the binocular virtual camera moves for the distance of E in the X axis, the space of E multiplied by L (the length of the X axis is E, Y, the length of the axis is L, Z, the length of the axis L) at the tail end of the binocular virtual camera in the opposite direction of the X axis moving direction is eliminated, and the space of E multiplied by L is generated at the front end of the binocular virtual camera in the X axis moving direction; when the binocular virtual camera moves for a distance of E in the Y axis, eliminating a space of LxExL (X-axis length L, Y, axis length E, Z, axis length L) at the tail end of the binocular virtual camera in the direction opposite to the Y-axis moving direction, and generating a space of LxExL at the front end of the binocular virtual camera in the Y-axis moving direction; when the binocular virtual camera moves for a distance of E in the Z-axis, the space of L × E (X-axis length L, Y, axis length L, Z, axis length E) at the extreme end of the binocular virtual camera in the direction opposite to the Z-axis moving direction is eliminated, and the space of L × E is generated at the extreme front end of the binocular virtual camera in the Z-axis moving direction. And E is L/10. Making the virtual 3D landscape space an infinite space. The virtual 3D landscape space may be a cosmic navigation landscape.
The car sickness prevention device of the embodiment is used for the car sickness prevention method, and comprises a head-mounted VR device, wherein the head-mounted VR device comprises a central processing unit 1 and a display device 2, a three-axis accelerometer 3 and a three-axis gyroscope 4 are arranged on the head-mounted VR device, and the central processing unit 1 is electrically connected with the display device 2, the three-axis accelerometer 3 and the three-axis gyroscope 4 respectively.
The central processing unit is used for generating a virtual 3D landscape space and a binocular virtual camera, calculating the space coordinates of the binocular virtual camera, generating images collected by the binocular virtual camera and sending the images to the display equipment. The display device is used for displaying binocular stereoscopic vision images. The three-axis accelerometer is used for acquiring acceleration data, and the three-axis gyroscope is used for acquiring corner data.
When the head-mounted VR device is used, a user wears the head-mounted VR device, and the display device displays a picture which is consistent with the motion condition sensed by the user's position sensor, so that the user cannot feel carsickness.
Claims (5)
1. An anti-carsickness method is characterized by comprising the following steps:
s1: generating a virtual 3D landscape space, and arranging a binocular virtual camera in the virtual 3D landscape space, wherein the binocular virtual camera collects images;
s2: acquiring variable-speed motion information of an inertial system where a user is located, moving a binocular virtual camera in a virtual 3D landscape space according to the variable-speed motion information, and displaying images acquired by the binocular virtual camera by display equipment;
the step S2 includes the steps of:
s201: acquiring acceleration data of a user through a three-axis accelerometer, and acquiring corner data of the user through a three-axis gyroscope;
s202: before the display equipment refreshes the next frame of image each time, calculating the space coordinate of the binocular virtual camera when the next frame of image is refreshed according to the acceleration data, the corner data, the refreshing time of the frame of image of the display equipment and the current space coordinate of the binocular virtual camera;
s203: moving the binocular virtual camera to the calculated space coordinate to acquire an image, and displaying the image acquired by the binocular virtual camera newly as a next frame image on display equipment; the step S202 includes the steps of:
n1: initially, presetting a corner quaternion Q0 of a binocular virtual camera according to triaxial gyroscope data, presetting a static acceleration A0 of the binocular virtual camera, presetting an instantaneous speed of the binocular virtual camera as a three-dimensional vector V, presetting V as a zero vector, and presetting a space coordinate of the binocular virtual camera as a three-dimensional vector P, and assigning an arbitrary value to P;
n2: before the display device refreshes the next frame of image each time, calculating the instantaneous acceleration A of the binocular virtual camera to be the inverse multiplied by Q 'multiplied by A' -A0 of Q0, wherein Q 'is a rotation angle quaternion measured by a three-axis gyroscope, and A' is the acceleration measured by the three-axis accelerometer;
calculating the instantaneous speed V of the binocular virtual camera as V + A multiplied by T, wherein T is the time for refreshing one frame of image;
and calculating the space coordinate P of the binocular virtual camera at the time of refreshing the next frame of image, wherein the space coordinate P is P + V multiplied by T.
2. The carsickness prevention method as claimed in claim 1, wherein the predetermined static acceleration a0 is equal in magnitude and opposite in direction to the gravitational acceleration.
3. The carsickness prevention method of claim 1 or 2, wherein the binocular virtual camera is initially positioned at a virtual 3D landscape space center position.
4. The carsickness preventing method according to claim 1 or 2, wherein the lengths of the virtual 3D landscape space in the three directions of the X axis, the y axis and the z axis are all L, when the binocular virtual camera moves for a distance of E in the X axis, the E X L space at the tail end of the binocular virtual camera in the direction opposite to the X axis moving direction is eliminated, and the E X L space is generated at the front end of the binocular virtual camera in the X axis moving direction; when the binocular virtual camera moves for a distance of E on the Y axis, eliminating the space of LxExL at the tail end of the binocular virtual camera in the opposite direction of the Y axis moving direction, and generating the space of LxExL at the front end of the binocular virtual camera in the Y axis moving direction; when the binocular virtual camera moves for a distance of E on the Z axis, the space of L multiplied by E at the tail end of the binocular virtual camera in the direction opposite to the moving direction of the Z axis is eliminated, and the space of L multiplied by E is generated at the front end of the binocular virtual camera in the moving direction of the Z axis.
5. An anti-carsickness device for an anti-carsickness method as claimed in any one of claims 1 to 4, wherein the anti-carsickness device comprises a head-mounted VR device, the head-mounted VR device comprises a central processing unit (1) and a display device (2), a three-axis accelerometer (3) and a three-axis gyroscope (4) are arranged on the head-mounted VR device, and the central processing unit (1) is electrically connected with the display device (2), the three-axis accelerometer (3) and the three-axis gyroscope (4) respectively;
the anti-carsickness device uses a method comprising the steps of:
s1: generating a virtual 3D landscape space, and arranging a binocular virtual camera in the virtual 3D landscape space, wherein the binocular virtual camera collects images;
s2: acquiring variable-speed motion information of an inertial system where a user is located, moving a binocular virtual camera in a virtual 3D landscape space according to the variable-speed motion information, and displaying images acquired by the binocular virtual camera by display equipment;
the step S2 includes the steps of:
s201: acquiring acceleration data of a user through a three-axis accelerometer, and acquiring corner data of the user through a three-axis gyroscope;
s202: before the display equipment refreshes the next frame of image each time, calculating the space coordinate of the binocular virtual camera when the next frame of image is refreshed according to the acceleration data, the corner data, the refreshing time of the frame of image of the display equipment and the current space coordinate of the binocular virtual camera;
s203: moving the binocular virtual camera to the calculated space coordinate to acquire an image, and displaying the image acquired by the binocular virtual camera newly as a next frame image on display equipment; the step S202 includes the steps of:
n1: initially, presetting a corner quaternion Q0 of a binocular virtual camera according to triaxial gyroscope data, presetting a static acceleration A0 of the binocular virtual camera, presetting an instantaneous speed of the binocular virtual camera as a three-dimensional vector V, presetting V as a zero vector, and presetting a space coordinate of the binocular virtual camera as a three-dimensional vector P, and assigning an arbitrary value to P;
n2: before the display device refreshes the next frame of image each time, calculating the instantaneous acceleration A of the binocular virtual camera to be the inverse multiplied by Q 'multiplied by A' -A0 of Q0, wherein Q 'is a rotation angle quaternion measured by a three-axis gyroscope, and A' is the acceleration measured by the three-axis accelerometer;
calculating the instantaneous speed V of the binocular virtual camera as V + A multiplied by T, wherein T is the time for refreshing one frame of image;
and calculating the space coordinate P of the binocular virtual camera at the time of refreshing the next frame of image, wherein the space coordinate P is P + V multiplied by T.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109823173A (en) * | 2019-03-08 | 2019-05-31 | 浙江吉利汽车研究院有限公司 | A kind of dynamic display method and system of carsickness-proof |
| CN110147165B (en) * | 2019-05-28 | 2022-11-11 | 英华达（上海）科技有限公司 | Motion sickness relieving method, system, equipment and storage medium based on user terminal |
| CN114816631A (en) * | 2022-04-20 | 2022-07-29 | 芜湖汽车前瞻技术研究院有限公司 | Method and device for three-dimensionally displaying content of vehicle-mounted instrument |
| TWI819885B (en) * | 2022-11-07 | 2023-10-21 | 鴻華先進科技股份有限公司 | Prompting method for induction of motion sickness |
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| CN103472919A (en) * | 2013-09-12 | 2013-12-25 | 深圳先进技术研究院 | Intelligent glasses system for image display and use method |
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