CN109933207A - The tactile of reality environment generates analogy method - Google Patents
The tactile of reality environment generates analogy method Download PDFInfo
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- CN109933207A CN109933207A CN201910262629.6A CN201910262629A CN109933207A CN 109933207 A CN109933207 A CN 109933207A CN 201910262629 A CN201910262629 A CN 201910262629A CN 109933207 A CN109933207 A CN 109933207A
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Abstract
The tactile that the present invention provides reality environment generates analogy method, belongs to technical field of virtual reality.Corresponding stage property is arranged according to the virtual objects in virtual scene in the present invention, stage property corresponding to the dummy object that will be touched user in virtual scene using conveying equipment, it is transported to corresponding position, user touches the stage property, figure, the sound output for cooperating virtual reality, generate true sense of touch.The present invention solves the problems, such as that the tactile of existing virtual reality technology is false.The present invention can be used for the touching simulation of reality environment.
Description
Technical field
The present invention relates to the tactiles of reality environment to generate analogy method, belongs to technical field of virtual reality.
Background technique
Virtual reality technology is a kind of computer simulation system that can be created with the experiencing virtual world, it utilizes computer
A kind of simulated environment is generated, is that a kind of Multi-source Information Fusion, interactive Three-Dimensional Dynamic what comes into a driver's and the system of entity behavior are imitative
Really it is immersed to user in the environment.
Occur more and more virtual reality head-mounted display apparatus (abbreviation VR aobvious), virtual reality on the market at present
Technology solves audiovisual demand by glasses and earphone substantially, but there are no good solution, current touchings for tactile
Feel gloves, the haptic stimulus of light pressure can only be simulated, and stiff untrue.It is virtual and existing if tactile cannot solve very well
It there is apparent boundary in fact, virtual reality will have a greatly reduced quality to the feeling of people.
Summary of the invention
The present invention is to solve the problems, such as that the tactile of existing virtual reality technology is false, provides the touching of reality environment
Feel and generates analogy method.
The tactile of reality environment of the present invention generates analogy method, is achieved through the following technical solutions: according to void
Corresponding stage property, the void that will touch user in virtual scene using conveying equipment is arranged in virtual objects in quasi- scene
Stage property corresponding to quasi- object, is transported to corresponding position, user touches the stage property, cooperates the figure of virtual reality, sound defeated
Out, true sense of touch is generated.
It is further described as to above-mentioned technical proposal:
Further, whether user will touch virtual objects in virtual scene, by motion capture equipment to
The rotational action of family body joints is captured, and is judged in conjunction with user and the positional relationship of virtual objects in virtual scene.
Further, in the user and virtual scene virtual objects positional relationship, by by virtual scene and reality
The orientation of scene synchronizes, and determines in conjunction with angle, height, distance.
Further, corresponding stage property is arranged in the virtual objects according in virtual scene, will be used using conveying equipment
Stage property corresponding to the dummy object that family will touch in virtual scene, is transported to corresponding position, and user touches the road
Tool cooperates figure, the sound output of virtual reality, generates true sense of touch, realize especially by following steps:
S1, motion capture equipment real-time capture user's body joint rotation data and be sent to the control of virtual reality system
Control server；
S2, virtual reality system control server receive motion capture equipment transmission data, and combine user's body
Virtual objects position in the rotation data and virtual scene in body joint, judges whether user will touch with virtual objects
It touches；
If S3, judging result are that will touch, the control server of virtual reality system is sent to conveying equipment
Corresponding stage property is delivered to corresponding position in virtual scene by instruction；It is virtual existing if judging result is that will not touch
The control server of real system sends instruction to conveying equipment and stage property is delivered to initial position；
After S4, conveying equipment receive the instruction of control server transmission, position acquisition road is presently in conjunction with the stage property
The motion profile of tool, and stage property is delivered to designated position according to the motion profile；
S5, user touch the stage property, cooperate figure, the sound output of virtual reality high-immersion, generate true touching
Sense.
Further, the conveying equipment is annular in shape is arranged around user, and user's body is located at the center of circle of the annulus
Place.
Further, the conveying equipment includes annulus guide rail, slide, slide driving assembly and several supply units；
It is provided with an objective table on each supply unit, is provided with stage property on objective table, on the supply unit
Equipped with translation component and vertical movement component；It translates component and is used for horizontal displacement of the driving objective table between annulus and the center of circle,
Vertical movement component is used for the vertical displacement of driving objective table；The supply unit bottom is installed on slide；The slide set
It is located on the annulus guide rail, which can rotate under the driving of slide driving assembly along annulus guide rail, and described in drive
Supply unit rotates synchronously.
Further, pulley is provided between the slide and guide rail.
Present invention feature the most prominent and significant beneficial effect are:
The tactile of reality environment according to the present invention generates analogy method, according to the virtual objects in virtual scene
Corresponding stage property is set, road corresponding to the dummy object that will be touched user in virtual scene using conveying equipment
Tool, is transported to corresponding position, after user touches stage property, cooperates figure, the sound output of virtual reality high-immersion, generates true
Real sense of touch；The present invention is simple and practical, or even the sense organ of the object touched can also be difficult to using stage property simulation wind, rain, sun etc.
Stimulation, to the impression that people is true to nature.
Detailed description of the invention
Fig. 1 is the method for the present invention application schematic diagram；
Fig. 2 is the method for the present invention control schematic diagram；
Fig. 3 is the mobile schematic diagram of the method for the present invention stage property；
Fig. 4 is conveying equipment structural schematic diagram in the present invention；
Fig. 5 is annulus guide rail and slide section schematic diagram in the present invention；
Fig. 6 is the conveying equipment top view in the present invention；
1. conveying equipment, 2. stage properties, 3. objective tables, 4. rotatably fix bracket, 5. slides, 6. annulus guide rails, 7. slides
Driving assembly, 8. pulleys, 9. supply units.
Specific embodiment
Specific embodiment 1: being illustrated in conjunction with Fig. 1, Fig. 2, Fig. 3 to present embodiment, the void that present embodiment provides
The tactile of quasi- actual environment generates analogy method, and corresponding stage property is arranged according to the virtual objects in virtual scene, utilizes conveying
Stage property corresponding to the dummy object that equipment will touch user in virtual scene is transported to corresponding position, user's touching
Meet the stage property, cooperates figure, the sound output of virtual reality high-immersion, generate true sense of touch.Specifically include following step
It is rapid:
S1, motion capture equipment real-time capture user's body joint rotation data and be sent to the control of virtual reality system
Control server；
S2, virtual reality system control server receive motion capture equipment transmission data, and combine user's body
Virtual objects position in the rotation data and virtual scene in body joint, judges whether user will touch with virtual objects
It touches；The orientation of virtual scene is synchronized by the orientation of virtual reality (VR) system and reality scene；Object in virtual scene
The positional relationship of body and user are determined by angle, height, distance；
If S3, judging result are that will touch, the control server of virtual reality system is sent to conveying equipment
Corresponding stage property is delivered to corresponding position in virtual scene by instruction；It is virtual existing if judging result is that will not touch
The control server of real system sends instruction to conveying equipment and stage property is delivered to initial position；What initial position described here referred to
It is that objective table on supply unit is returned to above annulus guide rail, that is, translation component and vertical movement component are returned to 0 displacement
Place.
After S4, conveying equipment receive the instruction of control server transmission, position acquisition road is presently in conjunction with the stage property
The motion profile of tool, and stage property is delivered to designated position according to the motion profile；
S5, user touch the stage property, cooperate figure, the sound output of virtual reality high-immersion, generate true touching
Sense.
It is application of the invention as shown in figure 1, after user is worn by VR equipment, stands on the annular center of circle of conveying equipment 1, and even
Rotatable fixed bracket 4 is connect to enable users to facilitate movement while avoiding falling down.Objective table is provided on supply unit 9
3, corresponding stage property 2 is provided with according to the virtual scene of user experience on objective table 3；Supply unit 9 on conveying equipment 1 can be with
Increase and decrease according to demand；Supply unit is numbered, corresponding supply unit is stored in the control server of virtual reality system
The corresponding relationship of article in the stage property information being arranged in number information, each supply unit and each stage property and virtual scene
(because of stage property not necessarily authentic item, in order to reduce the input cost of stage property, it is only necessary to which being set in compare in tactile has generation
A few class stage properties of table, the article in virtual scene can be associated with stage property in a manner of many-to-one).
As shown in Fig. 2, the rotation data in motion capture equipment real-time capture user's body joint and being sent to virtual reality
The control server of system, the orientation of virtual scene and the orientation of reality are realized in control server by data conversion complete
It is synchronous；The positional relationship of object in this way in virtual scene and the people in reality can be described with same amount.To will
The judgement touched can combine human synovial direction of advance, speed, body edge threshold at a distance from object in virtual scene
Value (can set) determines；Virtual objects in the rotation data and virtual scene in control server combination user's body joint
Position (coordinate), when judgement will be touched with virtual objects, control server will send to conveying equipment and instruct；Conveying
Slide driving assembly, translation component, vertical movement component in equipment will cooperate corresponding stage property 2 being delivered to specified coordinate
Position；
In Fig. 3, P, M, N are 3 stage properties；D1, D2 are dummy object position；F is annulus guideway centreline and subscriber station
Vertical position.When control server judges user and the position D2 virtual objects will be touched, control server transfers number
It is P according to corresponding stage property is inquired, then issues the instruction that P is delivered to the position D2 to conveying equipment；
The position coordinates of each supply unit are obtained in real time by position sensor, need exist for combining the current institute of stage property P
The coordinate computation for locating position and D2 obtains the motion profile of stage property P, and calculating process can be completed in control server can also be with
Single-chip microcontroller is set on conveying equipment to complete.Present embodiment using latter approach obtain (can reduce data transmission away from
From).Operation obtains the motion profile of P and sends signal driving supply unit 9 to driving assembly and moves: the driving of slide driving assembly
Slide 5 rotates counterclockwise 150 ° along annulus guide rail, and the supply unit 9 where stage property P turns to the position D1, and (3 points of D1, D2, F exist
Projected point-blank on horizontal plane), stage property P is again with the translation component and vertical movement component on the supply unit 9
It is delivered to the position D2.Then user touches the stage property, cooperates figure, the sound output of virtual reality high-immersion, generates true
Real sense of touch.
It is found that the transmission speed of transmission device needs quite just to can guarantee that user can obtain sense of touch stimulation in time fastly.Cause
This judges that user will not be with virtual objects when the rotation data in following control server user's body joint based on the received
When touching, then the control server of virtual reality system sends instruction to conveying equipment and stage property is delivered to initial position,
Translation component on supply unit 9 and vertical movement component namely where stage property P, which cooperate, is delivered to the position D1 i.e. for stage property P
Can, there is no need to return to the position P in Fig. 3, in this way reaction speed can be improved, is reduced to avoid many invalid movements
Consumption.
Specific embodiment 2: the present embodiment is different from the first embodiment in that, present embodiment example one
Kind conveying equipment；As shown in Figure 4, Figure 5, if the conveying equipment 1 include annulus guide rail 6, slide 5, slide driving assembly 7 and
Dry supply unit 9；The annulus guide rail 6 is arranged around user；User's body is located at the center point of the annulus；
An objective table 3 is provided on each supply unit 9, and (objective table also could alternatively be clip, gripper
Deng), stage property 2 is provided on objective table 3, the supply unit 9 is equipped with translation component and vertical movement component (similar machinery
Arm)；It translates component and is used for horizontal displacement of the driving objective table 3 between annulus and the center of circle, vertical movement component is carried for driving
The vertical displacement of object platform 3；9 bottom of supply unit is installed on slide 5；The slide 5 is set in the annulus guide rail 6
On, pulley 8 is provided between the slide 5 and guide rail；The slide 5 can be led under the driving of slide driving assembly 7 along annulus
6 high-speed rotation of rail, and the supply unit 9 is driven to rotate synchronously；Slide in present embodiment is driven to motor.
Other steps and parameter are same as the specific embodiment one.
Specific embodiment 3: the present embodiment is different from the first and the second embodiment in that, annulus guide rail 6 can be set
Set multiple, each annulus guide rail 6 is arranged concentrically, and the supply unit 9 being arranged on each annulus guide rail 6 conveys different types of road
Tool.As shown in Figure 6, from inside to outside, conventional tangible object is provided on the supply unit 9 on first annulus guide rail 6
Stage property is provided with the object for being difficult to touch, such as wind, rain, snow on the supply unit 9 on second annulus guide rail 6；It is but different
In common stage property, this kind of object for being difficult to touch needs to generate by other equipment, and keeps dynamic, and for example wind can make
With air blower, rain can use spray gun, and snow uses snow machine, while when paying attention to judging positional relationship, it should be ensured that be " wind ",
" rain ", " snow " are contacted with user, rather than air blower, spray gun, snow machine.It is set on supply unit 9 on third annulus guide rail 6
Not tangibly object, such as sunlight (fluorescent lamp can be used), cold and hot temperature (air-conditioning, warm-air drier, air conditioner) are set；Make one true
Real tactile and cold and hot feeling makes virtual more true.
Other steps and parameter are the same as one or two specific embodiments.
The present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, this field
Technical staff makes various corresponding changes and modifications in accordance with the present invention, but these corresponding changes and modifications all should belong to
The protection scope of the appended claims of the present invention.
Claims (7)
1. the tactile of reality environment generates analogy method, it is characterised in that: be arranged according to the virtual objects in virtual scene
Corresponding stage property, stage property corresponding to the dummy object that will be touched user in virtual scene using conveying equipment are defeated
It is sent to corresponding position, user touches the stage property, cooperates figure, the sound output of virtual reality, generates true sense of touch.
2. the tactile of reality environment generates analogy method according to claim 1, which is characterized in that user is in virtual field
Whether virtual objects will be touched in scape, be captured by rotational action of the motion capture equipment to user's body joint,
Judge in conjunction with user and the positional relationship of virtual objects in virtual scene.
3. the tactile of reality environment generates analogy method according to claim 2, which is characterized in that the user and void
The positional relationship of virtual objects in quasi- scene, by the way that the orientation of virtual scene and reality scene is synchronized, and combination angle,
Highly, distance determines.
4. the tactile of reality environment generates analogy method according to claim 3, which is characterized in that the basis is virtual
Corresponding stage property is arranged in virtual objects in scene, will be touched user in virtual scene using conveying equipment virtual
Stage property corresponding to object is transported to corresponding position, and user touches the stage property, cooperates figure, the sound output of virtual reality,
True sense of touch is generated, is realized especially by following steps:
S1, motion capture equipment real-time capture user's body joint rotation data and be sent to virtual reality system control clothes
Business device；
S2, virtual reality system control server receive motion capture equipment transmission data, and combine the user's body close
Virtual objects position in the rotation data and virtual scene of section, judges whether user will touch with virtual objects；
If S3, judging result are that will touch, the control server of virtual reality system is sent to conveying equipment to be instructed
Corresponding stage property is delivered to corresponding position in virtual scene；If judging result is that will not touch, virtual reality system
The control server of system sends instruction to conveying equipment and stage property is delivered to initial position；
After S4, conveying equipment receive the instruction of control server transmission, position is presently in conjunction with the stage property and obtains stage property
Motion profile, and stage property is delivered to designated position according to the motion profile；
S5, user touch the stage property, cooperate figure, the sound output of virtual reality high-immersion, generate true sense of touch.
5. according to claim 1, the tactile of the reality environment of 2,3 or 4 generates analogy method, which is characterized in that described
Conveying equipment is annular in shape to be arranged around user, and user's body is located at the center point of the annulus.
6. the tactile of reality environment generates analogy method according to claim 5, which is characterized in that the conveying equipment
Including annulus guide rail, slide, slide driving assembly and several supply units；
It is provided with an objective table on each supply unit, stage property is provided on objective table, the supply unit is equipped with
Translate component and vertical movement component；It translates component and is used for horizontal displacement of the driving objective table between annulus and the center of circle, vertically
Displaceable member is used for the vertical displacement of driving objective table；The supply unit bottom is installed on slide；The slide is set in
On the annulus guide rail, which can be rotated under the driving of slide driving assembly along annulus guide rail, and drive the conveying
Unit rotates synchronously.
7. according to claim 6 reality environment tactile generate analogy method, which is characterized in that the slide with lead
Pulley is provided between rail.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910262629.6A CN109933207A (en) | 2019-04-02 | 2019-04-02 | The tactile of reality environment generates analogy method |
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| CN201910262629.6A CN109933207A (en) | 2019-04-02 | 2019-04-02 | The tactile of reality environment generates analogy method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113342171A (en) * | 2021-06-15 | 2021-09-03 | 华北科技学院(中国煤矿安全技术培训中心) | Method and device for generating touchable entity in real time in virtual reality space |
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| US20050110758A1 (en) * | 2003-10-21 | 2005-05-26 | Kyung Ki U. | Tactile mouse interface system |
| CN107728778A (en) * | 2017-09-14 | 2018-02-23 | 北京航空航天大学 | A kind of active force/haptic feedback system and its method of work based on servo control mechanism |
| CN207488953U (en) * | 2017-12-04 | 2018-06-12 | 深圳市易特科信息技术有限公司 | Virtual reality scenario simulator |
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2019
- 2019-04-02 CN CN201910262629.6A patent/CN109933207A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050110758A1 (en) * | 2003-10-21 | 2005-05-26 | Kyung Ki U. | Tactile mouse interface system |
| CN107728778A (en) * | 2017-09-14 | 2018-02-23 | 北京航空航天大学 | A kind of active force/haptic feedback system and its method of work based on servo control mechanism |
| CN207488953U (en) * | 2017-12-04 | 2018-06-12 | 深圳市易特科信息技术有限公司 | Virtual reality scenario simulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113342171A (en) * | 2021-06-15 | 2021-09-03 | 华北科技学院(中国煤矿安全技术培训中心) | Method and device for generating touchable entity in real time in virtual reality space |
| CN113342171B (en) * | 2021-06-15 | 2023-04-07 | 华北科技学院(中国煤矿安全技术培训中心) | Method and device for generating touchable entity in real time in virtual reality space |
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Application publication date: 20190625 |