CN109143248A - A kind of real collision-proof method of VR interaction based on ultrasonic distance measurement - Google Patents
A kind of real collision-proof method of VR interaction based on ultrasonic distance measurement Download PDFInfo
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- CN109143248A CN109143248A CN201810797143.8A CN201810797143A CN109143248A CN 109143248 A CN109143248 A CN 109143248A CN 201810797143 A CN201810797143 A CN 201810797143A CN 109143248 A CN109143248 A CN 109143248A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of, and the VR based on ultrasonic distance measurement interacts real collision-proof method.This method is based on ultrasonic measurement distance and carries out human-computer interaction with people according to distance to prevent from colliding.This method carries out range measurement using ultrasonic wave, and overcoming is influenced by light apart from caused measurement result by infrared rays survey and limited apart from short；It using the distance in multiple four orientation of sensor measurement, overcomes and there was only the drawbacks of single azran measurement causes other orientation that can not prevent collision in the past, user can more indiscriminately ad. as one wishes carry out VR activity；It prevents user from colliding in such a way that different distance different schemes prompt user, while ensuring safety, avoids the reduction of user's feeling of immersion in carrying out VR active procedure.
Description
Technical field
The present invention relates to virtual realities, field of human-computer interaction, and in particular to a kind of VR interaction based on ultrasonic distance measurement is existing
Real collision-proof method.
Background technique
Virtual reality (Virtual Reality, hereinafter referred to as VR) technology is most proposed early in the 1980s, utilizes meter
The system emulation for the interactive Three-Dimensional Dynamic what comes into a driver's and entity behavior that the virtual multi-source information that calculation machine generates is merged, uses
Family carries out immersion with object in virtual environment and interacts.
It is to be closed people to extraneous vision, the sense of hearing using head-mounted display apparatus that VR aobvious, and guidance user generates one kind
Feeling in virtual environment.Its displaying principle is the image that right and left eyes screen shows right and left eyes respectively, and human eye obtains this
With generating three-dimensional sense in brain after discrepant information.VR aobvious equipment can be divided into three classes: circumscribed head shows equipment, integral type
Aobvious equipment, mobile end show equipment.Circumscribed head shows equipment, and better user experience has independent screen, and product structure is multiple
Miscellaneous, technology content is higher, but by the constraint of data line, oneself can not move freely.Integral type head shows equipment, and product is inclined
It is few, it is also VR all-in-one machine, 3D three-dimensional sense can be experienced heartily in the virtual world without any input-output equipment
Bring visual impact.Mobile end shows equipment, and structure is simple, cheap, as long as being put into mobile phone may be viewed by, user
Just.
Due to the aobvious closure to vision of head, and as the development of VR core technology is more and more mature, the resolution ratio of VR,
Comfort level etc. also has been to be concerned by more and more people, therefore many people can fall into virtual reality device and immerse to their brings
Sense.The drawbacks of VR equipment, starts to show, and virtual reality technology is either used to the various fields such as game, simulation, often focuses on
People interacts with virtual scene, but ignores the connection of virtual scene and real world.People has on VR equipment experiencing virtual reality
When scene, it is more likely that bump against wall in reality, table angle etc., unexpectedly injured.Therefore how to establish virtual existing
Real and real world connection, reinforcing human-computer interaction becomes a problem.Current VR equipment most of on the market do not account for
To this problem.
Ultrasonic ranging method mainly has phase-detection method, magnitudes of acoustic waves detection method and three kinds of transit time method, wherein phase
Position detection method precision is high, but detection range is limited；Influence of the magnitudes of acoustic waves detection method vulnerable to reflecting medium.Therefore, current ultrasonic
Wave ranging generally uses transit time method.The working principle of ultrasonic wave: transmitting transducer launches outward ultrasonic wave, and ultrasonic wave is being situated between
It is propagated in matter, encounters barrier back reflection, generated echo, receive energy converter and receive echo.Transit time method is exactly to pass through detection
Emit ultrasonic wave and receives the time difference between echo, to find out the distance of target disorders object distance signal emitting-source.
Existing technical solution has Occipital company to prevent user from colliding skill based on the virtual reality imaging of infrared distance measurement
Art.The specific implementation steps are as follows for the anticollision technology:
(1) room is scanned to obtain room 3D model using the apple system mobile phone of subsidiary structure sensor.
(2) open 3D scanning recombination apply and put on be put into the apple system mobile phone of structure sensor VR head show.
(3) using the infrared camera on head device, measurement head front infrared ray reaches the time of return of real world object
(4) people is calculated at a distance from real world object by the time
(5) previously-scanned room model is combined to determine recombination real world object model according to distance, it is right in virtual reality
Real world object modeling display and head, which are shown, to shine to prompt user.
The anticollision technology has the disadvantages that
(1) need previously-scanned room that can just prevent from colliding, consuming time is long.
(2) object in VR aobvious fronts can only be detected, other orientation are unpredictable and prompt user, therefore see not in user
To direction moved when, such as retreat, move to left and move to right movement and can not carry out preventing from colliding.
(3) it is easy to be influenced to cause very big error by light when infrared distance measuring and measurement is apart from short.
Summary of the invention
The purpose of the present invention is overcoming the shortcomings of existing methods, a kind of VR interaction reality based on ultrasonic distance measurement is proposed
Collision-proof method, this method are based on ultrasonic measurement distance and carry out human-computer interaction with people according to distance to prevent from colliding.This hair
It is bright to solve following Key technique problem: (1) to carry out range measurement using ultrasonic wave, overcome and made by infrared rays survey distance
At measurement result influenced by light and limited apart from short；(2) distance in multiple four orientation of sensor measurement is utilized, gram
It has taken and there was only the drawbacks of single azran measurement causes other orientation that can not prevent collision in the past.
To solve the above-mentioned problems, the invention proposes a kind of, and the VR based on ultrasonic distance measurement interacts real anticollision side
Method, which comprises
Step 1, initial information acquisition: the upfront sensor for obtaining user repeatedly measures the actual value of distance, and surveys
Measure the average value of sound wave time of return value；
Step 2, environment information acquisition and training pattern: the temperature of environment where obtaining user, setting user are not required to
The orientation for opening measurement distance, it is average according to the actual value of the obtained measurement distance of step 1 and measurement sound wave time of return
Value, obtain measurement distance value and training linear regression model (LRM) at ambient；
Step 3, range information acquisition and processing: user begins to use VR carry out activity, and VR opens step 2 and sets
Aspect sensor carry out range measurement, and the measurement distance after being corrected using the linear regression model (LRM) of step 2；
VR information feedback: step 4 using the measurement distance after correction, implements different display sides according to different distances
Case prompts user to prevent from colliding with real world object；
Step 5, it is significantly movable whether last VR detection user continues, if estimation result is to carry out substantially
Degree activity, then return step three continues anticollision detection, and otherwise temporary close anticollision detects, and waiting detects that user has movement
Sign, restore anticollision detection.
Preferably, the VR information feedback, specifically includes:
When user's azimuthal measurement apart from object less than 1 meter when, in the same distance position of virtual scene same orientation
Upper pass through changes landform, or dispatches the resource in the virtual scene, establishes distinctive virtual obstacles in the virtual scene, with
Prevent user from colliding.
When user's azimuthal measurement apart from object less than 0.6 meter when, on the basis of aforementioned virtual barrier, virtual
Position where user's viewpoint of scene emerges the mobile text prompt of the viewpoint of user adjoint out, with prevent using
Person's collision.
When user's azimuthal measurement apart from object less than 0.3 meter when, in aforementioned virtual barrier and text prompt
On the basis of, prompt the orientation that cannot be further continued for moving, by way of voice broadcast to prevent user from colliding.
A kind of real collision-proof method of VR interaction based on ultrasonic distance measurement proposed by the present invention, using ultrasonic distance measurement because
This is not influenced by light and is limited apart from short, and user can more indiscriminately ad. as one wishes carry out VR activity；By difference away from
Mode from different schemes prompt user prevents user from colliding, and while ensuring safety, avoids user and exists
Carry out the reduction of feeling of immersion in VR active procedure.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the collision-proof method flow chart of the embodiment of the present invention；
Fig. 2 is the equipment of the embodiment of the present invention schematic diagram；
Fig. 3 is the flow chart of the VR information feedback of the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is the collision-proof method flow chart of the embodiment of the present invention, as shown in Figure 1, this method comprises:
S1, initial information acquisition: the upfront sensor for obtaining user repeatedly measures the actual value and measurement sound of distance
The average value of wave time of return value；
S2, environment information acquisition and training pattern: the temperature of environment where obtaining user, setting user do not need out
The orientation for opening measurement distance is obtained according to the actual value and measurement sound wave time of return average value of the obtained measurement distance of S1
Measure distance value and training linear regression model (LRM) at ambient；
S3, range information acquisition and processing: user begins to use VR carry out activity, and VR opens the orientation that S2 is set and passes
Sensor carries out range measurement, and the measurement distance after being corrected using the linear regression model (LRM) of S2；
S4, VR information feedback: using the measurement distance after correction, implement different displaying schemes pair according to different distances
User is prompted to prevent from colliding with real world object；
S5, it is significantly movable whether last VR detection user continues, if estimation result is significantly to be lived
It is dynamic, then it returns to S3 and continues anticollision detection, otherwise temporary close anticollision detects, and waiting detects that user has the sign of movement,
Restore anticollision detection.
Step S1, specific as follows:
In order to guarantee to measure the accuracy of distance, prevents from judging by accident due to error bring, user is needed to carry out using VR
The calibration of movable advance row distance.Ultrasonic sensor is made of transmitters and receivers.User station first is in wall or object
The opposite of body, i.e. wall or object are in user front, according to the prompt of VR display screen, from apart from wall or object 10cm
Position starts to stop 3s, gives the time of return t of ultrasonic sensor time enough acquisition n group measurement ultrasonic wave, calculates super
The average turnaround time of sound waveIt after measurement ten times, is i.e. measured between 10cm to 100cm, obtains ten groups of actual range d and right
The Mean Time Measurement answeredSave ten groups of data.
In embodiments of the present invention, ultrasonic sensor is located at four orientation of waistband, and is integrated with unified
Du Pont's line connect VR show, the top view of waistband is as shown in Figure 2.
Step S2, specific as follows:
In view of the difference of the environment of user, VR system is available for users to selection and does not measure orientation and (default comprehensive survey
Amount), it is assumed that user selects accident object distance after measuring, then behind sensor will close power supply.
Since environment temperature has an impact to ultrasonic transmission rate, so user is needed to fill in the temperature C of current environment
(unit is degree Celsius), room temperature (25 DEG C) are defaulted as if skipping, obtain average measurement distance by series of computationIt utilizes
Actual range d and average measurement distanceLinear regression model (LRM) expression formula is obtained by the method for least square regression.
Circular are as follows:
S21 calculates the transmission rate of ultrasonic wave under current environment according to following equation:
Wherein: γ is air specific heat ratio (the ratio between level pressure thermal capacitance and constant volume thermal capacitance), value 1.4；R=8.134kg
mol-1·K-1For the ideal gas constant in air；μ=0.00283kgmol-1For air molal weight；T is the exhausted of gas
To temperature；C is Celsius temperature.
S22 omits high-order term and obtains ultrasonic transmission rate and centigrade expression formula later by Taylor expansion
Are as follows:
v(c)≈331.5+0.607c(m/s)
S23, the Mean Time Measurement in ten groups of data saved in conjunction with step S1Available every group of data are averaged
Measuring distance is
S24 determines coefficient a using single order least square regression0,a1Keep variance E minimum, wherein xiFor average measurement away from
From yi is actual range:
S25 seeks partial differential to above formula, and is equal to 0, and E is minimum at this time, and solution obtains:
S26 obtains linear regression model (LRM) expression formula are as follows:
D (x)=a1x+a0
Wherein D is the measurement distance after correction, and x is measurement distance.
Step S3, specific as follows:
User begins to use VR carry out activity, wherein the ultrasonic sensor for not being selected by the user closing starts simultaneously at
The transmitter of measurement, ultrasonic sensor sends ultrasonic wave, and receiver receives and calculates the time of return t of ultrasonic wavex, in conjunction with S2
Transmission rate v of the ultrasonic wave under Current Temperatures environment, calculate measurement distance dx, substituted into S2 and led to by least square method
The linear regression model (LRM) expression formula that least square regression obtains is crossed, the available one group survey measured after the correction of different direction
Span is from D=a1dx+a0, ultrasonic wave amplification detection, ambient humidity equal error are reduced, so that measurement result is below the step of
In with more credibility.
Step S4, specific as follows:
Excessively be immersed in view of user in the virtual scene of VR, thus according to different size of different direction measurement away from
User is reminded to change current motion profile in time to some extent using segmented scheme from D, process is as shown in Figure 3.
When user's azimuthal measurement apart from object (such as wall) less than 1 meter when, in the identical of virtual scene same orientation
By change landform (earth subsidence, steep cliff etc.) on distance and position, or the resource in the virtual scene is dispatched, establishes the virtual scene
In distinctive virtual obstacles (iron net etc.), to prevent user from colliding.
When user's azimuthal measurement apart from object less than 0.6 meter when, on the basis of aforementioned virtual barrier, virtual
Position where user's viewpoint of scene, the mobile text prompt of every viewpoint for emerging user adjoint out for 3 seconds, to prevent
User's collision.
When user's azimuthal measurement apart from object less than 0.3 meter when, in aforementioned virtual barrier and text prompt
On the basis of, once prompted the orientation that cannot be further continued for moving every 1.5 seconds by way of voice broadcast, with prevent using
Person's collision.
Step S5, specific as follows:
Anticollision detection do not need it is always on because user may not be to carry out significantly limb activity using VR
(such as video is such, and people can almost be considered as static), it is possible to which the detection of temporary close anticollision reduces system resources consumption.It is logical
The VR IMU i.e. real time accelerations of the people of Inertial Measurement Unit measurement for showing included are crossed, space right-angle is established taking human as origin and sits
Mark system, the front of people is as positive x-axis, and as positive y-axis, the top side of people is used as positive z-axis for the right of people.If current x-y plane be (people's
The direction of motion) acceleration absolute value in both direction is less than 2m/s2And the distance of ultrasonic sensor measurement is in minimum model
(2cm or so) variation is enclosed, two above condition remains above 5 minutes simultaneously, then can speculate that user is not carrying out significantly
Limb activity, then temporary close anticollision detects, and IMU remains unchanged in the variation of detection acceleration at this time, if acceleration is greater than 2m/
s2More than 4s, restore anticollision detection；Otherwise anticollision detection is continued starting, step S3 is returned to.
A kind of real collision-proof method of VR interaction based on ultrasonic distance measurement that the embodiment of the present invention proposes, using ultrasonic wave
Therefore ranging is not influenced by light and is limited apart from short, user can more indiscriminately ad. as one wishes carry out VR activity；Pass through
The mode of different distance different schemes prompt user prevents user from colliding, and while ensuring safety, avoiding makes
The reduction of user's feeling of immersion in carrying out VR active procedure.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc..
In addition, being provided for the embodiments of the invention a kind of real anticollision side of VR interaction based on ultrasonic distance measurement above
Method is described in detail, and used herein a specific example illustrates the principle and implementation of the invention, above
The explanation of embodiment is merely used to help understand method and its core concept of the invention；Meanwhile for the general skill of this field
Art personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this
Description should not be construed as limiting the invention.
Claims (2)
1. a kind of real collision-proof method of VR interaction based on ultrasonic distance measurement, which is characterized in that the described method includes:
Step 1, initial information acquisition: the upfront sensor for obtaining user repeatedly measures the actual value and measurement sound of distance
The average value of wave time of return value；
Step 2, environment information acquisition and training pattern: the temperature of environment where obtaining user, setting user do not need out
The orientation for opening measurement distance according to the actual value of the obtained measurement distance of step 1 and measures sound wave time of return average value,
Obtain measurement distance value and training linear regression model (LRM) at ambient；
Step 3, range information acquisition and processing: user begins to use VR carry out activity, and VR opens the side that step 2 is set
Level sensor carries out range measurement, and the measurement distance after being corrected using the linear regression model (LRM) of step 2；
VR information feedback: step 4 using the measurement distance after correction, implements different displaying schemes pair according to different distances
User is prompted to prevent from colliding with real world object；
Step 5, it is significantly movable whether last VR detection user continues, if estimation result is significantly to be lived
Dynamic, then return step three continues anticollision detection, and otherwise temporary close anticollision detects, and waiting detects that user has the mark of movement
As restoring anticollision detection.
2. a kind of real collision-proof method of VR interaction based on ultrasonic distance measurement as described in claim 1, which is characterized in that institute
VR information feedback is stated, is specifically included:
When user's azimuthal measurement apart from object less than 1 meter when, on the same distance position of virtual scene same orientation lead to
Change landform is crossed, or dispatches the resource in the virtual scene, distinctive virtual obstacles in the virtual scene are established, to prevent
User's collision.
When user's azimuthal measurement apart from object less than 0.6 meter when, on the basis of aforementioned virtual barrier, in virtual scene
User's viewpoint where position, emerge the mobile text prompt of the viewpoint of user adjoint out, to prevent user from touching
It hits.
When user's azimuthal measurement apart from object less than 0.3 meter when, on aforementioned virtual barrier and the basis of text prompt
On, prompt the orientation that cannot be further continued for moving, by way of voice broadcast to prevent user from colliding.
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Application publication date: 20190104 |