CN108304000B - Real-time VR system of cloud platform - Google Patents
Real-time VR system of cloud platform Download PDFInfo
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- CN108304000B CN108304000B CN201711031112.3A CN201711031112A CN108304000B CN 108304000 B CN108304000 B CN 108304000B CN 201711031112 A CN201711031112 A CN 201711031112A CN 108304000 B CN108304000 B CN 108304000B
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- 238000012544 monitoring process Methods 0.000 claims description 9
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- 210000003128 head Anatomy 0.000 description 39
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/017—Head mounted
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72406—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by software upgrading or downloading
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/017—Head mounted
- G02B2027/0178—Eyeglass type
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Abstract
The invention relates to a real-time VR system of a cradle head, which is characterized by comprising a binocular camera, a triaxial cradle head, a smart phone, VR glasses, a system power supply and an industrial computer; the three-axis cradle head is provided with three degrees of freedom and comprises a single chip microcomputer, a tray, three shafts, a motor drive and a hollow cup motor, wherein the three shafts are directly or indirectly connected with the tray, the single chip microcomputer is connected with the hollow cup motor through the motor drive, the single chip microcomputer, the motor drive and the hollow cup motor are directly or indirectly connected to the tray, the single chip microcomputer is a control center of the whole three-axis cradle head, and an output port of the single chip microcomputer is connected with an enabling end of the motor drive; the binocular camera is fixedly arranged on a tray of the triaxial holder; the industrial computer is in serial communication with the singlechip on the triaxial holder; the industrial computer is connected with the binocular camera simultaneously, the industrial computer is connected with the smart phone through the built local area network, the smart phone is placed on the VR glasses, the VR glasses are worn by users, and the VR APP is installed on the smart phone.
Description
Technical Field
The invention belongs to the technical field of virtual reality, in particular to a real-time VR system of a cradle head, which can realize panoramic VR by using the cradle head and can share returned images.
Background
At present, most VR belongs to demonstration, panoramic images are shot by using a panoramic camera and then spliced by using a related algorithm, a spherical image is formed and then is brought into a viewing angle, and the VR does not have real-time performance and has limited freedom degree, because a user has gesture freedom degree but has no position freedom degree. There are patents related to panoramic VR in China, such as CN206149332U, still using panoramic cameras, or using multiple cameras, the quality problem of mass data transmission and huge bandwidth occupation are not yet solved effectively. The panoramic VR technology still has a plurality of difficulties in the development process, is limited by the computing power and the transmission bandwidth, has very high input cost, is unacceptable to most users, and has the data utilization rate of about 14.67% of the image of the traditional panoramic VR under the condition that the viewing angle of a contracted person is 90 degrees, so that great waste is caused. At present, there is a strong demand for real-time VR in the live and tourism industries, and research on a novel VR system capable of significantly reducing cost and bandwidth limitation is urgently needed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to solve the technical problems that: the camera is controlled by a single user, the viewing angle of the camera is combined by the cradle head to change along with the viewing angle of human eyes in real time, the real-time panoramic VR effect is achieved, the transmitted VR images can be shared by other users, the cradle head real-time VR equipment can be shared by a plurality of users through the Internet, and the problems of low degree of freedom, high occupied bandwidth and relatively high cost in the prior art are solved.
The technical scheme adopted for solving the technical problems is as follows: the real-time VR system of the cloud deck is characterized by comprising a binocular camera, a triaxial cloud deck, a smart phone, VR glasses, a system power supply and an industrial computer; the three-axis cradle head is provided with three degrees of freedom and comprises a single chip microcomputer, a tray, three shafts, a motor drive and a hollow cup motor, wherein the three shafts support the tray, the single chip microcomputer is connected with the hollow cup motor through the motor drive, the single chip microcomputer, the motor drive and the hollow cup motor are all fixed on the tray, the single chip microcomputer is a control center of the whole three-axis cradle head, and an output port of the single chip microcomputer is connected with an enabling end of the motor drive; the binocular camera is fixedly arranged on the tray of the triaxial holder, and can move along with the movement of the tray of the triaxial holder; the industrial computer is in serial communication with the singlechip on the triaxial holder; the industrial computer is connected with the binocular camera at the same time, video images collected by the binocular camera are transmitted back to the industrial computer through the data line, and the industrial computer supplies power to the binocular camera through the data line; the industrial computer is connected with the smart phone through the built local area network, the smart phone is placed on the VR glasses, the VR glasses are worn by a user, and the VR APP is installed on the smart phone; the system power supply supplies power to the whole system; an image distortion correction algorithm is loaded in the industrial computer;
the program flow of the VR APP in the smart phone is as follows: first entering into the calibration interface: initializing a control, binding a gyroscope of the smart phone, acquiring three-dimensional real-time position information of the gyroscope, starting button monitoring events, namely judging standard conditions, starting a second picture when yaw angle data of the gyroscope of the smart phone is between 70 and 190 and pitch angle data of the gyroscope is between 70 and 90, entering a VR viewing interface, and successfully calibrating;
then enter VR viewing interface: initializing a control, binding a gyroscope and acceleration, starting a screen monitoring event and a UI updating thread; acquiring gyroscope data and acceleration data information of the smart phone, correcting posture information of the smart phone, and transmitting the posture information of the smart phone through a socket process; simultaneously starting two processes, namely a process of acquiring right camera data of the binocular camera by an HTTP request and a process of acquiring left camera data of the binocular camera by the HTTP request, acquiring video information of the left camera and the right camera of the binocular camera by a network request, wherein the process of acquiring right camera data of the binocular camera by the HTTP request, acquiring left camera data of the binocular camera by the HTTP request and transmitting mobile phone gesture information by a socket process form a screen monitoring event of a VR viewing interface; and then dividing the UI interface of the mobile phone into two areas which are uniform in left and right, and starting a UI updating thread through a handle video signal acquisition instruction so that the left and right areas respectively display images of the left and right cameras.
Compared with the prior art, the invention has the beneficial effects that:
(1) The real-time VR system of the cradle head mainly comprises a binocular camera, a triaxial cradle head, a smart phone and VR glasses. The system adopts the left camera and the right camera of the binocular camera to acquire binocular videos, and changes along with the visual angle of human eyes in real time by utilizing the three-axis cradle head to combine the visual angle of the cameras, so that the real-time panoramic VR effect is realized. The industrial computer puts the video on a network port of the industrial computer, and can be accessed or downloaded by other devices to realize one-to-many video real-time sharing. Compared with panorama VR of 360 degrees, the panoramic VR has the advantages of low bandwidth requirement and low cost, can well solve the problems of video quality reduction, cost improvement and the like caused by bandwidth and cost limitation, and has good user experience.
(2) The VR video in the invention adopts a self-designed algorithm: two videos of two cameras about with the binocular camera are put in two screen areas of tiling about in VR APP, the cell-phone screen is averagely divided into two parts, left side places the image that left side camera passed back, right side place the image that right side camera passed back, and carry out basic image distortion correction processing, do not need to adopt the video file of synthetic 360 degrees in the 360 panorama VR, put into the VR glasses with the smart mobile phone, utilize VR APP to acquire mobile phone gesture data, change along with the head visual angle in real time through the visual angle of control messenger's camera, realize real-time panorama VR effect, obtain real user experience. The image data utilization rate is effectively improved, and compared with the conventional panoramic VR, the image data utilization rate is about seven times of that of the conventional panoramic VR under the condition that the viewing angle of a contracted person is 90 degrees.
(3) According to the invention, the VR APP obtains gyroscope data of a gyroscope of the smart phone, so that the gesture of the smart phone is obtained, the gesture of the smart phone represents the state of the head, namely the change condition of the head visual angle, and the gesture is sent to the singlechip through a network, so that the tray of the triaxial holder is driven to rotate, the visual angle of the camera is synchronously changed, the visual angle of the camera is changed in real time along with the visual angle of human eyes, the real-time panoramic VR effect is realized, and the utilization rate of image data is effectively improved.
(4) The cloud deck real-time VR system is suitable for scenes such as scenic spot sightseeing, live broadcasting and the like. The wireless base station and the server can be built in the scenic spot center, a user accesses the server through the VR APP by using the Internet, and the mounted three-axis cradle head and the binocular camera are controlled to carry out online sightseeing and timing payment, so that the wireless base station and the server are brand-new Internet business modes and have good popularization prospects.
Drawings
Fig. 1 is an overall block diagram of an embodiment of a real-time VR system for a pan/tilt head of the present invention.
Fig. 2 is a block diagram of a three-axis cradle head according to an embodiment of the cradle head real-time VR system of the present invention.
Fig. 3 is a schematic diagram of a VR APP calibration interface and a VR viewing interface in a smart phone with a cradle head real-time VR system of the present invention.
Fig. 4 is a schematic diagram of a placement position between VR glasses and a smart phone of the real-time VR system of the cradle head of the present invention.
Fig. 5 is a program flow chart of VR APP in a smart phone of the cradle head real-time VR system of the present invention.
In the figure, a binocular camera 1, a triaxial holder 2, a smart phone 3, a pair of 4VR glasses, a pair of 5 industrial computers and a system power supply 6; 21 singlechip, 22 hollow cup motor, 23 motor drive.
Detailed Description
The invention is further illustrated in the following figures and examples, which are not intended to limit the scope of the claims of the present application.
The cradle head real-time VR system (abbreviated as system, see figure 1-2) of the invention comprises a binocular camera 1, a triaxial cradle head 2, a smart phone 3, VR glasses 4, a system power supply 6 and an industrial computer 5; the three-axis tripod head 2 has three degrees of freedom and comprises a single chip microcomputer 21, a tray, three shafts, a motor drive 23 and a hollow cup motor 22, wherein the three shafts support the tray, the single chip microcomputer 21 is connected with the hollow cup motor 22 through the motor drive 23, the single chip microcomputer 21, the motor drive 23 and the hollow cup motor 22 are all fixed on the tray, the single chip microcomputer is a control center of the whole three-axis tripod head, an output port of the single chip microcomputer is connected with an enabling end of the motor drive 23, and the single chip microcomputer sends signals to the motor drive so as to drive the hollow cup motor and control rotation of the three shafts of the three-axis tripod head; the binocular camera 1 is placed on a tray of the triaxial holder and is rigidly connected through screws and nuts, and the binocular camera can move along with the movement of the tray of the triaxial holder, so that the visual angle of the binocular camera is changed; the industrial computer 5 is in serial communication with the single chip microcomputer on the three-axis holder, and sends corresponding instruction information to the single chip microcomputer on the three-axis holder through the industrial computer, and the single chip microcomputer controls the tray of the three-axis holder to achieve a movement effect; the industrial computer is connected with the binocular camera at the same time, video images collected by the binocular camera are transmitted back to the industrial computer through the data line, and the industrial computer supplies power to the binocular camera through the data line so as to provide stable electric energy for normal operation of the binocular camera; the industrial computer is connected with the smart phone 3 through the built local area network, the smart phone 3 is placed on VR glasses, the VR glasses are worn by a user, the functions of fixing the smart phone and putting in videos are achieved, and the VR APP is installed on the smart phone 3; the industrial computer and the smart phone are connected into the local area network, so that video images transmitted back by the binocular camera are processed by the industrial computer and then video streams are transmitted to a network port through the local area network; the intelligent mobile phone starts the VR APP, enters the video interface, maps the video image on the VR APP interface to human eyes, and can obtain the real-time image transmitted back by the current binocular camera; the system power supply 6 supplies power to the whole system; the industrial computer is internally loaded with an image distortion correction algorithm. The industrial computer performs basic image distortion correction processing on the acquired video image; the industrial computer transmits the processed image data to a data port of a router through a network, and provides an access interface of the VR APP and video browsing.
The program flow of the VR APP in the smart phone is as follows: (1) calibration interface: initializing a control, binding a gyroscope of the smart phone, acquiring three-dimensional real-time position information of the gyroscope, starting button monitoring events, namely judging standard conditions, starting a second picture when yaw angle data of the gyroscope of the smart phone is 170-190 and pitch angle data of the gyroscope is 70-90, entering a VR viewing interface, and successfully calibrating; (2) VR viewing interface: initializing a control, binding a gyroscope and acceleration, starting a screen monitoring event and a UI updating thread; acquiring gyroscope data and acceleration data information of the smart phone, correcting posture information of the smart phone, and transmitting the posture information of the smart phone through a socket process; simultaneously starting two processes, namely a process of acquiring right camera data of the binocular camera by an HTTP request and a process of acquiring left camera data of the binocular camera by the HTTP request, acquiring video information (video streams) of the left camera and the right camera of the binocular camera by a network request, wherein the process of acquiring right camera data of the binocular camera by the HTTP request, the process of acquiring left camera data of the binocular camera by the HTTP request and transmitting mobile phone gesture information by a socket process form a screen monitoring event of a VR viewing interface; and then dividing the UI interface of the mobile phone into two areas which are uniform in left and right, and starting a UI updating thread through a handle video signal acquisition instruction so that the left and right areas respectively display images of the left and right cameras.
The invention is further characterized in that the system power supply is 12V direct current; the model of the triaxial holder is an upgrade form stop 32 triaxial holder, and the singlechip is an STM32 singlechip. The system power supply 6 comprises a direct current of a 12V13Ah lithium battery and a voltage stabilizing block, and is used for providing stable power for an industrial computer, wherein the 12V direct current is connected to the voltage stabilizing block, and the direct current is stabilized into +12 volt direct current and +5 volt direct current through the voltage stabilizing block; the +12V direct current is connected in parallel to a motor drive of the triaxial holder and an industrial computer; and +5 volts direct current is connected with the singlechip and the binocular camera.
The local area network is built through the wireless base station AP, is a hardware platform for providing instruction and data transmission for the whole system, and the building method of the local area network is the prior art. The image distortion correction method can adopt the prior art, such as a fisheye image distortion correction algorithm, a wide-angle image distortion correction algorithm and the like.
The embodiment shown in fig. 2 shows that the three-axis cradle head in the cradle head real-time VR system of the invention mainly comprises an STM32 singlechip 21, an industrial computer 22, a motor drive 23 and a hollow cup motor 22. The industrial computer 22 sends instruction information to the STM32 singlechip 21 according to a communication protocol, the STM32 singlechip 21 is connected with each other through serial communication, after receiving a communication instruction, the received information is decoded, after decoding is finished, a motor drive 23 is driven through a specific pin output PWM wave on the STM32 singlechip 21, the motor drive 23 is connected with the hollow cup motor 22, the hollow cup motor 22 can be kept still at a fixed position, the hollow cup motor 22 is controlled indirectly through the PWM wave output by the STM32 singlechip 21, and the angle and the gesture of the tray are changed through left-right rotation and up-down overturning actions of the tray of the triaxial cradle head 12.
The embodiment shown in fig. 3 shows that, in the present invention, the VR APP has a calibration interface and a VR viewing interface, and after the VR APP is started, a user needs to adjust the posture of the smart phone before using the VR APP, so that the VR APP meets the standard conditions, where the standard conditions are: when the yaw angle data (left Bian Shuzhi) of the smart phone gyroscope is 170-190 and the pitch angle data (right numerical value) of the gyroscope is 70-90, a start viewing button can be clicked to enter a VR viewing mode. After entering the VR viewing mode, if the network is normal, the left VR image and the right VR image are displayed. If no image clicks the interface to refresh. And then the smart phone is put into VR glasses for remote watching and operation. The left and right sides correspond to the left and right sides of the human eye, respectively.
The embodiment shown in fig. 4 illustrates the relative positional relationship of the smartphone and VR glasses and the placement of the smartphone in the VR glasses.
The working and using processes of the cloud deck real-time VR system of the invention are as follows: firstly, a user downloads VRAPP in a smart phone, after the VRAPP is successfully installed, a VR APP interface is opened, the smart phone is connected with a local area network, and a VR APP correction angle is started, so that the binocular camera 1 can be matched with the direction of the smart phone 3, and the cradle head real-time VR system is convenient to operate. The smart phone 3 is placed in the VR glasses, a system power switch is turned on, a program of the industrial computer 5 is turned on, the three-axis cradle head 2 is waited for correcting the self angle for 15-20 seconds, after correction is completed, a user sees a real-time image transmitted back by the binocular camera 1 through the VR glasses, information between a current cradle head real-time VR system and the environment is obtained, the user rotates his head, the three-axis cradle head 2 moves along with the movement of the head of the user, current environment information is obtained in real time, and the user has immersed experience.
The specific process that the three-axis cradle head 2 moves along with the movement of the head of a user is that: the VR APP obtains gyroscope data by utilizing a gyroscope of the smart phone, and after the obtained gyroscope data is subjected to smooth processing by using a ladder filtering algorithm, the posture of the mobile phone, namely the change condition of the head visual angle, is calculated, the posture of the mobile phone is sent to the singlechip 21 through the built local area network, the singlechip drives the hollow cup motor 22 to drive the tray of the triaxial holder 2 to rotate by controlling the motor drive 23, so that the visual angle of the binocular camera 1 is synchronously changed, the visual angle of the binocular camera 1 is changed along with the head visual angle in real time, the real-time panoramic VR effect is realized, and the utilization rate of image data is effectively improved.
According to the invention, the VR video implementation adopts a simple algorithm, a 360-degree video file is not required to be synthesized as panoramic 360-degree VR live broadcast, only two videos of two cameras of a binocular camera are required to be put in two left and right tiled canvases in the VR APP, basic image distortion calibration processing is carried out, professional head display equipment is not required, a smart phone is required to be put in VR glasses to obtain real user experience, and the VR APP or webpage can be used for accessing the cradle head real-time VR system, so that the device has extremely wide adaptability, is simple, convenient and quick to operate, is simple to implement and maintain, and has a simple interface, and is very friendly to users; the binocular video streaming is collected by the binocular camera 1 and is put on a network port of the equipment, so that one-to-many video real-time sharing can be realized, compared with a panoramic 360-degree VR live broadcast mode, the binocular video streaming method has the advantages of low bandwidth requirement and low cost, and can well solve the problems of video file quality reduction and cost improvement caused by bandwidth and cost limitation, and has good user experience.
The components, parts and circuit boards used in the present invention are well known to those skilled in the art, and the connection manner between all the components, the mounting manner of the parts and the wiring manner of the power supply circuit are well known to those skilled in the art, either by commercial availability or by easy manufacture.
The invention is applicable to the prior art where it is not described.
Claims (2)
1. A cloud deck real-time VR system is characterized by comprising a binocular camera, a triaxial cloud deck, a smart phone, VR glasses, a system power supply and an industrial computer; the three-axis cradle head is provided with three degrees of freedom and comprises a single chip microcomputer, a tray, three shafts, a motor drive and a hollow cup motor, wherein the three shafts are directly or indirectly connected with the tray, the single chip microcomputer is connected with the hollow cup motor through the motor drive, the single chip microcomputer, the motor drive and the hollow cup motor are directly or indirectly connected to the tray, the single chip microcomputer is a control center of the whole three-axis cradle head, and an output port of the single chip microcomputer is connected with an enabling end of the motor drive; the binocular camera is fixedly arranged on the tray of the triaxial holder, and can move along with the movement of the tray of the triaxial holder; the industrial computer is in serial communication with the singlechip on the triaxial holder; the industrial computer is connected with the binocular camera at the same time, video images collected by the binocular camera are transmitted back to the industrial computer through the data line, and the industrial computer supplies power to the binocular camera through the data line; the industrial computer is connected with the smart phone through the built local area network, the smart phone is placed on the VR glasses, the VR glasses are worn by a user, and the VR APP is installed on the smart phone; the system power supply supplies power to the whole system; the industrial computer is internally loaded with an image distortion correction algorithm;
the program flow of the VR APP in the smart phone is as follows: first entering into the calibration interface: initializing a control, binding a gyroscope of the smart phone, acquiring three-dimensional real-time position information of the gyroscope, starting button monitoring events, namely judging standard conditions, starting a second picture when yaw angle data of the gyroscope of the smart phone is between 70 and 190 and pitch angle data of the gyroscope is between 70 and 90, entering a VR viewing interface, and successfully calibrating;
then enter VR viewing interface: initializing a control, binding a gyroscope and acceleration, starting a screen monitoring event and a UI updating thread; acquiring gyroscope data and acceleration data information of the smart phone, correcting posture information of the smart phone, and transmitting the posture information of the smart phone through a socket process; simultaneously starting two processes, namely a process of acquiring right camera data of the binocular camera by an HTTP request and a process of acquiring left camera data of the binocular camera by the HTTP request, acquiring video information of the left camera and the right camera of the binocular camera by a network request, wherein the process of acquiring right camera data of the binocular camera by the HTTP request, acquiring left camera data of the binocular camera by the HTTP request and transmitting mobile phone gesture information by a socket process form a screen monitoring event of a VR viewing interface; and then dividing the UI interface of the mobile phone into two areas which are uniform in left and right, and starting a UI updating thread through a handle video signal acquisition instruction so that the left and right areas respectively display images of the left and right cameras.
2. The real-time VR system of claim 1, wherein said system power source is 12V dc; the model of the triaxial holder is an upgrade form stop 32 triaxial holder, and the singlechip is an STM32 singlechip.
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