CN110085083B - Micro-airflow jet array virtual control platform - Google Patents
Micro-airflow jet array virtual control platform Download PDFInfo
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- CN110085083B CN110085083B CN201910487981.XA CN201910487981A CN110085083B CN 110085083 B CN110085083 B CN 110085083B CN 201910487981 A CN201910487981 A CN 201910487981A CN 110085083 B CN110085083 B CN 110085083B
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- 238000010438 heat treatment Methods 0.000 claims abstract description 23
- 238000001931 thermography Methods 0.000 claims abstract description 23
- 230000006835 compression Effects 0.000 claims abstract description 7
- 238000007906 compression Methods 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 22
- 239000007788 liquid Substances 0.000 claims description 11
- 239000007921 spray Substances 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 6
- 238000004401 flow injection analysis Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 3
- 239000000919 ceramic Substances 0.000 claims description 2
- 230000005389 magnetism Effects 0.000 claims description 2
- 238000000520 microinjection Methods 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000010792 warming Methods 0.000 claims description 2
- 238000002347 injection Methods 0.000 claims 1
- 239000007924 injection Substances 0.000 claims 1
- 238000005507 spraying Methods 0.000 abstract description 8
- 230000008859 change Effects 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000003491 array Methods 0.000 description 4
- 239000013013 elastic material Substances 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 239000000443 aerosol Substances 0.000 description 2
- 238000000889 atomisation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000002304 perfume Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Spray Control Apparatus (AREA)
Abstract
A micro-air jet array virtual steering platform, comprising: a projection display device for displaying the virtual object and the operating environment; the depth vision acquisition module with the thermal imaging function is provided with a common color shooting unit, a structural light emitting and receiving unit and a thermal imaging unit, and is used for extracting a plane image of an object and distance data of the object, and the thermal imaging unit is used for extracting thermal imaging contour data of a virtual object formed by heating gas sprayed by the platform; a micro-air jet stage with a rotatable micro-nozzle array; an air compression pump with a plurality of flow control valves, which is connected with a rotatable micro-nozzle array multi-branch connected with the micro-air flow spraying platform and provides the needed high-pressure air; a computer system for controlling the above apparatus. The invention can be used for simulating the three-dimensional shape, softness, temperature, humidity and other touch feeling of the virtual object to be controlled, and can also be used for multi-user parallel touch virtual control application in a large space range.
Description
Technical Field
The invention relates to a micro-airflow jet array virtual control platform, in particular to a virtual touch and force sense control platform device capable of realizing parallel collaborative operation of multiple people by utilizing three-dimensional space air cushion layers generated by a micro-airflow jet array with controllable jet direction, air temperature and air humidity to simulate parameters such as outline, movement speed, temperature and humidity of a virtual object, and belongs to the technical field of virtual reality control.
Background
Virtual haptic technology includes haptic simulation, force feedback, and the like, and implements a user's touch feeling through feedback actions of vibration, force, temperature, and the like. At present, the technology for virtual control of haptic simulation and force feedback is mainly realized by means of ultrasonic waves, vibration motors, connecting rod mechanisms, piezoelectric materials and the like, only vibration and force information in a two-dimensional plane is provided, three-dimensional control experience cannot be provided for a controller, and richer haptic information (such as temperature change, speed change of a controlled object, surface humidity change and the like) cannot be provided.
Moreover, once the design and the manufacture of the existing virtual haptic device are completed, only a plurality of preset virtual haptics can be completed, the haptic experience is single, the virtual haptic device cannot be disassembled and reconfigured, and the virtual object with a complicated shape (such as a sphere, a pyramid and the like) cannot be simulated.
In addition, due to the complexity of the structure and design, the virtual touch control is often limited to single person operation in a smaller space at present, and multi-person parallel control in a large space range cannot be realized.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the micro-airflow jet array virtual control platform which can be used for simulating the three-dimensional shape, softness, temperature, humidity and other touch feeling of a controlled virtual object, improving and enhancing the interactive perception experience of a user and can be used for multi-user parallel touch virtual control application in a large space range.
The technical scheme adopted for solving the technical problems is as follows: comprising the following steps: a projection display device for displaying the virtual object to be operated and the operation environment; the depth vision acquisition module with the thermal imaging function is opposite to the virtual control platform, and is provided with a common color camera unit, a structural light emitting and receiving unit and a thermal imaging unit, wherein the camera unit and the structural light emitting and receiving unit are used for extracting a plane image of an object in a visual field range and far and near distance data from the object to a camera, and the thermal imaging unit is used for extracting thermal imaging contour data of a virtual object formed by heating gas sprayed above the virtual control platform; a micro-air jet stage with a rotatable micro-nozzle array; an air compression pump with a plurality of flow control valves, which is connected with a plurality of branches of the rotatable micro-nozzle array of the micro-air flow injection platform and provides the needed high-pressure air; and the computer system is used for controlling the depth vision acquisition module with the thermal imaging function, the multi-path flow control valve and the micro-airflow spraying platform.
Compared with the prior art, the micro-airflow jet array virtual control platform has the following beneficial effects:
1. the user does not need to wear a data glove or a touch force feedback device, and can perform virtual touch feedback interaction in the air (above the micro-airflow spraying platform) by bare hands, so that the operation flow is simplified;
2. the platform can be operated by a single person with two hands or multiple persons with multiple hands simultaneously, and is not mutually interfered, so that real multi-person collaborative virtual interaction is realized;
3. when a model detail with higher precision or a virtual model with larger volume is required to be perceived, the micro-airflow jet array can be expanded, the arrangement density or the arrangement area of the micro-airflow jet array can be improved, and the micro-airflow jet array is flexible and changeable and has wide application range;
4. the depth vision acquisition module with the thermal imaging function can be used for obtaining hand-type and hand gesture information, extracting hand three-dimensional coordinate information for controlling the micro-jet unit array, and extracting the thermal imaging contour of the manipulated virtual object formed by the warming gas;
5. the rotatable micro-nozzle array can rotate within a certain angle range and can form an inclined air cushion layer; the air compression pump with the multi-path flow control valve is connected with the multi-path of the rotatable micro-nozzle array, and the three-dimensional virtual touch space air cushion layer can be formed by utilizing the inconsistent heights of the air cushion layers generated by different micro-jet units and the arrangement in the three-dimensional space; making the final simulation more comprehensive and realistic.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic overall structure of an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of the operation platform in the use state 1 according to the embodiment of the present invention.
Fig. 3 is a schematic structural diagram of the operation platform in the use state 2 according to the embodiment of the present invention.
Fig. 4 is a schematic structural diagram of the operation platform in the use state 3 according to the embodiment of the present invention.
Fig. 5 and 6 are schematic views showing two different structures of a single micro-ejection unit in the embodiment of the present invention.
Fig. 7-9 are schematic views of an arrangement of micro-air jet arrays in a planar, planar cross arrangement and a spatial perspective in accordance with an embodiment of the present invention.
In the figure, 1, a micro-airflow spraying platform, 2, an air cushion layer, 2-1, a thinner air cushion layer, 2-2, a medium-thickness air cushion layer, 2-3, a thicker air cushion layer, 2-4, an inclined air cushion layer, 3, a transparent elastic material layer, 4, a micro-spraying unit, 4-1, a nozzle, 4-2, an inner ring annular mechanism, 4-3, an inner ring rotating shaft, 4-4, an outer ring annular mechanism, 4-5, an outer ring rotating shaft, 4-6, a connecting outer frame, 4-7, a pressurized liquid storage container, 4-8, an atomization spray pipe, 4-9, a heating module, 4-10 and a bottom gas guide pipe joint hole, wherein: a represents an operator, and A1 and A2 represent an operator I and an operator II respectively.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
Fig. 1 to 9 are schematic structural views of a preferred embodiment of the present invention, and a micro air jet array virtual control platform in fig. 1 includes: the projection display device is connected with the computer system and is used for displaying the virtual object to be operated and the operating environment, and an operator A (the number is not limited, a plurality of operators can be also provided, for example, two operators are simultaneously provided, and an operator A1 and an operator B A2) can be operated by observing the shape and the position change of the virtual object in the projection display device; the depth vision acquisition module with the thermal imaging function is connected with the computer system, is arranged right above the micro-airflow spraying platform 1, is vertically downward in the direction of a lens, is provided with a common color camera unit, a structural light emitting and receiving unit and a thermal imaging unit, and is used for extracting a planar image of an object in a visual field range and distance data from the object to a camera, and the thermal imaging unit is used for extracting thermal imaging contour data of a virtual object formed by heating gas sprayed above the virtual control platform; a micro-air jet stage 1 with a rotatable micro-nozzle array; the air compression pump with the multi-way flow control valve is used for providing high-pressure air needed by the micro-air flow injection platform 1, the high-pressure air is divided into a plurality of branches when passing through the multi-way flow control valve, each branch is independently controlled by an electromagnetic valve connected with a computer, the flow speed and the flow rate of the air can be adjusted, as shown in figure 2, a thinner air cushion layer 2-1, a medium-thickness air cushion layer 2-2 and a thicker air cushion layer 2-3 can be generated by utilizing the strength of air flows at different positions in the rotatable micro-nozzle array, and virtual objects with different structures and different shapes can be formed through the thickness of the air cushion layer 2 by regulating and controlling; and a computer system for controlling the depth vision acquisition module, the multi-path flow control valve and the micro-air flow injection platform 1.
In this embodiment, the rotatable micro-nozzle array is formed by freely splicing and combining a plurality of micro-injection units 4. The size of the array can be changed according to actual needs, the shape of the micro-air jet platform can be spliced and arranged into other irregular shapes according to the field and the environment, for example, fig. 7-9 respectively show square planar rotatable micro-nozzle arrays, planar cross rotatable micro-nozzle arrays and spatial three-dimensional rotatable micro-nozzle arrays (the micro-air jet platform 1 can also be arranged at any angle in the vertical direction, and a three-dimensional jet array is realized together with a horizontal jet array, see fig. 9). And the adjacent micro-jet units 4 can be freely spliced through magnetism, hinges or rivets and other detachable modes.
Referring to fig. 5 and 6, the micro-spray unit 4 mainly comprises a nozzle 4-1, an annular rotating mechanism, a connecting outer frame 4-6, a heating module 4-9, an atomizing spray pipe 4-8 and a pressurized liquid storage container 4-7; the nozzle 4-1 is fixed to the center of an annular rotation mechanism driven by a motor connected to a computer system for adjusting the angle of the nozzle 4-1 in real time so that the jetting direction of the air flow of the nozzle 4-1 can be rotated within a certain range. An air inlet conduit of the air compression pump passes through an air inlet channel of the heating module 4-9 from below and then is connected with the nozzle 4-1; one end of an atomizing spray pipe 4-8 with a liquid atomizing module is connected into the pressurized liquid storage container 4-7, the other end of the atomizing spray pipe is connected into an air inlet channel through an atomizing nozzle, and an aerosol mixture is formed by spraying the atomized liquid into the air inlet channel after atomizing the atomized liquid; the spray head of the atomizing spray pipe 4-8 in the air inlet channel is quantitatively controlled by a computer system, and the liquid in the pressurized liquid storage container 4-7 can be added with materials such as perfume and the like according to scenes. The heating modules 4-9 and the atomizing nozzle are connected with a computer system and are synchronous with temperature and humidity data of the controlled virtual object.
Wherein the nozzle 4-1 is of a conical hollow structure, and the bottom end of the nozzle is connected with an air inlet conduit; the nozzle 4-1 adopting the conical hollow structure can ensure that the heated aerosol mixture is uniformly mixed in the interior on one hand, and can ensure that the spraying direction is accurate and controllable on the other hand. The heating module 4-9 is hollow and cylindrical, the center of the heating module is an air inlet channel, the cylindrical heating module 4-9 can be realized by a ceramic heating block or a heating resistance wire, and a bottom air duct joint hole 4-10 below the air inlet channel is used for connecting an air inlet duct.
The connecting outer frames 4-6 are provided with an inner circular cavity and an outer connecting panel, and the inner circular cavity is provided with an annular rotating mechanism; the adjacent microjet units 4 are spliced through the external connection panel, the external connection panel can be made of magnetic materials, the adjacent microjet units 4 are spliced by means of magnetic attraction between the magnetic materials, rapid assembly and disassembly can be realized, and the external connection panel can be connected by hinges or rivets or other modes.
The annular rotating mechanism has double degrees of freedom, and is divided into an inner ring annular mechanism 4-2 and an outer ring annular mechanism 4-4, wherein the inner ring annular mechanism 4-2 is positioned in an inner ring cavity connected with the outer frame 4-6 and is connected with the nozzle 4-1, and then is connected with the outer ring annular mechanism 4-4 through an inner ring rotating shaft 4-3, and the outer ring annular mechanism 4-4 is connected with an outer connecting panel connected with the outer frame 4-6 through an outer ring rotating shaft 4-5. The inner ring rotating shaft 4-3 and the outer ring rotating shaft 4-5 are arranged in a plane at a certain angle according to the requirement, and the combination is used for realizing the rotation of the nozzle 4-1 in a large range.
As shown in fig. 3, when the virtual operation platform according to the embodiment of the present invention is operated, the hand may be in direct contact with airflow to achieve a tactile operation; in order to realize the touch feeling of different touch feeling, a light and thin transparent elastic material with different materials can be placed above the air cushion layer 2 formed by the rotary micro-nozzle array, and the jet air flow forms an object contour on the formed transparent elastic material layer 3, so that an operator A touches the object contour formed by the transparent elastic material layer 3 to operate.
The working principle of the invention is as follows: the operator A observes the virtual object in the projection display equipment, places the hand in the working area above the micro-jet platform, the depth vision acquisition module with the thermal imaging function in the working area is provided with a common color camera, a structural light sensor and a thermal imaging sensor, the shape of the hand, the three-dimensional coordinates of the hand and the thermal imaging outline of the virtual object formed by jet gas can be captured simultaneously, the computer realizes interactive positioning by calculating the coordinates of the virtual object and the space coordinates of a human hand, and by controlling the air flow of certain jet units in the micro-air flow jet array, a space air cushion layer 2 with the outline of the virtual object is constructed at a required position, so that the operator A can generate virtual touch, and the intensity of the air flow can be controlled, and then the intensity of the air flow is controlled, so that the operator A generates virtual force sense, and when the temperature or humidity information is attached to the virtual object, the heating module 4-9 and the atomizing module in the single jet unit are controlled to realize the simulation of the temperature and the humidity.
In order to simulate the temperature change of a virtual object, the heating modules 4-9 are arranged below each nozzle 4-1, and the gas passing through the heating modules 4-9 is heated, so that the temperature of the gas sprayed from different areas is changed. In order to simulate the humidity change of an object, a controllable atomization module is arranged below each spray hole, atomized liquid can be sprayed into the air inlet channel, and the change of the humidity of sprayed gas is realized through the proportion of a mist mixture. In order to realize finer and more complex operation experience, such as simulating scenes of in-situ rotation or in-situ inclination of a virtual object, a controllable two-degree-of-freedom rotation mechanism is arranged on each micro-jet unit 4, after combined use, the jet direction of a single jet hole can be changed to track the movement of a hand, and referring to fig. 4, an inclined air cushion layer 2-4 is correspondingly generated along with the movement direction of the hand of an operator A, so that the aim of realizing the movement of the virtual object by utilizing the rotation movement and the directional tracking jet of the micro-jet unit 4 is fulfilled, namely when the operator A grabs the object to quickly move, the position of a human hand is captured through a depth vision acquisition module, and then the micro-air jet array is controlled to sequentially generate jet air flows according to the track route of the movement of the human hand, so that the tactile effect of the quick movement of the object is generated. In order to realize a more complex three-dimensional space three-dimensional cushion layer 2, the microjet unit 4 may be configured three-dimensionally in a three-dimensional space, such as to simulate the hierarchical touch feeling in the vertical direction and the hierarchical touch feeling in the horizontal direction at the same time. In order to achieve the deformation touch sense of the soft object, the depth vision acquisition module is used for capturing the hand type information of a human hand, the gesture recognition algorithm is used for calculating the change of the bending angle of the finger, and the airflow direction and the intensity of the nozzle 4-1 at the position corresponding to the position right below the bent finger are adjusted to generate the touch effect of the deformation of the object.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, but any simple modification and equivalent variation of the above embodiment according to the technical spirit of the present invention falls within the scope of the present invention.
Claims (7)
1. A micro-air jet array virtual control platform, comprising:
a projection display device for displaying the virtual object to be operated and the operation environment;
the depth vision acquisition module with the thermal imaging function is opposite to the virtual control platform, a color shooting unit, a structural light emitting and receiving unit and a thermal imaging unit are arranged, the color shooting unit and the structural light emitting and receiving unit are used for extracting a plane image of an object in a visual field range and distance data from the object to a camera, and the thermal imaging unit is used for extracting thermal imaging contour data of a virtual object formed by ejected warming gas;
a micro-air jet stage (1) with a rotatable array of micro-nozzles;
an air compression pump with a plurality of flow control valves is connected with a plurality of branches of the rotatable micro-nozzle array of the micro-air flow injection platform (1) to provide required high-pressure air;
the computer system is used for controlling the depth vision acquisition module with the thermal imaging function, the multi-path flow control valve and the micro-airflow injection platform (1);
the rotatable micro-nozzle array is formed by freely splicing and combining a plurality of micro-injection units (4); adjacent micro-jet units (4) are detachably spliced through magnetism, hinges or rivets;
the micro-jet unit (4) mainly comprises a nozzle (4-1), an annular rotating mechanism, a connecting outer frame (4-6), a heating module (4-9), an atomizing spray pipe (4-8) and a pressurized liquid storage container (4-7); the nozzle (4-1) is fixed to the center of an annular rotating mechanism driven by a motor connected to a computer system; an air inlet conduit of the air compression pump passes through an air inlet channel of the heating module (4-9) from below and then is connected with the nozzle (4-1); one end of the atomizing spray pipe (4-8) is connected into the pressurized liquid storage container (4-7), and the other end is connected into the air inlet channel through the atomizing spray head; the heating modules (4-9) and the atomizing nozzle are connected with the computer system and are synchronous with the temperature and humidity data of the controlled virtual object.
2. The micro-air jet array virtual control platform according to claim 1, wherein: the nozzle (4-1) is of a conical hollow structure, and the bottom end of the nozzle is connected with an air inlet conduit; the heating module (4-9) is hollow and cylindrical, and the center of the heating module is an air inlet channel.
3. The micro-air jet array virtual control platform according to claim 1, wherein: the connecting outer frames (4-6) are provided with inner circular cavities and outer connecting panels, the inner circular cavities are provided with annular rotating mechanisms, and adjacent micro-jet units (4) are spliced through the outer connecting panels.
4. A micro-air jet array virtual control platform according to claim 3, characterized in that: the annular rotating mechanism is provided with double degrees of freedom, and is divided into an inner ring annular mechanism (4-2) and an outer ring annular mechanism (4-4), wherein the inner ring annular mechanism (4-2) is positioned in an inner circular cavity connected with the outer frame (4-6) and is connected with the nozzle (4-1), and then is connected with the outer ring annular mechanism (4-4) through an inner ring rotating shaft (4-3), and the outer ring annular mechanism (4-4) is connected with an outer connecting panel connected with the outer frame (4-6) through an outer ring rotating shaft (4-5).
5. The micro-air jet array virtual control platform according to claim 4, wherein: the inner ring rotating shaft (4-3) and the outer ring rotating shaft (4-5) are arranged in a plane to form a certain angle according to the requirement, and the combination is used for realizing the rotation of the nozzle (4-1) in a large range.
6. The micro-air jet array virtual control platform according to claim 1, wherein: the heating modules (4-9) are ceramic heating blocks or heating resistance wires.
7. The micro-air jet array virtual control platform according to claim 1, wherein: a transparent elastomeric layer (3) is also placed over the air cushion layer (2) formed by the rotating micro-nozzle array for forming the object contours.
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