CN109753153A - Haptic interaction device and method for 360 ° of suspension light field three-dimensional display systems - Google Patents
Haptic interaction device and method for 360 ° of suspension light field three-dimensional display systems Download PDFInfo
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- CN109753153A CN109753153A CN201811601655.9A CN201811601655A CN109753153A CN 109753153 A CN109753153 A CN 109753153A CN 201811601655 A CN201811601655 A CN 201811601655A CN 109753153 A CN109753153 A CN 109753153A
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Abstract
The invention discloses a kind of haptic interaction device and methods for 360 ° of suspension light field three-dimensional display systems, belong to technical field of computer vision, including being placed in high speed rotation screen side and for acquiring Leap Motion of hand position information, the fingerstall with vibrating function and for handling information and transmitting the processor of signal；Processor and Leap Motion communication connection obtain hand position information, and processor is equipped with Bluetooth transmission module, are issued and are instructed to fingerstall by Bluetooth transmission module, control fingerstall vibration, are equipped with bluetooth receiving module in fingerstall.By read finger information, coordinate conversion, model judgement, bluetooth transmission, driving hardware and etc. realize finger and model power tactile interaction.When contacting with each other in boundary a certain range of finger and display model, fingerstall can achieve the effect that power haptic interaction to the power of one, finger vibration.I.e. when hand encounters display model, finger has vibration sense of touch.To generate more true sensory experience to user.
Description
Technical field
The present invention relates to technical field of computer vision, specifically, being related to a kind of aobvious for 360 ° of suspension light field three-dimensionals
Show the haptic interaction device and method of system.
Background technique
With the development of computer science and shadow casting technique, in recent years, dimension display technologies are quickly grown.Wherein, really
3-D image observer can be made to see the display in space, the surrounding for looking about scene has the correct visual field and blocks pass
System, and the Three-dimensional Display of naked eye becomes the hot topic of research.
By rebuilding the light field of three-dimensional scenic, the three-dimensional that a wide range of high quality with correct hiding relation may be implemented is color
Chromatic graph picture is shown.By simulating the illumination mode of real-world object, the optical field distribution of three-dimensional scenic is rebuild, in this way in display system
The different observers of surrounding can see correct 3-D image.It is extremely strong that scanning light field shows that scene can be brought to observer
It suspends and feels and there is no any physical isolation between observer and virtual scene, therefore observer tends to touch three-dimensional personally
Show scene, thus scientists propose the suspension scene gesture interaction method based on body-sensing detection device.
The device of most commonly seen body-sensing detection currently on the market includes Microsoft Kinect and Leap Motion,
Middle Kinect can at most track 6 people, totally 25 bone nodes, therefore be suitable for the detection compared with big-movement；Leap Motion is then
Whole joints of people's both hands can be tracked simultaneously, therefore are more suitable for detection of the finger compared with little trick.
Leap Motion is the sensor for aiming at identification gesture motion and designing, small-sized, identifies frame per second according to computer
Performance depending on, general frame per second range is in 20 to 290 frames/s.It uses three infrared LED s as infrared transmitter, leads to
It crosses and uses two infrared cameras as sensor.The gray level image and corresponding depth information acquired is transferred to computer progress
It calculates to change three-dimension gesture information.
Have in the prior art and contacts posture information with dummy object three-dimensional shape information, finger and dummy object by generating
Consistent distributed haptic stimulus feeds back to operator, contacts different shape dummy object to simulate manpower with different postures
When generated sense of touch, user's technology of good haptic interaction experience is provided, if publication No. is in CN107831892A
A kind of dummy object 3D shape tactile sense reproduction method based on finger cot type device disclosed in state's patent document, but the Technology application
Be that user can not be made to generate true sensory experience in virtual three-dimensional scenic.
Summary of the invention
It is an object of the present invention to provide a kind of haptic interaction device for 360 ° of suspension light field three-dimensional display systems, the dresses
Set light portable, coordinate judges that robustness is good, and universality is strong, and interaction effect is obvious, and sense of touch is obvious, and it is three-dimensional to can be used for a variety of light fields
The human-computer interaction of display system, so that user be made to generate true sensory experience.
Another object of the present invention is to provide a kind of haptic interaction method for 360 ° of suspension light field three-dimensional display systems,
This method is realized based on above-mentioned apparatus.
To achieve the goals above, it is filled provided by the present invention for the haptic interaction of 360 ° of suspension light field three-dimensional display systems
It sets including being placed in high speed rotation screen side and for acquiring Leap Motion of hand position information, with vibrating function
Fingerstall and for handling information and transmitting the processor of signal；Processor and Leap Motion communication connection obtain hand position
Information, processor are equipped with Bluetooth transmission module, are issued and are instructed to fingerstall by Bluetooth transmission module, control fingerstall vibration, fingerstall
It is interior to be equipped with bluetooth receiving module.
In above-mentioned technical proposal, using apparatus above, by reading finger information, coordinate conversion, model judgement, bluetooth biography
Give, drive hardware and etc. realize finger and model power tactile interaction.When in boundary a certain range of finger and display model
When contacting with each other, fingerstall can achieve the effect that power haptic interaction to the power of one, finger vibration.I.e. when hand encounters display model
When, finger has vibration sense of touch.To generate more true sensory experience to user.
Preferably, fingerstall is equipped with electric motor, the vibration of fingerstall is realized.
Preferably, electric motor includes dc motor and the eccentric wheel that connect with the output end of dc motor.When
When fingerstall is " vibration " state, control circuit is connected, and dc motor starts, and band movable eccentric wheel does high speed rotation, to generate
Vibration.
Preferably, Bluetooth transmission module includes that usb turns ttl component, bluetooth transmitting terminal and bluetooth receiving end.
Preferably, being equipped with power supply module in fingerstall.Power supply module can be rechargeable lithium battary.
In order to achieve the above-mentioned another object, it is handed over provided by the present invention for the tactile of 360 ° of suspension light field three-dimensional display systems
Mutual method the following steps are included:
1) world coordinate system is established, a 3D model is made and is placed on high speed rotation screen, utilize the impression block of production
Type carries out pose estimation, coordinate of the 3D model in Leap Motion and the coordinate in world coordinates to Leap Motion
It is respectively as follows:
Transformation parameter: spin matrix R, and translation vector is found by iteration closest approach method
Obtain the transformational relation of Leap Motion and world coordinates:
2) the 3D model is demarcated using the binocular camera of specific position in world coordinate system, each point exists on the 3D model
Coordinate in world coordinates are as follows:
The inside and outside ginseng matrix for obtaining binocular camera respectively by Zhang Zhengyou calibration method and PnP algorithm takes the equal of inside and outside ginseng matrix
It is worth the projection matrix P respectively as two cameras1, P2；
Coordinate of each point in world coordinates is P " in three-dimensional scenic, and plane coordinates of the P " in two camera views is
x1, x2, it follows that:
x1=P1P ", x2=P2P″
Each point coordinate in three-dimensional scenic is obtained by Linear Triangular shape method
3) a transformation R ' is found by iteration closest approach method,The coordinate for obtaining Leap Motion and 3D model is converted
Formula:
4) finger with fingerstall is goed deep into detectable area, finger position information is detected by Leap Motion,
And it is converted into world coordinates；
5) obtained finger coordinate is compared and is judged with model coordinate, when finger coordinate is consistent with 3D model coordinate
When, it issues and instructs to fingerstall, start its vibrating mode.
Preferably, in step 1), the method that obtains the transformational relation of Leap Motion and world coordinates are as follows:
Leap Motion is placed and secured in high speed rotation screen side, measures Leap Motion with four groups of coordinates
Appearance is averaged to obtain coordinate parameters, and obtains coordinate transformation relation.
Preferably, 3D model is made by the way of 3D printing.
Preferably, binocular camera is industrial camera, valid pixel is 1,300,000, and when resolution ratio is 1280*720, frame per second is
34FPS。
Compared with prior art, the invention has the benefit that
Fingerstall type force haptic interaction device of the invention, when finger is in contact with suspension light field Three-dimensional Display model surface
When, Leap Motion recognizes finger position and is transmitted to processor and compares with model coordinate, sends a system by Bluetooth transmission
Dynamic signal gives electric motor module, to realize fingerstall type force haptic interaction.Whole device is light portable, and coordinate judges robustness
Good, universality is strong, and interaction effect is obvious, and sense of touch is obvious, can be used for the human-computer interaction module of a variety of light field three-dimensional display systems.
Detailed description of the invention
Fig. 1 is the signal of the haptic interaction device for 360 ° of suspension light field three-dimensional display systems of the embodiment of the present invention
Figure；
Fig. 2 is the haptic interaction device internal structure for 360 ° of suspension light field three-dimensional display systems of the embodiment of the present invention
Schematic diagram；
Fig. 3 is the haptic interaction device workflow for 360 ° of suspension light field three-dimensional display systems of the embodiment of the present invention
Schematic diagram；
Fig. 4 is that the coordinate of the haptic interaction device for 360 ° of suspension light field three-dimensional display systems of the embodiment of the present invention turns
Change instrumentation plan.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, with reference to embodiments and its attached drawing is to this hair
It is bright to be described further.
Embodiment
Referring to Fig. 1 to Fig. 4, haptic interaction device of the present invention for 360 ° of suspension light field three-dimensional display systems includes:
Leap Motion1 is placed in high speed rotation screen side, for acquiring hand position information；
Fingerstall 2 is worn on user's finger, is had vibrating function, is equipped with bluetooth receiving module in fingerstall；
Processor 3, for handling information and transmitting signal；Processor 3 and Leap Motion1 communication connection obtain hand
Location information.Be equipped with Bluetooth transmission module in processor 3, Bluetooth transmission module include usb turn ttl component, bluetooth transmitting terminal and
Bluetooth receiving end.Fingerstall 2 is issued by Bluetooth transmission module and is instructed, control fingerstall 2 vibrates.
Fingerstall 2 is equipped with electric motor and power supply module, and electric motor includes piezoelectric actuator and vibrating motor, reality
The vibration of existing fingerstall.Power supply module is made of two 3.7V lithium batteries, is that electric motor and bluetooth receiving module are powered.
Threedimensional model is projected out by high-speed projector and the directional diffuser screen of rotation 001.Reflective directional diffuser screen
001 connect with motor is watched, in the horizontal plane high speed rotation, and high-speed projector is located at right above screen rotation center, projector
Optical axis is not distorted with the image for ensuring to project coaxially with the rotation center of directional diffuser screen 001.This is rebuild using light field
Technology, the 600 width image real-time renderings that projector is updated each second are watched at three-dimensional scenic 002 for the observer of surrounding.
Since the best interactive region of Leap Motion is 20 to 60 centimetres, to expand integration region, Leap Motion quilt
Slant setting, tilt angle θ, θ are measured through experiment, and at 45 degree or so, Leap Motion recognition effect is best, with three dimensional field
The vertically and horizontally distance of the central area of scape 002 is respectively that Δ H and Δ L, positional relationship are as shown in Figure 4.
When carrying out pose estimation to Leap Motion, the tool used is long 210mm, wide 110cm, the 3D of high 110cm
Printer model 003.
Depending on hand information collection control used in the present embodiment can be needed according to system, it is not limited to Leap
Motion should not be limited the scope of the invention with this.
Based on above-mentioned shell type power haptic interaction device, the touching for 360 ° of suspension light field three-dimensional display systems of the present embodiment
Feel exchange method the following steps are included:
(1) ambient brightness adjusted around display system is darker；
(2) it places and fixed Leap Motion1, the angle of adjustment Leap Motion1 keeps integration region maximum, inclination angle
Degree is θ, and the vertically and horizontally distance with the central area of three-dimensional scenic 002 is respectively Δ H and Δ L；
(3) 3D printing model 003 is placed, four groups of Δ H, Δ L and θ is measured with four groups of coordinates, is averaged and is finally joined
Number, obtains the transformational relation of Leap Motion1 Yu world centre coordinate, as shown in Figure 4；
Pose estimation is carried out to Leap Motion using the 3D printing model of production, each point is in Leap on 3D model
The coordinate of Motion is respectively as follows: with the coordinate in world coordinates
Transformation parameter is found by iteration closest approach method: spin matrix R, and translation vector
Obtain the transformational relation of Leap Motion and world coordinates:
(4) coordinate transformation relation is verified, the coordinate of 18 points has been measured, coordinate and actual position coordinate is final after conversion
Error is within 6mm；
(5) binocular camera 004 is placed, first demarcates the internal reference of binocular camera 004 respectively with standard gridiron pattern；
(6) two cameras in left and right are carried out to same 003 position of 3D printing model (i.e. world coordinate system) to be imaged respectively, is calculated
Outer ginseng of the binocular camera 004 relative to world coordinates；
(7) 3D printing model 003 for projecting and showing same size, is shot respectively with two cameras, according to inside and outside
Join matrix, obtains three-dimensionalreconstruction as a result, completing the coordinate conversion of world coordinate system and 003 coordinate system of 3D printing model；
The 3D model is demarcated using the binocular camera of specific position in world coordinate system, each point is sat in the world on 3D model
Coordinate in mark are as follows:
The inside and outside ginseng matrix for obtaining binocular camera respectively by Zhang Zhengyou calibration method and PnP algorithm takes the equal of inside and outside ginseng matrix
It is worth the projection matrix P respectively as two cameras1, P2；
Coordinate of each point in world coordinates is P " in three-dimensional scenic, and plane coordinates of the P " in two camera views is
x1, x2, it follows that:
x1=P1P ", x2=P2P″
Each point coordinate in three-dimensional scenic is obtained by Linear Triangular shape method
(8) transformational relation of 003 coordinate system of Leap Motion1 and 3D printing model is obtained；
A transformation R ' is found by iteration closest approach method,The coordinate for obtaining Leap Motion and 3D printing model turns
Change formula:
(9) bluetooth transmitting terminal is connected with processor 3, bluetooth receiving end and finger touch generator (i.e. vibration motor) phase
Even；
(10) as shown in module frame chart in Fig. 2, the hand with fingerstall shaking device is protruded into detectable area, Leap
Motion1 carries out real-time finger coordinate measurement to it, and compares after coordinate conversion with 002 coordinate of three-dimensional scenic, such as
Fruit perceives finger and has touched 002 surface of three-dimensional scenic to perceiving in a certain range, gives bluetooth to send by serial communication
Electric motor is braked by serial communication after holding a signal, bluetooth receiving end to receive.
After all the process above to be done and operation, the interactive experience person of corresponding position successfully with three-dimensional scenic 002
Carry out the interaction of fingerstall type force tactile.Step (10) are repeated to carry out the interactive experience of full side to three-dimensional scenic 002.
The above fingerstall type force haptic interaction device, it is not limited to above-described embodiment and display system.It can be adapted for each
Man-machine interactive system and three-dimensional display system in the scene domain of kind wide-angle.
What although here by signal and example way, the present invention is described further, however, it should be understood that
The invention is not limited to the above-described embodiment and examples, and description above is only considered illustrative instead of limiting
, those skilled in the art can make a variety of transformation or modification, as long as no leaving the model established in appended claims
It encloses and Spirit Essence, is accordingly to be regarded as within protection scope of the present invention.
Claims (9)
1. a kind of haptic interaction device for 360 ° of suspension light field three-dimensional display systems, including it is placed in high speed rotation screen side
And for acquiring Leap Motion of hand position information, the fingerstall with vibrating function and for handling information and transmitting letter
Number processor；The processor and the Leap Motion communication connection, obtain hand position information, and the processor is set
There is Bluetooth transmission module, the fingerstall is issued by Bluetooth transmission module and is instructed, control fingerstall vibration, fingerstall is interior to be equipped with bluetooth
Receiving module.
2. haptic interaction device according to claim 1, it is characterised in that: the fingerstall is equipped with electric motor, real
The vibration of the existing fingerstall.
3. haptic interaction device according to claim 2, it is characterised in that: the electric motor includes dc motor
The eccentric wheel being connect with the output end of the dc motor.
4. haptic interaction device according to claim 1, it is characterised in that: the Bluetooth transmission module includes that usb turns
Ttl component, bluetooth transmitting terminal and bluetooth receiving end.
5. haptic interaction device according to claim 1, it is characterised in that: be equipped with power supply module in the fingerstall.
6. a kind of haptic interaction method for 360 ° of suspension light field three-dimensional display systems, based on any power in claim 1 to 5
Benefit requires the haptic interaction device to realize, which comprises the following steps:
1) world coordinate system is established, a 3D model is made and is placed on high speed rotation screen, utilize the 3D printing model of production
Pose estimation is carried out to Leap Motion, each point is in the coordinate of Leap Motion and in world coordinates on the 3D model
Coordinate is respectively as follows:
Transformation parameter is found by iteration closest approach method: spin matrix R, and translation vector
Obtain the transformational relation of Leap Motion and world coordinates:
2) the 3D model is demarcated using the binocular camera of specific position in world coordinate system, each point is in the world on the 3D model
Coordinate in coordinate are as follows:
The inside and outside ginseng matrix for obtaining binocular camera respectively by Zhang Zhengyou calibration method and PnP algorithm takes the mean value point of inside and outside ginseng matrix
Projection matrix P not as two cameras1, P2；
Coordinate of each point in world coordinates is P " in three-dimensional scenic, and plane coordinates of the P " in two camera views is x1, x2,
Thus it obtains:
x1=P1P ", x2=P2P″
Each point coordinate in three-dimensional scenic is obtained by Linear Triangular shape method
3) a transformation R ' is found by iteration closest approach method,Obtain the Formula of Coordinate System Transformation of Leap Motion Yu 3D model:
4) finger with fingerstall is goed deep into detectable area, finger position information is detected by Leap Motion, and turn
Change world coordinates into；
5) obtained finger coordinate is compared and is judged with model coordinate, when finger coordinate is consistent with 3D model coordinate,
It issues and instructs to fingerstall, start its vibrating mode.
7. haptic interaction method according to claim 6, which is characterized in that in step 1), obtain Leap Motion and generation
The method of the transformational relation of boundary's coordinate are as follows:
Leap Motion is placed and secured in high speed rotation screen side, measures Leap Motion pose with four groups of coordinates,
Repeatedly measurement is averaged to obtain coordinate parameters, and obtains coordinate transformation relation.
8. haptic interaction method according to claim 6, which is characterized in that 3D model system by the way of 3D printing
At.
9. haptic interaction method according to claim 6, which is characterized in that the binocular camera is industrial camera, is had
Imitating pixel is 1,300,000, when resolution ratio is 1280*720, frame per second 34FPS.
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| CN110390686A (en) * | 2019-07-24 | 2019-10-29 | 张天 | Naked eye 3D display method and system |
| CN110865704A (en) * | 2019-10-21 | 2020-03-06 | 浙江大学 | Gesture interaction device and method for 360-degree suspended light field three-dimensional display system |
| CN111240474A (en) * | 2020-01-03 | 2020-06-05 | 云南电网有限责任公司电力科学研究院 | Building block type touch interaction system |
| CN113223344A (en) * | 2021-05-25 | 2021-08-06 | 湖南汽车工程职业学院 | Big data-based professional teaching display system for art design |
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