CN104820492A - Three-dimensional haptic system - Google Patents
Three-dimensional haptic system Download PDFInfo
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- CN104820492A CN104820492A CN201510194364.2A CN201510194364A CN104820492A CN 104820492 A CN104820492 A CN 104820492A CN 201510194364 A CN201510194364 A CN 201510194364A CN 104820492 A CN104820492 A CN 104820492A
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Abstract
The invention provides a three-dimensional haptic system, so that a user can really see and touch an object in a nonexistent scene. The three-dimensional haptic system provided by the invention comprises a CAD (Computer Aided Design) system, a three-dimensional imaging system, an attitude detection system, a multi-degree of freedom manipulator system, a haptic presentation system, a protection system, and a master control system, namely a three-dimensional imaging microprocessor, wherein the attitude detection system, the multi-degree of freedom manipulator system, the haptic presentation system and the protection system are respectively connected to the three-dimensional imaging microprocessor through bus interfaces, and the three-dimensional imaging system is wirelessly connected to the three-dimensional imaging microprocessor through a radio frequency signal.
Description
Technical field
The present invention relates to human-computer interaction technique field, be specifically related to a kind of threedimensional haptic system.
Background technology
Now, virtual reality skill asks development, and people can utilize computer simulation to produce a virtual three dimensional space world, provide people about the experience of the sense organs such as vision, the sense of hearing, sense of touch, allow user as on the spot in person.Virtual reality be combining of multiple technologies and, comprise three dimension computer graphic technology, stereo display technique, feedback technique is felt in sense of touch/power, sterophonic technique, network transmission technology, phonetic entry export technique etc.
Present sense of touch/power feel feedback technique or system be mostly to sense of touch description, namely before human eye, different shapes or object is opened up, but the environment residing for people or scene can not change, and cannot present the numerous and complicated world, the mankind or the wide experience of other entities can not be brought.In order to address this problem, the invention provides a kind of threedimensional haptic system.
Summary of the invention
The invention provides a kind of threedimensional haptic system, make user can seeing earnestly really in a non-existent scene, and touch " object " in scene.
The technical scheme that the present invention adopts for its technical matters of solution is as follows.
A kind of threedimensional haptic system proposed by the invention; comprise CAD system, 3-D imaging system, attitude detector system, multi-freedom Mechanism, sense of touch present system, protection system; and general control system--three-dimensional imaging microprocessor; described attitude detector system, multi-freedom Mechanism, sense of touch are presented system, protection system and are connected by bus interface respectively with between three-dimensional imaging microprocessor, by radiofrequency signal wireless connections between 3-D imaging system and three-dimensional imaging microprocessor.
The invention is characterized in, described CAD system with the process modeling of virtual three dimensional space, the realization of Collision detection, and by information transmission to three-dimensional imaging microprocessor.
The invention is characterized in, described 3-D imaging system receives positional information from three-dimensional imaging microprocessor and shape information, and the motion bar controlling touch-control renderer stretches, and forms definite shape.
The invention is characterized in, described 3-D imaging system comprises control module and sense of touch renderer.
The invention is characterized in, described sense of touch renderer comprises covering 3-1, motion bar 3-2, bootstrap block 3-3, described in draw together covering 3-1 be changeableness material; Described motion bar 3-2 is connected with cylinder or hydraulic cylinder; Motion bar 3-2 top with draw together covering 3-1 and contact, motion bar 3-2 top can form the enveloping surface of definite shape.
Of the present invention levying is, the pressure of the cylinder that the motion bar 3-2 of described sense of touch renderer connects or hydraulic cylinder controls by the control module of 3-D imaging system, and can convert pressure to electric signal transmission to control module.
The invention is characterized in, described motion bar 3-2 top is spherical.
The invention is characterized in, described 3-D imaging system is wear-type three-dimensional imaging instrument.
The invention is characterized in, described multi-freedom Mechanism is multi-freedom robot, and robot hand is installed sense of touch and presented system.
The invention is characterized in, described attitude detector system comprises video camera, shape recognition sensor, position transducer, motion sensor, and it detects the movement of user.
The invention is characterized in, shape and the position of the shape of described sense of touch renderer and position and imaging in Virtual Space, 3-D imaging system place overlap.
The invention is characterized in, the position of the object that described sense of touch renderer will touch in Virtual Space user represents the shape of this position.
Accompanying drawing explanation
Fig. 1 is the principle of work and power schematic diagram of the specific embodiment of the invention.
Fig. 2 is the high-level schematic functional block diagram of the specific embodiment of the invention.
Fig. 3 is the flat state of the sense of touch renderer in the specific embodiment of the invention.
Fig. 4 is the curved surface state of the sense of touch renderer in the specific embodiment of the invention.
Fig. 5 is the motion bar 3-2 top figure in the specific embodiment of the invention.
In figure: 1 user; 2 wear-type three-dimensional imaging instruments; 3 sense of touch renderers; 3-1 covering; 3-2 motion bar; 3-3 bootstrap block; 4 virtual images; 5 attitude detector systems; 6 multi-freedom robots.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
An example of the present invention is described: as shown in the figure; a kind of threedimensional haptic system of the present invention comprises CAD system, 3-D imaging system, attitude detector system, multi-freedom Mechanism, sense of touch present system, protection system, and general control system--the systems such as three-dimensional imaging microprocessor.
Three-dimensional imaging microprocessor radios to 3-D imaging system by after the three-dimensional information process of CAD system by radiofrequency signal, and the wear-type three-dimensional imaging instrument of 3-D imaging system launches image on the retina of user 1.Three-dimensional wear-type imager can be that object of reference presents three-dimensional image with user, such as, in real scene, people (user) has a desk at the moment, and people can visually see it, it is touched with hand, have certain distance perspective to desk, this distance perspective is really present in the life of people in true environment; People (user) desk is at the moment removed, the broad plane of now just standing with people's pin before human eye, afterwards, people (i.e. user) puts on wear-type three-dimensional imaging instrument 2, user can present a virtual desk at the moment and (comprise all images occurred in other real scene, the shadow of people such as produced due to light and the shadow of desk), for virtual desk, people can visually see it, and there is certain distance perspective to desk, but go to touch can not touch it with hand.
User carries out action according to the wish of oneself and 3-dimensional image.
Attitude detector system 5 detector detection user action, analyze the information such as its shape, position and movement tendency, and by information through data bus transmission to three-dimensional imaging microprocessor.
The data that attitude detector system 5 transmits by three-dimensional imaging microprocessor and CAD system comparison, analysis, be transferred to multi-freedom robot 6, by the information transmission such as shape and position to sense of touch renderer 3 by movement tendency and positional information etc.
Data Control self posture that multi-freedom robot 6 transmits according to three-dimensional imaging microprocessor, Data Control cylinder or the hydraulic cylinder action such as shape and position that sense of touch renderer 3 transmits according to three-dimensional imaging microprocessor, make motion bar 3-2 telescopic moving, make covering 3-1 present certain shape.Shape and the position of the shape of the covering 3-1 of such sense of touch renderer and position and imaging in Virtual Space, 3-D imaging system place overlap, thus make user can see in a non-existent scene object again can really earnestly touch object.
The above example is the function that sense of touch presents.
Below introduce another example of the present invention.The change of sense of touch renderer 3 is with the difference of a upper example.
The power that sense of touch renderer 3 can apply thereon according to user changes shape, and also different with position difformity according to the size of power, namely the shape that the face that force application object contacts with sense of touch renderer 3 is inswept is the shape of sense of touch renderer 3.
In addition, above-mentioned embodiment is contained in scope of invention and purport, and is also contained in the invention recorded in claims and the scope be equal to it.
Claims (10)
1. a threedimensional haptic system; comprise CAD system, 3-D imaging system, attitude detector system, multi-freedom Mechanism, sense of touch present system, protection system; and general control system--three-dimensional imaging microprocessor; described attitude detector system, multi-freedom Mechanism, sense of touch are presented system, protection system and are connected by bus interface respectively with between three-dimensional imaging microprocessor, by radiofrequency signal wireless connections between 3-D imaging system and three-dimensional imaging microprocessor.
2. a kind of threedimensional haptic system according to claim 1, is characterized in that, described CAD system with the process modeling of virtual three dimensional space, the realization of Collision detection, and by information transmission to three-dimensional imaging microprocessor.
3. a kind of threedimensional haptic system according to claim 1, is characterized in that, described 3-D imaging system receives positional information from three-dimensional imaging microprocessor and shape information, and the motion bar controlling touch-control renderer stretches, and forms definite shape.
4. a kind of threedimensional haptic system according to claim 1, is characterized in that, described 3-D imaging system comprises control module and sense of touch renderer.
5. a kind of threedimensional haptic system according to claim 4, is characterized in that, described sense of touch renderer comprises covering 3-1, motion bar 3-2, bootstrap block 3-3, described in draw together covering 3-1 be changeableness material; Described motion bar 3-2 is connected with cylinder or hydraulic cylinder; Motion bar 3-2 top with draw together covering 3-1 and contact, motion bar 3-2 top can form the enveloping surface of definite shape.
6. a kind of threedimensional haptic system according to claim 1, is characterized in that, described 3-D imaging system is wear-type three-dimensional imaging instrument.
7. a kind of threedimensional haptic system according to claim 1, is characterized in that, described multi-freedom Mechanism is multi-freedom robot, and robot hand is installed sense of touch and presented system.
8. a kind of threedimensional haptic system according to claim 1, is characterized in that, described attitude detector system comprises video camera, shape recognition sensor, position transducer, motion sensor, and it detects the movement of wearer.
9. a kind of threedimensional haptic system according to claim 1, is characterized in that, shape and the position of the shape of described sense of touch renderer and position and imaging in Virtual Space, 3-D imaging system place overlap.
10. a kind of threedimensional haptic system according to claim 1 and 10, is characterized in that, the position of the object that described sense of touch renderer will touch in Virtual Space user represents the shape of this position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510194364.2A CN104820492A (en) | 2015-04-23 | 2015-04-23 | Three-dimensional haptic system |
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| CN201510194364.2A CN104820492A (en) | 2015-04-23 | 2015-04-23 | Three-dimensional haptic system |
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| CN104820492A true CN104820492A (en) | 2015-08-05 |
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| CN201510194364.2A Pending CN104820492A (en) | 2015-04-23 | 2015-04-23 | Three-dimensional haptic system |
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Cited By (3)
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| WO2017143432A1 (en) * | 2016-02-24 | 2017-08-31 | Squair Bruce | Interactive haptic system for virtual reality environment |
| CN108615288A (en) * | 2018-04-28 | 2018-10-02 | 东莞市华睿电子科技有限公司 | A kind of unlocking control method based on Identification of Images |
| EP3462281A1 (en) * | 2017-09-27 | 2019-04-03 | Siemens Aktiengesellschaft | Technique for dynamically transforming a physical environment of a user to emulate a virtual environment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017143432A1 (en) * | 2016-02-24 | 2017-08-31 | Squair Bruce | Interactive haptic system for virtual reality environment |
| EP3462281A1 (en) * | 2017-09-27 | 2019-04-03 | Siemens Aktiengesellschaft | Technique for dynamically transforming a physical environment of a user to emulate a virtual environment |
| CN108615288A (en) * | 2018-04-28 | 2018-10-02 | 东莞市华睿电子科技有限公司 | A kind of unlocking control method based on Identification of Images |
| CN108615288B (en) * | 2018-04-28 | 2020-12-01 | 东莞市华睿电子科技有限公司 | Unlocking control method based on portrait recognition |
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