CN106406540A - Posture sensing device and virtual reality system - Google Patents
Posture sensing device and virtual reality system Download PDFInfo
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- CN106406540A CN106406540A CN201610899643.3A CN201610899643A CN106406540A CN 106406540 A CN106406540 A CN 106406540A CN 201610899643 A CN201610899643 A CN 201610899643A CN 106406540 A CN106406540 A CN 106406540A
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- 238000000034 method Methods 0.000 claims description 32
- 230000008569 process Effects 0.000 claims description 32
- 238000012360 testing method Methods 0.000 claims description 18
- 238000004422 calculation algorithm Methods 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 5
- 230000004913 activation Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 3
- 230000008859 change Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
- Position Input By Displaying (AREA)
Abstract
The invention discloses a posture sensing device and a virtual reality system. The posture sensing device comprises a sensor module, a sensor center, a microcontroller and a connector integrated on one circuit board; the posture sensing device is connected to a main board of equipment to be detected via the connector; the sensor module acquires original posture data of the equipment to be detected in real time, the sensor center transforms the original posture data into three-dimensional posture data, and the microcontroller sends the original posture data and the three-dimensional posture data to the equipment to be detected via the connector, thus relieving the burden of a processor on the main board of the equipment to be detected and saving processing resources; and the modularized posture sensing device is convenient to adjust and change at any time according to needs.
Description
Technical field
The present invention relates to technical field of virtual reality is and in particular to a kind of attitude sensing device and a kind of virtual reality system
System.
Background technology
With the fast development of virtual reality technology, occur in that various virtual reality products.Using virtual implementing helmet
During equipment, it usually needs know its orientation mode, to meet the application demands such as head movement tracking.
In order to realize above-mentioned functions, existing solution is：Various sensors (Sensor) are integrated in virtual reality
On the mainboard of the helmet, and all of sensor is connected respectively to the microcontroller (MCU) of virtual implementing helmet.Using various biographies
Sensor gather initial data, then by microcontroller inquire about each sensor go forward side by side line algorithm process.
All of sensor and related microcontroller are all integrated in the master of virtual implementing helmet by existing solution
On plate, the species of sensor is more, and each sensor is required for microcontroller and is targetedly programmed processing, and controls multiple
Miscellaneous；Microprocessor needs to process the mass data from various sensors, occupies the more process resource of microprocessor, makes former
The nervous microprocessor of this resource reduce further treatment effeciency；It is limited to the performance of controller simultaneously, sensor itself
Characteristic nor fully played.If the microcontroller using higher performance then can greatly increase the cost of product, and
And caloric value also can accordingly increase with power consumption, it is unfavorable for Consumer's Experience.
On the other hand, sensor and related microcontroller are all integrated on the mainboard of virtual implementing helmet, work as sensor
The Attitude Algorithm of the accuracy of gathered data or employing can not meet during the demand of user it is difficult to being adjusted or changing；Right
Do not have some of built-in sensors to wear display device in script, be not easy to carry out functions expanding yet, limit making of sensor
With.
Content of the invention
The invention provides a kind of attitude sensing device and a kind of virtual reality system, to solve at present by all of sensing
Device and related microcontroller are integrated on the mainboard of virtual implementing helmet, can increase the processor on virtual implementing helmet mainboard
Burden, and be unfavorable for according to user's request adjust virtual implementing helmet in sensor and related algorithm, limit sensing
The problem that device uses.
According to an aspect of the present invention, the invention provides a kind of attitude sensing device, including being integrated in one piece of circuit
On plate, the sensor module, sensor center, microcontroller and the adapter that are sequentially connected；Described attitude sensing device passes through
Described adapter is connected to the mainboard of Devices to test；
Described sensor module, for the raw pose data of Devices to test described in Real-time Collection, and by original attitude number
According to being sent to described sensor center；
Described sensor center, for the raw pose data receiving is transformed to 3 d pose data, and will be described
3 d pose data and described raw pose data send jointly to described microcontroller；
Described microcontroller, for by described adapter by described raw pose data and described 3 d pose data
It is sent to described Devices to test.
According to another aspect of the present invention, the invention provides a kind of virtual reality system, including main frame, virtual reality
The helmet and above-mentioned attitude sensing device；
Described attitude sensing device is fixed on described virtual implementing helmet, with the motion of described virtual implementing helmet,
And described main frame is connected to by adapter thereon；Described main frame connects described virtual implementing helmet；
Described attitude sensing device measures the original attitude number of described virtual implementing helmet using sensor module thereon
According to, using sensor center thereon, described raw pose data is transformed to 3 d pose data, and using micro-control thereon
Described 3 d pose data and described raw pose data are sent jointly to described main frame by described adapter by device processed；
Described main frame does to associated picture and deforms according to the described 3 d pose data receiving and described raw pose data
Process, and the image after deformation process is sent to described virtual implementing helmet, by the display device of described virtual implementing helmet
Shown.
The invention has the beneficial effects as follows：Attitude sensing device provided in an embodiment of the present invention is by sensor module, sensor
Maincenter, microcontroller and adapter are sequentially connected and are integrated on one piece of circuit board, by the master of adapter and Devices to test
Plate is connected, sensor module Real-time Collection raw pose data, and raw pose data is transformed to 3 d pose by sensor center
Data, microcontroller passes through adapter by raw pose data and 3 d pose data is activation to Devices to test, alleviates and treats
The burden of the processor of the mainboard of measurement equipment, saves process resource, and modular attitude sensing device also allows for as needed
It is adjusted at any time and change.
In virtual reality system provided in an embodiment of the present invention, attitude sensing device provided in an embodiment of the present invention is installed
It is fixed in virtual implementing helmet, obtains attitude data be sent to main frame using this attitude sensing device, by main frame according to connecing
The attitude data received does deformation process to associated picture, and the image after deformation process is sent to described virtual implementing helmet
Display device is shown, alleviates the burden of the processor of virtual implementing helmet, saves process resource, and also reduces
Power consumption；Meanwhile, eliminate the process that Attitude Algorithm is done on the processor of virtual implementing helmet, make the process of acquisition attitude data
Virtual implementing helmet need not be relied on, reduce the difficulty of virtual reality products exploitation, accelerate the paces of launch.
Brief description
Fig. 1 is a kind of functional block diagram of attitude sensing device that one embodiment of the invention provides；
Fig. 2 is a kind of main circuit schematic diagram of attitude sensing device that one embodiment of the invention provides；
Fig. 3 is a kind of structured flowchart of virtual reality system that one embodiment of the invention provides.
Specific embodiment
The design concept of the present invention is：Current virtual implementing helmet is all by various sensor integration on mainboard, profit
Control each sensor with the processor on mainboard, obtain data from sensor and be transformed to 3 d pose data, on mainboard
Processor need to process substantial amounts of data, occupy substantial amounts of process resource, be also not easy to kind of sensor and quantity
Adjustment.For this situation, the present invention, by various sensor integration to one piece of independent circuit board, can pass through adapter and void
The mainboard intending the real helmet is connected, and integrated sensor maincenter on the board, the control of responsible sensor and attitude number
According to conversion, alleviate the burden of the processor on virtual implementing helmet mainboard, save process resource, modular attitude passes
Induction device also allows for being adjusted at any time as needed and changing.
Embodiment one
Fig. 1 is a kind of functional block diagram of attitude sensing device that one embodiment of the invention provides, referring to Fig. 1, this enforcement
Sensor module 110 that the attitude sensing device that example provides includes being sequentially connected, sensor center (Sensor Hub) 120, micro-
Controller 130 and adapter 140.
Sensor module 110, sensor center 120, microcontroller 130 and adapter 140 are integrated in one piece of circuit board
On, the mainboard of Devices to test, the function of extension Devices to test is may be coupled to by adapter 140.
After the raw pose data of sensor module 110 Real-time Collection Devices to test, sensor center 120 utilizes built-in
Original attitude data is transformed to 3 d pose data by quick nine axle Attitude Algorithms, and microcontroller 130 passes through adapter 140 will
Raw pose data and 3 d pose data is activation are to Devices to test.For Devices to test, when the attitude sensing of the present embodiment
After device is connected on its mainboard, it is functionally equivalent to be directly integrated on mainboard, therefore attitude sensing device does not need
Extra foundation with Devices to test or its host computer is connected the control program it is not required that complexity；It is integrated with attitude sensing device
Sensor center 120, can complete the process to raw pose data, directly generate 3 d pose data, save Devices to test
The process resource of the processor on mainboard, and the power consumption of sensor center is relatively low, caloric value is also little it is provided that more preferable use
Family is experienced.
Preferably, the sensor module 110 in the present embodiment includes three-axis gyroscope 111, three axis accelerometer 112, three
Axle magnetometer 113.Three-axis gyroscope 111 is used for measuring rotational angular velocity, and three axis accelerometer 112 is used for measuring acceleration, and three
Axle magnetometer 113 is used for measuring the component of 3 orthogonal directions of current spatial magnetic direction, and the data recording is as original attitude
Data.
It is further preferred that the sensor module 110 in the present embodiment also includes the thermometer for gathering ambient temperature
114, sensor center 120 corrects the raw sensory number of sensor module 110 collection according to the temperature value that thermometer 114 gathers
According to, for example the angular velocity of three-axis gyroscope 113 therein collection is corrected, thus the temperature to 3 d pose data for the realization
Compensate, it is to avoid ambient temperature produces interference to attitude data.
Fig. 2 is a kind of main circuit schematic diagram of attitude sensing device that one embodiment of the invention provides, referring to Fig. 2,
Triaxial magnetometer U3, three-axis gyroscope U4 and three axis accelerometer U5 are connected in sensor respectively by way of iic bus
The input port of pivot U2, sensor center U2 passes through iic bus from triaxial magnetometer U3, three-axis gyroscope U4 and 3-axis acceleration
After meter U5 acquisition magnetic direction, angular velocity, the raw pose data of acceleration, will be former using built-in quick nine axle Attitude Algorithms
Beginning attitude data is transformed to represent 3 d pose data with quaternary number, Eulerian angles.
The output port of sensor center U2 is connected to microcontroller U1, microcontroller again by the mode of iic bus
U1 passes through iic bus after sensor center U2 obtains raw pose data and 3 d pose data, by adapter J2 to
Processor on Devices to test mainboard sends interrupt requests, and the processor on mainboard just suspends currently after receiving interrupt requests
In the program of execution, receive raw pose data and the 3 d pose data that microcontroller U1 is sent, data by adapter J2
Processor on mainboard after finishing receiving continues executing with the program being originally suspended.Processor on mainboard does not need to inquire about
The state of attitude sensing device, when attitude data is not yet ready for, the processor on mainboard can execute other programs and not
It is circular wait, save time and the process resource of processor.
Adapter J2 can be selected for Micro USB connector, and Micro USB is easy-to-use, and size is little, is easy to attitude sensing dress
Put and be connected with Devices to test.
Embodiment two
Fig. 3 is a kind of structured flowchart of virtual reality system that one embodiment of the invention provides, referring to Fig. 3, this enforcement
The virtual reality system that example provides includes：Including the attitude sensing in main frame 310, virtual implementing helmet 320 and embodiment one
Device 330.Attitude sensing device 330 is fixed on virtual implementing helmet 320, moves with virtual implementing helmet 320, and leads to
The adapter crossed thereon is connected to the mainboard of virtual implementing helmet 320.
Attitude sensing device 330 gathers the raw pose data of virtual implementing helmet 320 using sensor module thereon,
Using sensor center thereon, raw pose data is transformed to 3 d pose data, and is passed through using microcontroller thereon
3 d pose data and raw pose data are sent jointly to main frame 310 by adapter.Main frame 310 is according to the 3 d pose receiving
Data and raw pose data do deformation process to associated picture, and the image after deformation process is sent to virtual implementing helmet
320, shown by the screen of virtual implementing helmet 320.
Virtual reality system in the present embodiment can be the virtual reality system of integral type, will main frame 310 be integrated in
In virtual implementing helmet 320, the equipment of for example existing virtual reality all-in-one or " mobile phone+virtual reality glasses box ".At present
Most of smart mobile phone all possesses Micro USB interface, and the adapter of therefore attitude sensing device 330 can be selected for Micro USB
Adapter, size is little, is easy to connect.
The space of Installation posture sensing device 330 can be reserved in virtual implementing helmet 320, virtual existing needing to obtain
During the attitude information of the real helmet 320, attitude sensing device 330 is installed to corresponding position, for script, there is no monitoring appearance
The Simple head-worn display device of the function of state is it is also possible to easily carry out Function Extension.
Virtual reality system in the present embodiment can also be split type virtual reality system, and main frame 310 passes through wired
Mode or wirelessly connect virtual implementing helmet 320.
Wired connection mode：It is connected with a video signal cable and a control between virtual implementing helmet 320 and main frame 310
Holding wire processed, virtual implementing helmet 320 passes through control signal wire and sends anamorphose process instruction to main frame 310, and main frame 310 leads to
Cross video signal cable and the image after deformation process is sent to virtual implementing helmet 320.
Radio connection：Virtual implementing helmet 320 wirelessly sends anamorphose process instruction to main frame 310
And 3 d pose data, main frame 310 wirelessly reception processing instruction and 3 d pose data, after deformation process
Image be sent to virtual implementing helmet 320.
Integrated sensor center in attitude sensing device 330 replaces the processor in virtual implementing helmet 320 to complete
Control to various sensors and the task of 3 d pose data conversion, alleviate virtual implementing helmet 320 processor negative
Load, saves process resource, and also reduces power consumption, also eliminate simultaneously and do on the processor of virtual implementing helmet 320
The process of Attitude Algorithm, makes the process of acquisition attitude data need not rely on virtual implementing helmet 320, reduces the difficulty of exploitation,
Accelerate the paces of launch.
The above, the only specific embodiment of the present invention, under the above-mentioned teaching of the present invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of above-described embodiment.It will be understood by those skilled in the art that above-mentioned tool
The purpose of the present invention is simply preferably explained in body description, and protection scope of the present invention should be defined by scope of the claims.
Claims (10)
1. a kind of attitude sensing device is it is characterised in that include the sensor die being integrated on one piece of circuit board, being sequentially connected
Group, sensor center, microcontroller and adapter；Described attitude sensing device is connected to Devices to test by described adapter
Mainboard；
Described sensor module, for the raw pose data of Devices to test described in Real-time Collection, and raw pose data is sent out
Give described sensor center；
Described sensor center, for being transformed to 3 d pose data by the raw pose data receiving, and by described three-dimensional
Attitude data and described raw pose data send jointly to described microcontroller；
Described microcontroller, for by described adapter by described raw pose data and described 3 d pose data is activation
To described Devices to test.
2. attitude sensing device as claimed in claim 1 it is characterised in that described sensor module include three-axis gyroscope,
Three axis accelerometer, triaxial magnetometer；
Described three-axis gyroscope, for measuring rotational angular velocity；
Described three axis accelerometer, for measuring acceleration；
Described triaxial magnetometer, for measuring the component of 3 orthogonal directions of current spatial magnetic direction.
3. attitude sensing device as claimed in claim 2 it is characterised in that
Described three-axis gyroscope, three axis accelerometer and triaxial magnetometer are connected to described biography respectively by way of iic bus
The input port of sensor maincenter；
Described sensor center is passed through iic bus and is obtained angle from described three-axis gyroscope, three axis accelerometer and triaxial magnetometer
After speed, acceleration, the raw pose data of magnetic direction, using built-in quick nine axle Attitude Algorithms by described original attitude
Data is transformed to 3 d pose data.
4. attitude sensing device as claimed in claim 3 is it is characterised in that described sensor module is also included for gathering ring
The thermometer of border temperature；Described sensor center be additionally operable to according to described thermometer collection temperature value to described 3 d pose number
According to carrying out temperature drift compensation.
5. attitude sensing device as claimed in claim 4 is it is characterised in that the output port of described sensor center passes through
The mode of iic bus is connected to described microcontroller；
Described microcontroller passes through iic bus and obtains described raw pose data and described 3 d pose from described sensor center
After data, by described adapter to be sent to described Devices to test by way of interrupting.
6. attitude transducer as claimed in claim 5 is it is characterised in that described adapter is MicroUSB adapter.
7. a kind of virtual reality system, including main frame, virtual implementing helmet and the appearance as described in any one of claim 1-6
State sensing device；
Described attitude sensing device is fixed on described virtual implementing helmet, with the motion of described virtual implementing helmet, and leads to
The adapter crossed thereon is connected to described main frame；Described main frame connects described virtual implementing helmet；
Described attitude sensing device measures the raw pose data of described virtual implementing helmet, profit using sensor module thereon
With sensor center thereon, described raw pose data is transformed to 3 d pose data, and is led to using microcontroller thereon
Cross described adapter and described 3 d pose data and described raw pose data are sent jointly to described main frame；
Described main frame does deformation process according to the described 3 d pose data receiving and described raw pose data to associated picture,
And the image after deformation process is sent to described virtual implementing helmet, shown by the display device of described virtual implementing helmet
Show.
8. virtual reality system as claimed in claim 7 is it is characterised in that described main frame is integrated in described virtual implementing helmet
In.
9. virtual reality system as claimed in claim 7 is it is characterised in that between described virtual implementing helmet and described main frame
It is connected with a video signal cable and a control signal wire；
Described virtual implementing helmet sends anamorphose process instruction by described control signal wire to described main frame；
Image after deformation process is sent to described virtual implementing helmet by described video signal cable by described main frame.
10. virtual reality system as claimed in claim 7 is it is characterised in that the wireless connection of described virtual implementing helmet is described
Main frame；
Described virtual implementing helmet wirelessly sends anamorphose process instruction and described 3 d pose to described main frame
Data, and wirelessly receive the image after the deformation process that described main frame sends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610899643.3A CN106406540B (en) | 2016-10-14 | 2016-10-14 | Gesture sensing device and virtual reality system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610899643.3A CN106406540B (en) | 2016-10-14 | 2016-10-14 | Gesture sensing device and virtual reality system |
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| CN106406540A true CN106406540A (en) | 2017-02-15 |
| CN106406540B CN106406540B (en) | 2024-06-18 |
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| WO2022061495A1 (en) * | 2020-09-22 | 2022-03-31 | 深圳市大疆创新科技有限公司 | Parameter calibration method and apparatus, and mobile platform |
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| CN106406540B (en) | 2024-06-18 |
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