CN104407701A - Individual-oriented clustering virtual reality interactive system - Google Patents
Individual-oriented clustering virtual reality interactive system Download PDFInfo
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- CN104407701A CN104407701A CN201410693380.1A CN201410693380A CN104407701A CN 104407701 A CN104407701 A CN 104407701A CN 201410693380 A CN201410693380 A CN 201410693380A CN 104407701 A CN104407701 A CN 104407701A
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Abstract
The invention discloses an individual-oriented clustering virtual reality interactive system. The individual-oriented clustering virtual reality interactive system comprises a walk simulator, a body data collection and feedback device, a mobile head-mounted virtual reality and augmented reality device and a data knapsack device, wherein the walk simulator is used for simulating the walking of a person and limiting the movement of the person, and performing acquisition and feedback of walk data; the body data collection and feedback device is used for performing interactive control on a virtual human body in a virtual environment, collecting the posture data of the human body in the reality by use of an inertial sensor and a gyroscope, controlling the virtual body and reacting on the body; the mobile head-mounted virtual reality and augmented reality device is used for integrating audio/video output, data processing and spatial point positioning and realizing simulation output of images and audios; the data knapsack device is used for receiving the data from the walk simulator, the body data collection and feedback device and the mobile head-mounted virtual reality and augmented reality device, performing comprehensive treatment and feeding back to each device.
Description
Technical field
The present invention relates to virtual reality technology, more specifically, relate to a kind of clustering virtual reality interactive system towards individual.
Background technology
Virtual reality (Virtual Reality, VR) technology is one of world today's front line science, since 21 century, had similar application equipment in fields such as game, military affairs, explorations, but these equipment all face involve great expense, the problem of bulky and heavier-weight.
Traditional virtual reality and augmented reality audio-visual equipment are mainly with optical projection system, or based on the external stereo set of ultrahigh resolution large screen display system, data processing relies on mainframe computer even group of planes realization especially, main application and some mega projects, cost is high, take up an area wide, be not suitable for individual application.
Wherein, the Flow experience of wide-angle, low delay is brought masses with acceptable price by Oculus company, oculus be virtual reality realize milestone, be first equipment realizing personal virtual reality.But it only has video frequency output, can not independent acquisition and process data, other application interfaces of can not independently plugging into.Similar equipment also has the ant of integrated audio and game control function to look, and this kind equipment can only exist as desktop system peripheral hardware.
That virtual reality device on market has at present: Oculus Rift, Google Cardboard, Samsung GearVR, Microsoft FOVE, ZEISS VR One, Dexta Robot ics Dexmo, Sony Morpheus, CybertithVirtualizer, Omni, Leap Motion, Perception Neuron, ant depending on, storm wind witch mirror, SixenseSTEM, Reactive Grip, Trinity MAGNUM etc. be broadly divided into following classification.
Wear display device: this kind ofly mostly have helmet profile, act as: image display and catch head rotation information.Oculus Rift, Microsoft FOVE, Sony Morpheus, ant are depending on all belonging to this kind of.
Mobile phone virtual reality shell: this is kind of an easy device, the equipment such as mobile phone can be put into and fix.Thus realize the effect of similar helmet.Google Cardboard, Samsung Gear VR, ZEISS VR One, storm wind witch mirror all belong to this kind of.
Double catches: multiple sensor spreads all over whole body and catches double data.As PerceptionNeuron.
Activities catches: universal treadmill can catch foot motion data, as CybertithVirtualizer, Omni; Finger action capture, as: Dexta Robotics Dexmo, Leap Motion.
Game console: special input equipment, the stage property in simulation virtual world, performs a sword-dance as shot.Sixense STEM, Reactive Grip, Trinity MAGNUM belong to this type of.
Current most of virtual reality products, all by American-European manufacturers design, does not consider Asian aesthetic method.Other products-hardwares are divided into common computer and mobile device at present, and the former performance is good but heavy, and the latter is light but successful is simple and crude.Current product, owing to not being total solution, so user must be allowed to use one by one, being installed and is arranged, bother very much.Functions of the equipments are single, are all separate at the beginning of design.Once they are grouped together by user, will inevitably go wrong, cause normally using.
Summary of the invention
For overcoming the above-mentioned defect of prior art, the present invention proposes a kind of clustering virtual reality interactive system towards individual.
According to an aspect of the present invention, propose a kind of clustering virtual reality interactive system towards individual, comprise walking simulator, body data acquiring feedback device, movable head-wearing formula virtual reality and augmented reality equipment and data knapsack equipment; Wherein, simulation walker for simulating the walking of people and limiting the movement of people, and carries out collection and the feedback of walking data; Body data acquiring feedback device is used for carrying out interaction to the virtual human body in virtual environment and controls, and is gathered the attitude data of human body in reality, control virtual body and react on health by inertial sensor, gyroscope; Movable head-wearing formula virtual reality and augmented reality equipment are used for the output of integrated audio frequency and video, data processing and spatial point location, realize the simulation data of image, audio frequency; Data knapsack equipment for receiving the data of simulation walker, body data acquiring feedback device, movable head-wearing formula virtual reality and augmented reality equipment, and carries out overall treatment, and feeds back on each equipment.
The exquisiteness that Design of Interactive System of the present invention contains Asia formula has taken into account brief main flow style simultaneously, uses the platform of customization, and not only light simultaneously performance of can easily dressing is powerful.Its clothes adopt integrated dress designing, are integrated in by all the sensors in clothes, without dressing convenient and being restricted in like product minimum to the activity that user causes.Export with integrated audio frequency and video, the VRGate-brain of data-handling capacity and spatial point positioning function for core, to receive, operation that process, feedback related data complete whole system.The video frequency output assembly of VRGate-brain projects human eye the image that vision signal is formed by special optical system, is equipped with the simulation data that audio output component comes completion system audio frequency and video aspect.Volume coordinate location relies on UWD and Differential GPS Technology mode to realize.
System controls to be rely on these parts of VRGate-body to realize to the interaction of the virtual body in virtual environment.VRGate-body gathers the attitude data of human body in reality by inertial sensor, gyroscope etc. and is transferred to system core VRGate-brain to reach the function controlling virtual body.VRGate-body parts are integrated static feedback assembly simultaneously, identifying that the feedback data of core transmission acts on human body, reaching the function allowing human feeling arrive the sensations such as touch, beating, shock by receiving.
Walk Simulation and the moving-limiting function of people are realized by VRGate-Walker.VRGate-Walker is the equipment that a kind of collection of simulating walking data exports with feedback, and it realizes the function of the unlimited plane of flattening in underfooting by belt mechanical transmission mechanism, makes people in in-situ modeling walking, obtain the unlimited plane of flattening of underfooting.The integrated multiple localization by ultrasonic sensor of VRGate-Walker in addition, form space matrix, continuous sampling is carried out to footwork data and returns to core, reach Real-Time Monitoring step position and speed function, by making pin coordinate with gearing after the data processing of core, obtain better emulation walking impression.
Accompanying drawing explanation
Fig. 1 is the layout schematic diagram according to a kind of clustering virtual reality interactive system towards individual of the present invention;
Fig. 2 is the logical organization schematic diagram according to a kind of clustering virtual reality interactive system towards individual of the present invention.
Fig. 3 is the schematic diagram according to simulation walker of the present invention;
Fig. 4 is the logical organization schematic diagram of the equipment that body data acquiring according to the present invention feeds back.
Fig. 5 is the layout schematic diagram according to a kind of movable head-wearing formula virtual reality of the present invention and augmented reality equipment;
In order to the structure of embodiments of the invention clearly can be realized, specific size, structure and device are marked in the drawings, but this is only signal needs, be not intended to limit the invention in this specific dimensions, structure, device and environment, according to specific needs, these devices and environment can carry out adjusting or revising by those of ordinary skill in the art, and the adjustment carried out or amendment are still included in the scope of accompanying claim.
Embodiment
Below in conjunction with the drawings and specific embodiments, a kind of clustering virtual reality interactive system towards individual provided by the invention is described in detail.
In the following description, by description multiple different aspect of the present invention, but, for those skilled in the art, can only utilize some or all structure of the present invention or flow process to implement the present invention.In order to the definition explained, set forth specific number, configuration and order, but clearly, also can implement the present invention when there is no these specific detail.In other cases, in order to not obscure the present invention, will no longer be described in detail for some well-known features.
As used herein, term " parts " can refer to, is contained in or comprises processor (shared, special or group) and/or storer (shared, special or group), the combinational logic circuit of special IC (ASIC), electronic circuit, the one or more software of execution or firmware program and/or provide described other suitable parts functional.
As depicted in figs. 1 and 2, the application provides a kind of clustering virtual reality interactive system towards individual, and this system comprises simulation walker, body data acquiring feedback device, movable head-wearing formula virtual reality and augmented reality equipment and data knapsack equipment.Wherein, simulation walker for simulating the walking of people and limiting the movement of people, and carries out collection and the feedback of walking data; Body data acquiring feedback device is used for carrying out interaction to the virtual human body in virtual environment and controls, and is gathered the attitude data of human body in reality, control virtual body and react on health by inertial sensor, gyroscope; Movable head-wearing formula virtual reality and augmented reality equipment are used for the output of integrated audio frequency and video, data processing and spatial point location, realize the simulation data of image, audio frequency; Data knapsack equipment for receiving the data of simulation walker, body data acquiring feedback device, movable head-wearing formula virtual reality and augmented reality equipment, and carries out overall treatment, and feeds back on each equipment.
Wherein, as shown in Figure 3, simulation walker (VRGate-Walker) possesses Walk Simulation data acquisition and restriction position of human body moves two functions, and can eliminate because optic nerve and human perception are neural asynchronous caused dizzy.
Wherein, VRGate-Walker is also a kind of 360 degree of omnibearing walking simulators, uses the physical construction implementation Walk Simulation of synchronous belt contact, instead of friction and roller contact Walk Simulation mode.Owing to adopting face contact, substantially increase the degree of verisimilitude of simulation walking.Data acquisition aspect, applies multiple contactless localization by ultrasonic sensor and carries out real-time sampling, ensure that the continuity of walking data acquisition, also for following more application direction is laid a good foundation.
Wherein, the walking simulator of the application comprises gear train and simulated panel, and simulated panel is arranged on gear train, the movement locus of gear train on synchronously simulating panel, and advancing of simulated panel carries out relative motion; The exercise data of simulated panel step on panel of sampling, comprises position, speed, orientation, attitude data.
Wherein, gear train comprises synchronous belt and roller bearing physical construction, and synchronous belt is arranged in roller bearing physical construction, and belt and roller bearing physical construction do relative motion.Roller bearing physical construction comprises the roller bearing along belt direction and the vertical turning axle perpendicular to belt direction, with make gear train can 360 degree rotate, to drive simulated panel to carry out 360 rotations, thus ensure the simulation comprehensive simulated degree of walker on direction.
Wherein, simulated panel comprises multiple subregion, each subregion lays multiple localization by ultrasonic sensor, towards face plate center, around whole panel, forms supersonic sounding space matrix, carries out continuous sampling to footwork data.By adopting contactless localization by ultrasonic sensor, which kind of step dress can not be used by limited subscriber.
Wherein, as shown in Figure 4, body data acquiring feedback device (RGate-Body), comprise body posture data acquisition module and force feedback data outputting module, wherein, body posture data acquisition module comprises inertial sensor, UWB ultra-broadband ranging submodule and wireless network submodule, for Real-time Collection body posture data message and collection point relative position information, is wirelessly transferred to computing machine.Wherein, force feedback data outputting module comprises electric pulse feedback assembly, for the force feedback signal that wireless receiving computing machine sends, identify that the feedback data of core transmission acts on corresponding body part by receiving, human feeling is allowed to arrive the sensations such as touch, beating, shock, reaching game intends true, the effects such as physical massage.
Wherein, this body data acquiring feedback device is for gathering experiencer's human body attitude, by experiencer's limbs and whole body feedback signal and hub processor effective integration, to control under virtual environment virtual body to reach and allow human body under actual environment experience the sensations such as touch, beating, shock, reaching game intends true, the effects such as physical massage.
Wherein, body posture data acquisition module comprises the sensor being arranged in whole body limbs key node position, and wherein, sensor comprises 9 degree of freedom sensors, and this 9 degree of freedom sensor comprises 3 axle gyroscopes, 3 axle compass and 3 axis accelerometers.Wherein, key node position comprise brothers' acra node, ankle wrist joint node, knee elbow joint node, the shoulder necessary node such as trans-articular node and head, neck, trunk node and other can the expanding node of provisional configuration.
Wherein, all nodes and telegon form Star Network, and the plurality of node is in the end of star network.Wherein, processor arranged by bottom, for carrying out the basic fault-tolerant filter operations such as preliminary Kalman filtering.Wherein, this sensor independent battery is powered, and has a style of one's own, and can increase and decrease number of nodes at any time, reduces the wearing complexity of On-site Experience link.
Wherein, the wireless communication networks (ZIGBEE network) of each standalone sensor comprises special address information and self-organizing network system, comprise a telegon and some nodes in network system, after each node powers on, configure networking by telegon, form the Star Network centered by telegon.Each junction sensor is non-interfering is sent to attitude information integral unit by data, and this attitude information integral unit is a control center comprising telegon.
Wherein, the data (comprising acceleration, deflection, angular acceleration) that attitude information integral unit is used for junction sensor to upload merge, be aided with bones of extremities network algorithm fusion technology, after calculating human body limb node and the data such as movement locus and speed, be transferred to central controller platform, realize the laminating of application scenarios and manikin node further.
Wherein, force feedback data outputting module is for receiving the feedback trigger pip (as impacted, contact etc.) from central controller platform, to control to be worn on experiencer's node generation current pulse with it or vibrations are done, allow human body under actual environment experience the sensations such as touch, beating, shock, reaching game and intending the effects such as true, physical massage.
Wherein, as shown in Figure 5, movable head-wearing formula virtual reality and augmented reality equipment (VRGate-Brain) are a kind of integrated videos, the portable virtual reality of audio frequency and Mobile data processing capacity and augmented reality realize equipment.This equipment comprises controller, head pose capture module, spatial point locating module, ultrashort burnt optical module and video display module, wherein, processor for receiving head attitude signal, spacing wave carries out position judgment and head pose judges, and generate displaying contents and control to be sent to ultrashort burnt optical device and video display module shows.
Wherein, this equipment also comprises audio processing modules, for only making an uproar surround sound system by carrying high-quality, adopt decoding chip and MAX9723 power amplifier chips, based on the switching frequency of low-noise charge pump 600kHz far away higher than audiorange, not only can not interference tones signal, thus enable MAX9723 obtain the SNR of 99dB.
Wherein, this equipment adopts small size 2K or more than 2k resolution liquid crystal panel and high light perceptible projections and high light thoroughly to shield as seen, point is apart from arranging up to more than 490ppi, coordinate X86 platform high-performance data system, can provide the access of most application interface, the virtual reality and the augmented reality that become first personal's application layer move the equipment of realization.
Wherein, processor is X86 data processing platform (DPP), compatible various application interface and operating system.
Wherein, spatial point locating module has relative positioning submodule and absolute fix submodule, and wherein, the planning of relative positioning submodule pass course, working direction and head pose guiding, based on storing map determination relative position; Absolute fix submodule, based on GPS module, adopts pseudo range difference principle and carrier phase difference principle, obtains centimetre-sized positioning precision.
Wherein, head pose capture module comprises the multiple three-dimensional attitude sensors on the equipment of being arranged in, for measuring the three-dimensional motion of head, and the angle of inclination with respect to the horizontal plane of equipment and head is obtained based on acceleration transducer, by analyzing dynamic acceleration, determine the mode of equipment moving.
Wherein, video display module comprises display sub-module and vision signal transform subblock, and wherein, display sub-module adopts high-resolution panel and high light perceptible projections equipment; Vision signal transform subblock comprises and be can't harm by 4K ultra high-definition video flowing, without the bridging chip being converted to MIPI-DSI compressively from HDMI.
Finally it should be noted that, above embodiment is only in order to describe technical scheme of the present invention instead of to limit this technical method, the present invention can extend in application other amendment, change, application and embodiment, and therefore think that all such amendments, change, application, embodiment are all in spirit of the present invention and teachings.
Claims (15)
1., towards an individual's clustering virtual reality interactive system, comprise walking simulator, body data acquiring feedback device, movable head-wearing formula virtual reality and augmented reality equipment and data knapsack equipment; Wherein, simulation walker for simulating the walking of people and limiting the movement of people, and carries out collection and the feedback of walking data; Body data acquiring feedback device is used for carrying out interaction to the virtual human body in virtual environment and controls, and is gathered the attitude data of human body in reality, control virtual body and react on health by inertial sensor, gyroscope; Movable head-wearing formula virtual reality and augmented reality equipment are used for the output of integrated audio frequency and video, data processing and spatial point location, realize the simulation data of image, audio frequency; Data knapsack equipment for receiving the data of simulation walker, body data acquiring feedback device, movable head-wearing formula virtual reality and augmented reality equipment, and carries out overall treatment, and feeds back on each equipment.
2. the clustering virtual reality interactive system towards individual according to claim 1, wherein, described walking simulator comprises gear train and simulated panel, wherein, described simulated panel is arranged on described gear train, the movement locus of described gear train on synchronously simulating panel, and advancing of simulated panel carries out relative motion; The exercise data of described simulated panel step on panel of sampling, comprises position, speed, orientation, attitude data, feeds back to gear train.
3. the clustering virtual reality interactive system towards individual according to claim 2, wherein, described gear train comprises synchronous belt and roller bearing physical construction, and synchronous belt is arranged in roller bearing physical construction, and belt and roller bearing physical construction do relative motion.
4. the clustering virtual reality interactive system towards individual according to claim 2, wherein, described roller bearing physical construction comprises the roller bearing along belt direction and the vertical turning axle perpendicular to belt direction, to make gear train 360 degree rotate, carries out 360 rotations to drive simulated panel.
5. the clustering virtual reality interactive system towards individual according to claim 1, wherein, simulated panel arranges multiple subregion, each subregion lays multiple localization by ultrasonic sensor, towards face plate center, around whole panel, form supersonic sounding space matrix, for carrying out continuous sampling to footwork data respectively.
6. the clustering virtual reality interactive system towards individual according to claim 1, wherein, body data acquiring feedback device comprises: body posture data acquisition module and force feedback data outputting module, wherein, body posture data acquisition module comprises inertial sensor, UWB ultra-broadband ranging submodule and wireless network submodule, for Real-time Collection body posture data message and collection point relative position information, be wirelessly transferred to central controller; Wherein, force feedback data outputting module comprises electric pulse feedback assembly, for the force feedback signal that wireless receiving central controller sends, identifies that the feedback data of core transmission acts on corresponding body part by receiving.
7. the clustering virtual reality interactive system towards individual according to claim 6, wherein, this body data acquiring feedback device is for gathering experiencer's human body attitude, by experiencer's limbs and whole body feedback signal and hub processor effective integration, to control under virtual environment virtual body to reach and allow human body under actual environment experience touch, beating, impact feeling.
8. the clustering virtual reality interactive system towards individual according to claim 6, wherein, body posture data acquisition module comprises the sensor being arranged in whole body limbs key node position, wherein, sensor comprises 9 degree of freedom sensors, and this 9 degree of freedom sensor comprises 3 axle gyroscopes, 3 axle compass and 3 axis accelerometers.
9. the clustering virtual reality interactive system towards individual according to claim 8, wherein, key node position comprise brothers' acra node, ankle wrist joint node, knee elbow joint node, shoulder trans-articular node and head, neck, the necessary node of trunk node and other can the expanding node of provisional configuration; Wherein, the wireless communication networks of each standalone sensor comprises special address information and self-organizing network system, comprises a telegon and some nodes, configures networking after each node powers on by telegon, form the Star Network centered by telegon in network system.
10. the clustering virtual reality interactive system towards individual according to claim 9, wherein, each junction sensor is non-interfering is sent to attitude information integral unit by data, and this attitude information integral unit is a control center comprising telegon.
The 11. clustering virtual reality interactive systems towards individual according to claim 10, wherein, what attitude information integral unit was used for junction sensor to upload comprise acceleration, deflection, angular acceleration data merge, be aided with bones of extremities network algorithm fusion technology, after calculating human body limb position and the data such as movement locus and speed, be transferred to central controller platform.
The 12. clustering virtual reality interactive systems towards individual according to claim 1, wherein, movable head-wearing formula virtual reality and augmented reality equipment comprise controller, head pose capture module, spatial point locating module, ultrashort burnt optical module and video display module, wherein, processor for receiving head attitude signal, spacing wave carries out position judgment and head pose judges, and generate displaying contents and control to be sent to ultrashort burnt optical device and video display module carries out adaptability display.
The 13. clustering virtual reality interactive systems towards individual according to claim 12, wherein, this equipment also comprises audio processing modules, carries high-quality and only to make an uproar surround sound system, adopt decoding chip and MAX9723 power amplifier chips, based on low-noise charge pump 600kHz switching frequency.
The 14. clustering virtual reality interactive systems towards individual according to claim 12, wherein, spatial point locating module has relative positioning submodule and absolute fix submodule, wherein, the planning of relative positioning submodule pass course, working direction and head pose guiding, based on storing map determination relative position; Absolute fix submodule, based on GPS module, adopts pseudo range difference principle and carrier phase difference principle, obtains centimetre-sized positioning precision.
The 15. clustering virtual reality interactive systems towards individual according to claim 12, wherein, head pose capture module comprises the multiple three-dimensional attitude sensors on the equipment of being arranged in, for measuring the three-dimensional motion of head, and the angle of inclination with respect to the horizontal plane of equipment and head is obtained based on acceleration transducer, by analyzing dynamic acceleration, determine the mode of equipment moving.
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- 2014-11-27 CN CN201410693380.1A patent/CN104407701A/en active Pending
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