CN104635579B - Birds control system and method based on virtual reality machines people's teleoperation - Google Patents
Birds control system and method based on virtual reality machines people's teleoperation Download PDFInfo
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- CN104635579B CN104635579B CN201510011289.1A CN201510011289A CN104635579B CN 104635579 B CN104635579 B CN 104635579B CN 201510011289 A CN201510011289 A CN 201510011289A CN 104635579 B CN104635579 B CN 104635579B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
The invention discloses a kind of birds control system and method based on virtual reality machines people's teleoperation.Do not injuring flying bird body, in the case of not influenceing flying bird itself life habit to greatest extent, control the heading and route of flying bird, work is persistently, stably, and it can be used with repeated multiple times, available for numerous areas such as physicism, the condition of a disaster rescue, environmental protection, military affairs, detecting geodata is completed, the tasks such as 3D solid figures are drawn.
Description
Technical field
The present invention relates to technical field of virtual reality.
Background technology
Virtual reality be using computer simulation produce a three dimensions virtual world there is provided user on regarding
The simulation of the sense organs such as feel, the sense of hearing, tactile, allows user as being personally on the scene, can in time, observe three-dimensional without limitation
Things in space.Virtual reality technology can be completely applied to higher mammal, and the vision of some birds, the sense of hearing are similar to people
Class, can receive data presentation technique and digital play-back technology completely, and it is easy to be commanded, and can not injure theirs
Under the premise of, control its behavior.And experiment, the application of the Biology seed coating such as existing control birds, it can be made in various degree
Into injury, and can not persistently, stably it be controlled.
The content of the invention
In order to overcome the deficiencies in the prior art, the present invention provides a kind of bird based on virtual reality machines people's teleoperation
Class control system and method.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of birds control system based on virtual reality machines people's teleoperation, including earth station and wear-type are shown
Module.
Earth station, for by wireless communication technique receive send back come satellite location data and real time video data,
Control signal is sent simultaneously.
Wear-type display module, is fixed on the head of flying bird, including power module, core processing module, wireless receiving and dispatching mould
Block, head movement tracker, loudspeaker, vibrator, 3D stereoscopic display devices, satellite positioning module and camera, wireless receiving and dispatching
The control signal that module satellite receiver is sent out, is handled through core processing module, builds the corresponding virtual scene of synthesis, then
By virtual scene display on 3D stereoscopic display devices, while loudspeaker, which coordinates, sends corresponding sound, vibrator, which coordinates, realizes mould
Intend effect, the rotation on head movement tracker real-time tracing flying bird head feeds back to core processing module, core processing module phase
The visual angle for the virtual scene that the adjustment 3D stereoscopic display devices answered are shown, satellite positioning module obtains the satellite digit of flying bird
According to, camera collection video data, after being handled through core processing module, satellite location data and video data pass through wireless receiving and dispatching
Module sends back earth station.
Further, the camera includes left camera and right camera, receives after corresponding switch-over control signal, through core
Heart processing module processing, the video data that can gather left camera and right camera includes in 3D stereoscopic display devices in real time
On.
Further, connected between the radio receiving transmitting module and earth station by 3G, 4G or satellite communication signal.
Further, the head movement tracker includes gyroscope and accelerometer.
Further, the satellite positioning module is big-dipper satellite locating module or gps satellite locating module.
Further, the power module includes high density lithium battery.
A kind of birds control method based on said system, earth station sends control signal as needed, the control signal
Include the structure parameter for building scene, received by the radio receiving transmitting module of wear-type display module, through core processing
After resume module, core processing module builds one virtual cave scene of synthesis, and the virtual cave extends to fly toward flying bird and advanced
Target direction, and the target direction is provided with the light for luring flying bird to ride, and the virtual scene is aobvious by 3D solids
Show that equipment is shown, and the signal that core processing module is fed back according to head movement tracker adjusts visual angle in real time, works as satellite
When position module detects flying bird deviation, under the control of core processing module, the field of 3D stereoscopic display devices display collision
Scape, while loudspeaker sends the sound of collision, the effect of vibrator simulated crash promotes flying bird to return on the navigation channel set；
When needing to release the control flown to flying bird, earth station sends the control signal of switching, by the wireless of wear-type display module
Transceiver module is received, and the video data for gathering camera under the control of core processing module includes aobvious in 3D solids in real time
Show in equipment.
Further, the virtual scene be arranged as required into wriggle or straight extension the single cave of environment
Light in scape, virtual scene is arranged on the front that distance is held essentially constant.
Further, the video data of camera collection, real-time by radio receiving transmitting module after being handled through core processing module
Earth station is sent back, to allow controllers over the horizon to control, adjust the heading of flying bird in real time.
The beneficial effects of the invention are as follows：Flying bird body is not being injured, flying bird itself life habit is not being influenceed to greatest extent
In the case of, the heading and route of flying bird are controlled, work persistently, stably, and can be used with repeated multiple times, available for nature
The numerous areas such as scientific research, the condition of a disaster rescue, environmental protection, military affairs, complete detecting geodata, draw the tasks such as 3D solid figures.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the wearing effect figure of the wear-type display module of the present invention；
Fig. 2 is the structure principle chart of the present invention.
Embodiment
The general principle of the technical program is：A flying bird is contemplated among cave, is flown out towards hole, cave diameter ratio
Smaller, flying bird will not encounter hole wall by vision, if cave extends to the left, and flying bird can to the left fly in hole；If cave to
Right extension, flying bird can to the right fly in hole.
We will dress a kind of equipment to this flying bird now, such as the 3D stereoscopic display devices to flying bird, allow flying bird
The scene seen is the virtual scene very true to nature of computer synthesis.Virtual scene can be turned left, turn right, upwards
Turn, or the scene in the cave turned downwards.
So, when the flying bird that this puts on equipment is middle on high, if it is desirable that it flies to the left, need to only allow computer
Turn to the left in the virtual cave of synthesis.To the right, several direction reasons are the same upwards, downwards.Although truth is in spaciousness
Its airflight, but flying bird feels it oneself is to be flown in a cave constantly turned round towards hole.
In addition to vision is cheated, we can also be to flying bird with the sense of hearing and tactile engagement.Vibrator is set with flying bird
And loudspeaker, if cave of the flying bird not in virtual video is turned, virtual hole wall is hit, we can allow vibrator mould
Intend collision effect, and the collision sound synthesized is played by loudspeaker.Vibrator and loudspeaker are taken advantage of according to receiving vision to flying bird
Feedback after deceiving, corrects the behavior of flying bird.This feedback contributes to flying bird to form the visual bars that we want in the initial training phase
Part reflects.
Meanwhile, binocular camera is also equipped with flying bird, passing the flying bird first person back for ground station controllers regards
The real time tridimensional video of feel, to allow controllers over the horizon to control flying bird heading.When ground station control personnel release is to flying
During the control of bird, the binocular camera can be also used for directly showing the real three-dimensional video-frequency in front by 3D three-dimensional displays
Show to flying bird, allow flying bird freely to circle in the air.
According to above-mentioned principle, referring concurrently to Fig. 1 and Fig. 2, one kind of the invention is based on virtual reality machines people's remote operating skill
The birds control system of art, including earth station and wear-type display module.
Earth station, for by wireless communication technique receive send back come satellite location data and real time video data,
Control signal is sent simultaneously, the control signal includes the structure parameter for being responsible for control generation virtual scene, such as extension side
To etc..
Wear-type display module, is fixed on the head of flying bird, including power module, core processing module, wireless receiving and dispatching mould
Block, head movement tracker, loudspeaker, vibrator, 3D stereoscopic display devices, satellite positioning module and camera.The power supply
Module includes the lighter high density lithium battery of weight, for supplying the electricity needed for whole wear-type display module.It is described wireless
Connected between transceiver module and earth station by 3G, 4G or satellite communication signal, radio receiving transmitting module satellite receiver is sent out
The control signal come, is handled through core processing module, builds the corresponding virtual scene of synthesis, then virtual scene display is stood in 3D
On body display device, while loudspeaker, which coordinates, sends corresponding sound, vibrator, which coordinates, realizes simulation effect.Head movement tracker
Including gyroscope and accelerometer, the rotation on real-time tracing flying bird head feeds back to core processing module, core processing module phase
The visual angle for the virtual scene that the adjustment 3D stereoscopic display devices answered are shown.Satellite positioning module be big-dipper satellite locating module or
Gps satellite locating module, obtains the satellite location data of flying bird, and camera collection video data is handled through core processing module
Afterwards, satellite location data and video data send back earth station by radio receiving transmitting module.
Further, the camera includes left camera and right camera, for gathering the vertical of flying bird binocular position in real time
Body vision data.Receive after corresponding switch-over control signal, handled through core processing module, can be by left camera and right shooting
Head collection video data be shown in real time on 3D stereoscopic display devices, meanwhile, dual camera set can with formation as
Depth information, and sight blind area is reduced, or convenient realize draws the operations such as the three-dimensional drawings of 3D.
A kind of birds control method based on said system, earth station sends control signal as needed, the control signal
Include the structure parameter for building scene, received by the radio receiving transmitting module of wear-type display module, through core processing
After resume module, core processing module builds one virtual cave scene of synthesis, and the virtual cave extends to fly toward flying bird and advanced
Target direction, and the target direction is provided with the light for luring flying bird to ride, in order to prevent the notice of scattered flying bird,
The modeling data amount of virtual scene is reduced simultaneously, and the virtual scene is arranged as required into the environment of sinuous or straight extension
Light in single cave scene, virtual scene is arranged on the front that distance is held essentially constant.The virtual scene is passed through
3D stereoscopic display devices are shown, and the signal that core processing module is fed back according to head movement tracker adjusts visual angle in real time,
When satellite positioning module detects flying bird deviation, during cave flight not in virtual scene, in core processing mould
Under the control of block, the scene of 3D stereoscopic display devices display collision, while loudspeaker sends the sound of collision, vibrator simulation is touched
The effect hit, promotes flying bird to return on the navigation channel set；When needing to release the control flown to flying bird, earth station, which sends, cuts
The control signal changed, is received by the radio receiving transmitting module of wear-type display module, will be taken the photograph under the control of core processing module
As the video data that head is gathered is shown on 3D stereoscopic display devices in real time, flying bird is allowed to see true visual field and free artificial control
Freely circle in the air.
Further, the video data of camera collection, real-time by radio receiving transmitting module after being handled through core processing module
Earth station is sent back, to allow controllers over the horizon to control, adjust the heading of flying bird in real time.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention rather than is limited, to the greatest extent
The present invention is described in detail with reference to preferred embodiment for pipe, it should be appreciated by those of ordinary skill in the art that can be right
Technical scheme is modified or equivalent, and without departing from the objective and scope of the technical program, it all should contain
Cover in scope of the presently claimed invention.
Claims (9)
1. a kind of birds control system based on virtual reality machines people's teleoperation, it is characterised in that including：
Earth station, for by wireless communication technique receive send back come satellite location data and real time video data, simultaneously
Control signal is sent；
Wear-type display module, is fixed on the head of flying bird, including power module, core processing module, radio receiving transmitting module, head
Portion's motion tracker, loudspeaker, vibrator, 3D stereoscopic display devices, satellite positioning module and camera, radio receiving transmitting module connect
The control signal that earth station sends out is received, is handled through core processing module, the corresponding virtual scene of synthesis is built, then will be virtual
Scene is shown on 3D stereoscopic display devices, while loudspeaker, which coordinates, sends corresponding sound, and vibrator, which coordinates, realizes simulation effect,
The rotation on head movement tracker real-time tracing flying bird head, feeds back to core processing module, core processing module is adjusted accordingly
The visual angle for the virtual scene that whole 3D stereoscopic display devices are shown, satellite positioning module obtains the satellite location data of flying bird, shooting
Head collection video data, after being handled through core processing module, satellite location data and video data are passed by radio receiving transmitting module
Send earth station back to.
2. a kind of birds control system based on virtual reality machines people's teleoperation according to claim 1, it is special
Levy and be：The camera includes left camera and right camera, receives after corresponding switch-over control signal, through core processing mould
Block processing, the video data that can gather left camera and right camera includes on 3D stereoscopic display devices in real time.
3. a kind of birds control system based on virtual reality machines people's teleoperation according to claim 1, it is special
Levy and be：Connected between the radio receiving transmitting module and earth station by 3G, 4G or satellite communication signal.
4. a kind of birds control system based on virtual reality machines people's teleoperation according to claim 1, it is special
Levy and be：The head movement tracker includes gyroscope and accelerometer.
5. a kind of birds control system based on virtual reality machines people's teleoperation according to claim 1, it is special
Levy and be：The satellite positioning module is big-dipper satellite locating module or gps satellite locating module.
6. a kind of birds control system based on virtual reality machines people's teleoperation according to claim 1, it is special
Levy and be：The power module includes high density lithium battery.
7. a kind of birds control method based on any one of the claim 1-6 systems, it is characterised in that：Earth station is according to need
Control signal is sent, the control signal includes the structure parameter for building scene, by the wireless of wear-type display module
Transceiver module is received, after being handled through core processing module, and core processing module builds one virtual cave scene of synthesis, the void
Intend cave and extend the target direction for flying and advancing toward flying bird, and the target direction is provided with the light for luring flying bird to ride,
The virtual scene is shown by 3D stereoscopic display devices, and the letter that core processing module is fed back according to head movement tracker
Number in real time adjustment visual angle, when satellite positioning module detects flying bird deviation, under the control of core processing module, 3D stand
The scene of body display device display collision, while loudspeaker sends the sound of collision, the effect of vibrator simulated crash promotes to fly
Bird is returned on the navigation channel set；When needing to release the control flown to flying bird, earth station sends the control signal of switching, quilt
The radio receiving transmitting module of wear-type display module is received, the video counts for gathering camera under the control of core processing module
It is shown in when factually on 3D stereoscopic display devices.
8. a kind of birds control method according to claim 7, it is characterised in that：The virtual scene is arranged as required to
Into the single cave scene of the environment of sinuous or straight extension, the light in virtual scene is arranged on distance and is held essentially constant
Front.
9. a kind of birds control method according to claim 7, it is characterised in that：The video data of camera collection, warp
After core processing module processing, earth station is sent back by radio receiving transmitting module in real time, to make controllers over the horizon real-time
Control, the heading of adjustment flying bird.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510011289.1A CN104635579B (en) | 2015-01-09 | 2015-01-09 | Birds control system and method based on virtual reality machines people's teleoperation |
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| CN201510011289.1A CN104635579B (en) | 2015-01-09 | 2015-01-09 | Birds control system and method based on virtual reality machines people's teleoperation |
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| CN104635579A CN104635579A (en) | 2015-05-20 |
| CN104635579B true CN104635579B (en) | 2017-07-11 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105828062A (en) * | 2016-03-23 | 2016-08-03 | 常州视线电子科技有限公司 | Unmanned aerial vehicle 3D virtual reality shooting system |
| CN115238018A (en) | 2016-12-01 | 2022-10-25 | 深圳市大疆创新科技有限公司 | Method for managing 3D flight path and related system |
| CN107221223B (en) * | 2017-06-01 | 2020-04-14 | 北京航空航天大学 | Virtual reality cockpit system with force/tactile feedback |
| CN111862828A (en) * | 2019-04-30 | 2020-10-30 | 陈逸曦 | Display matrix composed of disordered moving display units |
| CN110187700B (en) * | 2019-06-10 | 2021-01-08 | 北京科技大学 | Bionic flapping wing flying robot remote control system and method based on virtual reality |
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| CN1480839A (en) * | 2003-08-07 | 2004-03-10 | 刘自鸿 | In doors integrated motion simulation system based on technique of virtual realty |
| CN202587217U (en) * | 2011-12-16 | 2012-12-05 | 新时代集团国防科技研究中心 | Auxiliary display device used for unmanned air vehicle operation |
| CN103677715A (en) * | 2013-12-13 | 2014-03-26 | 深圳市经伟度科技有限公司 | Immersive virtual reality experiencing system |
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| US6903752B2 (en) * | 2001-07-16 | 2005-06-07 | Information Decision Technologies, Llc | Method to view unseen atmospheric phenomenon using augmented reality |
| US20090046140A1 (en) * | 2005-12-06 | 2009-02-19 | Microvision, Inc. | Mobile Virtual Reality Projector |
| US20120156652A1 (en) * | 2010-12-16 | 2012-06-21 | Lockheed Martin Corporation | Virtual shoot wall with 3d space and avatars reactive to user fire, motion, and gaze direction |
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Patent Citations (3)
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| CN1480839A (en) * | 2003-08-07 | 2004-03-10 | 刘自鸿 | In doors integrated motion simulation system based on technique of virtual realty |
| CN202587217U (en) * | 2011-12-16 | 2012-12-05 | 新时代集团国防科技研究中心 | Auxiliary display device used for unmanned air vehicle operation |
| CN103677715A (en) * | 2013-12-13 | 2014-03-26 | 深圳市经伟度科技有限公司 | Immersive virtual reality experiencing system |
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