CN110427103A - A kind of virtual reality fusion emulation experiment multi-modal interaction method and system - Google Patents
A kind of virtual reality fusion emulation experiment multi-modal interaction method and system Download PDFInfo
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- CN110427103A CN110427103A CN201910618413.9A CN201910618413A CN110427103A CN 110427103 A CN110427103 A CN 110427103A CN 201910618413 A CN201910618413 A CN 201910618413A CN 110427103 A CN110427103 A CN 110427103A
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- 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
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Abstract
Present disclose provides a kind of virtual reality fusion emulation experiment multi-modal interaction method and system, establish warming control subsystem, smell control subsystem, vibration control subsystem, the pose equation of stereo sound effect subsystem, pass through pose equation calculation and adjusts warming control subsystem, smell control subsystem, vibration control subsystem, the pose of stereo sound effect subsystem, so that making multi-modal interaction system medium temperature sensing control subsystem, smell control subsystem, vibration control subsystem, stereo sound effect subsystem is maintained at a kind of most suitable position, the user experience is improved, enhance virtual reality immersion sense, pass through vision, the sense of hearing, tactile, the multiple channel cooperations of smell, user obtains and the more similar experience effect of true environment.
Description
Technical field
This disclosure relates to which the control of virtual reality, single-chip microcontroller, data communication technology field, in particular to a kind of virtual reality fusion are imitative
True experiment multi-modal interaction method and system.
Background technique
In technical field of virtual reality, virtual reality fusion interaction technique plays an important role.Melt about current all kinds of actual situations
Interaction schemes are closed, mainly based on touch feedback, is realized mostly by handle, remote controler, Intelligent glove etc., mainly includes
Button and vibrational feedback, such interactive device advantage are conveniently, and can use in the application such as game freely, but it can not
Adaptation is more widely applied scene；Motion capture system is also a kind of important method of virtual reality fusion interaction, can allow user
Complete feeling of immersion is obtained, real " entrance " virtual world.But at present on the market for VR it is dynamic catch system also and be not it is very much, it is existing
Have it is some can only also be used in specific scene, and also to spend long calibration and wear time that could use,
It cannot widely be promoted and applied.
To enhance virtual reality immersion sense, interactive mode is matched with greater need for by vision, the sense of hearing, tactile, the multiple channels of smell
It closes, user could be made to obtain and the more similar experience effect of true environment.Therefore, it is real to virtual reality fusion emulation to design a kind of equipment
Environment during testing is simulated, be virtual reality fusion emulation experiment it is particularly critical a bit.
Summary of the invention
Purpose of this disclosure is to provide a kind of virtual reality fusion emulation experiment multi-modal interaction method and system, establish warming control
Subsystem, smell control subsystem, vibration control subsystem, stereo sound effect subsystem pose equation, pass through pose equation
Calculate and adjust warming control subsystem, smell control subsystem, vibration control subsystem, stereo sound effect subsystem pose.
The disclosure provides a kind of virtual reality fusion emulation experiment multi-modal interaction method and system, and a kind of virtual reality fusion is imitative
True experiment multi-modal interaction method specifically includes the following steps:
Step 1, multi-modal interaction system is initialized, controlling terminal equipment is connected into controller；
Step 2, warming control subsystem, smell control subsystem, vibration control subsystem, stereo sound effect subsystem are established
Pose equation；
Step 3, pass through pose equation calculation and adjust warming control subsystem, smell control subsystem, vibration control
The pose of system, stereo sound effect subsystem.
Further, in step 1, the multi-modal interaction system includes warming control subsystem, smell control subsystem
System, stereo sound effect subsystem, vibration control subsystem, controller, controlling terminal equipment, first connecting rod, the second connecting rod,
Three connecting rods, the 4th connecting rod, first motor, the second motor, third motor, the 4th motor；The vibration control subsystem is logical
It crosses first connecting rod to connect with warming control subsystem, the warming control subsystem passes through the second connecting rod and smell control
System connection, the smell control subsystem are connect by third connecting rod with stereo sound effect subsystem, stereo sound effect
System is connected to motor by the 4th connecting rod；The junction that the first connecting rod is connect with warming control subsystem is provided with
First angular displacement sensor and first motor；The junction that second connecting rod is connect with smell control subsystem is provided with
Two angular displacement sensors and the second motor；The junction that the third connecting rod is connect with stereo sound effect subsystem is provided with third
Angular displacement sensor and third motor；The junction that 4th connecting rod is connect with the 4th motor is provided with fourth angle displacement and passes
Sensor, first angular displacement sensor, the second angular displacement sensor, third angular displacement sensor, fourth angle displacement sensor
Be respectively used to measurement first connecting rod, the second connecting rod, third connecting rod, the 4th connecting rod angular displacement, the first motor,
Second motor, third motor, the 4th motor are respectively used to rotation first connecting rod, the second connecting rod, third connecting rod, the 4th company
Extension bar is to adjust pose.
Hereinafter, warming control subsystem, smell control subsystem, stereo sound effect subsystem, vibration control subsystem
All it is referred to as subsystem, first connecting rod, the second connecting rod, third connecting rod, the 4th connecting rod are referred to as connecting rod；First electricity
Machine, the second motor, third motor, the 4th motor are referred to as motor；First motor, the second motor, third motor, the 4th motor tune
Whole pose corresponds respectively to first connecting rod, the second connecting rod, third connecting rod, the 4th connecting rod；Wherein any one is connected
When bar is adjusted by motor, that is, it is known as adjusting corresponding connecting rod by motor；It is first motor that connecting rod, which corresponds to motor meaning,
Corresponding second connecting rod of corresponding first connecting rod, the second motor, third motor correspond to third connecting rod, the 4th motor the corresponding 4th
Connecting rod.
Further, in step 2, establish warming control subsystem, smell control subsystem, vibration control subsystem,
The method of the pose equation of stereo sound effect subsystem are as follows: enable first connecting rod, the second connecting rod, third connecting rod, the 4th connection
The length of bar is respectively l1, l2, l3, l4, according to the angular displacement of the length of each connecting rod motor corresponding with connecting rod, Jin Erji
Calculation obtains the pose equation of subsystem,
X=l1sinθ1+l2sin(θ1+θ2)+l3sin(θ1+θ2+θ3)+l4sin(θ1+θ2+θ3+θ4) (1)
Y=l1cosθ1+l2cos(θ1+θ2)+l3cos(θ1+θ2+θ3)-l4cos(θ1+θ2+θ3+θ4) (2)
θ '=θ1+θ2+θ3+θ4-180° (3)
The angular displacement is the first connecting rod obtained by angular displacement sensor measurement, the second connecting rod, third connection
The angular displacement of bar, the 4th connecting rodi(i=1,2,3,4).
Further, in step 3, pass through pose equation calculation and adjust warming control subsystem, smell control subsystem
System, vibration control subsystem, stereo sound effect subsystem pose method are as follows:
Model is adjusted by the pose of pose establishing equation subsystems:
ai(i=1 ..., 4) is connection pole length,For the angular displacement of connecting rod pose adjustment, that is, pass throughPose adjustment is carried out to reach suitable pose；
Wherein:
Warming control subsystem, smell control subsystem, vibration control subsystem, stereo sound effect subsystem are obtained from above
Pose issues start stop signal and positive and negative rotaring signal by motor and adjusts corresponding connecting rod progress angular displacementRotation
Turn, i.e., adjustment warming control subsystem, smell control subsystem, vibration control subsystem, stereo sound effect subsystem angle from
And pose is adjusted, when the start stop signal that motor receives is high level, motor rotation, otherwise motor stops；When motor receives
When the positive and negative rotaring signal arrived is high level, motor is rotated forward, otherwise motor reversal.
The disclosure additionally provides a kind of virtual reality fusion emulation experiment multi-modal interaction system, the multi-modal interaction system packet
Include warming control subsystem, smell control subsystem, stereo sound effect subsystem, vibration control subsystem, controller, controlling terminal
Equipment, first connecting rod, the second connecting rod, third connecting rod, the 4th connecting rod, first motor, the second motor, third motor,
4th motor；The vibration control subsystem is connect by first connecting rod with warming control subsystem, warming control
System is connect by the second connecting rod with smell control subsystem, and the smell control subsystem passes through third connecting rod and solid
The connection of audio subsystem, the stereo sound effect subsystem are connected to motor by the 4th connecting rod；The first connecting rod and temperature
The junction of sensing control subsystem connection is provided with the first angular displacement sensor and first motor；Second connecting rod and smell
The junction of control subsystem connection is provided with the second angular displacement sensor and the second motor；The third connecting rod and three-dimensional sound
The junction of effect subsystem connection is provided with third angular displacement sensor and third motor；4th connecting rod and the 4th motor
The junction of connection is provided with fourth angle displacement sensor, first angular displacement sensor, the second angular displacement sensor, third
Angular displacement sensor, fourth angle displacement sensor are respectively used to measurement first connecting rod, the second connecting rod, third connecting rod, the
The angular displacement of four connecting rods, the first motor, the second motor, third motor, the 4th motor are respectively used to the first connection of rotation
Bar, the second connecting rod, third connecting rod, the 4th connecting rod are to adjust pose.
Further, warming control subsystem includes at least Temperature Humidity Sensor, heating module, refrigeration module, humidification mould
Block, multiple relays；Ambient temperature and humidity is acquired by Temperature Humidity Sensor using controller, and uses close-loop control mode, knot
PID controller is closed, ambient temperature and humidity is adjusted by relay control heating, refrigeration and humidifier in real time in experimentation
Section；Heating, refrigeration and humidifier include but is not limited to air-conditioning.
Further, smell control subsystem includes at least steering engine, atomizing piece driver, atomizing piece, air blower；It tested
Cheng Zhong, when using having odorous equipment or material, controlling terminal sends a command to controller, and controller passes through control steering engine
Rotation, select different odor reagent, then be atomized smell reagent by atomizing piece, and control air blower for odor dispersion to empty
Gas.
Further, vibration control subsystem includes at least motor driving plate, one or more vibrating motors；According to experiment
Effect and physical impacts, simulation generate vibrating effect, as experiment of horizontal projectile motion, inclined-plane trolley slide friction vibration in Physical Experiment
It moves.
Further, stereo sound effect subsystem includes at least, and key, bluetooth module, sound equipment, virtual reality wear-type are shown
Equipment (VR aobvious)；It realizes Baffle Box of Bluetooth effect, volume can be controlled by virtual key in VR experiment scene or physical button, broadcast
The functions such as put.
Further, the controller includes but is not limited to ARM microcontroller, 51 series monolithics, TMS320F2812 control
Coremaking piece, LPC2100 family chip, 8051 family chips, DSP56F800 series control any one in chip.
Further, the controlling terminal equipment includes but is not limited to PC, tablet computer, mobile phone etc., by bluetooth,
Zigbee, wired communication mode are attached with controller.
The disclosure has the beneficial effect that so that making multi-modal interaction system medium temperature sensing control subsystem, smell control subsystem
System, vibration control subsystem, stereo sound effect subsystem are maintained at a kind of most suitable position, and the user experience is improved, enhances
Virtual reality immersion sense is cooperated by vision, the sense of hearing, tactile, the multiple channels of smell, and user obtains more similar with true environment
Experience effect.
Detailed description of the invention
By the way that the embodiment in conjunction with shown by attached drawing is described in detail, above-mentioned and other features of the disclosure will
More obvious, identical reference label indicates the same or similar element in disclosure attached drawing, it should be apparent that, it is described below
Attached drawing be only some embodiments of the present disclosure, for those of ordinary skill in the art, do not making the creative labor
Under the premise of, it is also possible to obtain other drawings based on these drawings, in the accompanying drawings:
Fig. 1 show a kind of virtual reality fusion emulation experiment multi-modal interaction method and system work flow diagram of the disclosure；
Fig. 2 show a kind of virtual reality fusion emulation experiment multi-modal interaction system module architecture diagram of the disclosure.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to the design of the disclosure, specific structure and generation clear
Chu, complete description, to be completely understood by the purpose, scheme and effect of the disclosure.It should be noted that the case where not conflicting
Under, the features in the embodiments and the embodiments of the present application can be combined with each other.
As shown in Figure 1 for according to a kind of virtual reality fusion emulation experiment multi-modal interaction method and system workflow of the disclosure
Cheng Tu, Fig. 2 show a kind of virtual reality fusion emulation experiment multi-modal interaction system module architecture diagram, come below with reference to Fig. 1, Fig. 2
Illustrate the special equipment management method according to the disclosure.
The disclosure proposes a kind of virtual reality fusion emulation experiment multi-modal interaction method and system, and a kind of virtual reality fusion is imitative
True experiment multi-modal interaction method, specifically includes the following steps:
Step 1, multi-modal interaction system is initialized, controlling terminal equipment is connected into controller；
Step 2, warming control subsystem, smell control subsystem, vibration control subsystem, stereo sound effect subsystem are established
Pose equation；
Step 3, pass through pose equation calculation and adjust warming control subsystem, smell control subsystem, vibration control
The pose of system, stereo sound effect subsystem.
Further, in step 1, the multi-modal interaction system includes warming control subsystem, smell control subsystem
System, stereo sound effect subsystem, vibration control subsystem, controller, controlling terminal equipment, first connecting rod, the second connecting rod,
Three connecting rods, the 4th connecting rod, first motor, the second motor, third motor, the 4th motor；The vibration control subsystem is logical
It crosses first connecting rod to connect with warming control subsystem, the warming control subsystem passes through the second connecting rod and smell control
System connection, the smell control subsystem are connect by third connecting rod with stereo sound effect subsystem, stereo sound effect
System is connected to motor by the 4th connecting rod；The junction that the first connecting rod is connect with warming control subsystem is provided with
First angular displacement sensor and first motor；The junction that second connecting rod is connect with smell control subsystem is provided with
Two angular displacement sensors and the second motor；The junction that the third connecting rod is connect with stereo sound effect subsystem is provided with third
Angular displacement sensor and third motor；The junction that 4th connecting rod is connect with the 4th motor is provided with fourth angle displacement and passes
Sensor, first angular displacement sensor, the second angular displacement sensor, third angular displacement sensor, fourth angle displacement sensor
Be respectively used to measurement first connecting rod, the second connecting rod, third connecting rod, the 4th connecting rod angular displacement, the first motor,
Second motor, third motor, the 4th motor are respectively used to rotation first connecting rod, the second connecting rod, third connecting rod, the 4th company
Extension bar is to adjust pose.
Hereinafter, warming control subsystem, smell control subsystem, stereo sound effect subsystem, vibration control subsystem
All it is referred to as subsystem, first connecting rod, the second connecting rod, third connecting rod, the 4th connecting rod are referred to as connecting rod；First electricity
Machine, the second motor, third motor, the 4th motor are referred to as motor；First motor, the second motor, third motor, the 4th motor tune
Whole pose corresponds respectively to first connecting rod, the second connecting rod, third connecting rod, the 4th connecting rod；Wherein any one is connected
When bar is adjusted by motor, corresponding connecting rod is referred to as adjusted by motor.
Further, in step 2, establish warming control subsystem, smell control subsystem, vibration control subsystem,
The method of the pose equation of stereo sound effect subsystem are as follows: enable first connecting rod, the second connecting rod, third connecting rod, the 4th connection
The length of bar is respectively l1, l2, l3, l4, according to the angular displacement of the length of each connecting rod motor corresponding with connecting rod, Jin Erji
Calculation obtains the pose equation of subsystem,
X=l1sinθ1+l2sin(θ1+θ2)+l3sin(θ1+θ2+θ3)+l4sin(θ1+θ2+θ3+θ4) (1)
Y=l1cosθ1+l2cos(θ1+θ2)+l3cos(θ1+θ2+θ3)-l4cos(θ1+θ2+θ3+θ4) (2)
θ '=θ1+θ2+θ3+θ4-180° (3)
The angular displacement is the first connecting rod obtained by angular displacement sensor measurement, the second connecting rod, third connection
The angular displacement of bar, the 4th connecting rodi(i=1,2,3,4).
Further, in step 3, pass through pose equation calculation and adjust warming control subsystem, smell control subsystem
System, vibration control subsystem, stereo sound effect subsystem pose method are as follows:
Model is adjusted by the pose of pose establishing equation subsystems:
ai(i=1 ..., 4) is connection pole length,For the angular displacement of connecting rod pose adjustment, that is, pass throughPose adjustment is carried out to reach suitable pose；
Wherein:
Warming control subsystem, smell control subsystem, vibration control subsystem, stereo sound effect subsystem are obtained from above
Pose issues start stop signal and positive and negative rotaring signal by motor and adjusts corresponding connecting rod progress angular displacementRotation
Turn, i.e., adjustment warming control subsystem, smell control subsystem, vibration control subsystem, stereo sound effect subsystem angle from
And pose is adjusted, when the start stop signal that motor receives is high level, motor rotation, otherwise motor stops；When motor receives
When the positive and negative rotaring signal arrived is high level, motor is rotated forward, otherwise motor reversal.
The disclosure additionally provides a kind of virtual reality fusion emulation experiment multi-modal interaction system, the multi-modal interaction system packet
Include warming control subsystem, smell control subsystem, stereo sound effect subsystem, vibration control subsystem, controller, controlling terminal
Equipment, first connecting rod, the second connecting rod, third connecting rod, the 4th connecting rod, first motor, the second motor, third motor,
4th motor；The vibration control subsystem is connect by first connecting rod with warming control subsystem, warming control
System is connect by the second connecting rod with smell control subsystem, and the smell control subsystem passes through third connecting rod and solid
The connection of audio subsystem, the stereo sound effect subsystem are connected to motor by the 4th connecting rod；The first connecting rod and temperature
The junction of sensing control subsystem connection is provided with the first angular displacement sensor and first motor；Second connecting rod and smell
The junction of control subsystem connection is provided with the second angular displacement sensor and the second motor；The third connecting rod and three-dimensional sound
The junction of effect subsystem connection is provided with third angular displacement sensor and third motor；4th connecting rod and the 4th motor
The junction of connection is provided with fourth angle displacement sensor, first angular displacement sensor, the second angular displacement sensor, third
Angular displacement sensor, fourth angle displacement sensor are respectively used to measurement first connecting rod, the second connecting rod, third connecting rod, the
The angular displacement of four connecting rods, the first motor, the second motor, third motor, the 4th motor are respectively used to the first connection of rotation
Bar, the second connecting rod, third connecting rod, the 4th connecting rod are to adjust pose.
Further, warming control subsystem includes at least Temperature Humidity Sensor, heating module, refrigeration module, humidification mould
Block, multiple relays；Ambient temperature and humidity is acquired by Temperature Humidity Sensor using controller, and uses close-loop control mode, knot
PID controller is closed, ambient temperature and humidity is adjusted by relay control heating, refrigeration and humidifier in real time in experimentation
Section；Heating, refrigeration and humidifier include but is not limited to air-conditioning.
Further, smell control subsystem includes at least steering engine, atomizing piece driver, atomizing piece, air blower；It tested
Cheng Zhong, when using having odorous equipment or material, controlling terminal sends a command to controller, and controller passes through control steering engine
Rotation, select different odor reagent, then be atomized smell reagent by atomizing piece, and control air blower for odor dispersion to empty
Gas.
Further, vibration control subsystem includes at least motor driving plate, one or more vibrating motors；According to experiment
Effect and physical impacts, simulation generate vibrating effect, as experiment of horizontal projectile motion, inclined-plane trolley slide friction vibration in Physical Experiment
It moves.
Further, stereo sound effect subsystem includes at least, and key, bluetooth module, sound equipment, virtual reality wear-type are shown
Equipment (VR aobvious)；It realizes Baffle Box of Bluetooth effect, volume can be controlled by virtual key in VR experiment scene or physical button, broadcast
The functions such as put.
Further, the controller includes but is not limited to ARM microcontroller, 51 series monolithics, TMS320F2812 control
Coremaking piece, LPC2100 family chip, 8051 family chips, DSP56F800 series control any one in chip.
Further, the controlling terminal equipment includes but is not limited to PC, tablet computer, mobile phone etc., by bluetooth,
Zigbee, wired communication mode are attached with controller.
A kind of virtual reality fusion emulation experiment multi-modal interaction method and system can run on desktop PC, pen
Note sheet, palm PC and cloud server etc. calculate in equipment.A kind of virtual reality fusion emulation experiment multi-modal interaction method
And the device that system can be run may include, but be not limited only to, processor, memory.It will be understood by those skilled in the art that described
Example is only a kind of example of virtual reality fusion emulation experiment multi-modal interaction method and system, does not constitute and melts to a kind of actual situation
The restriction for closing emulation experiment multi-modal interaction method and system, may include component more more or fewer than example, or combination
Certain components or different components, such as a kind of virtual reality fusion emulation experiment multi-modal interaction method and system may be used also
To include input-output equipment, network access equipment, bus etc..
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the processor is in a kind of control of virtual reality fusion emulation experiment multi-modal interaction method and system running gear
The heart, using various interfaces and connection, entirely a kind of virtual reality fusion emulation experiment multi-modal interaction method and system can run dress
The various pieces set.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
A kind of various functions of virtual reality fusion emulation experiment multi-modal interaction method and system.The memory can mainly include storage journey
Sequence area and storage data area, wherein storing program area can the (ratio of application program needed for storage program area, at least one function
Such as sound-playing function, image player function) etc.；Storage data area, which can be stored, uses created data according to mobile phone
(such as audio data, phone directory etc.) etc..In addition, memory may include high-speed random access memory, it can also include non-
Volatile memory, such as hard disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), safe number
Word (Secure Digital, SD) card, flash card (Flash Card), at least one disk memory, flush memory device or its
His volatile solid-state part.
Although the description of the disclosure is quite detailed and especially several embodiments are described, it is not
Any of these details or embodiment or any specific embodiments are intended to be limited to, but should be considered as is by reference to appended
A possibility that claim provides broad sense in view of the prior art for these claims explanation, to effectively cover the disclosure
Preset range.In addition, the disclosure is described with inventor's foreseeable embodiment above, its purpose is to be provided with
Description, and those equivalent modifications that the disclosure can be still represented to the unsubstantiality change of the disclosure still unforeseen at present.
Claims (10)
1. a kind of virtual reality fusion emulation experiment multi-modal interaction method, which is characterized in that the described method includes:
Step 1, multi-modal interaction system is initialized, controlling terminal equipment is connected into controller；
Step 2, establish warming control subsystem, smell control subsystem, vibration control subsystem, stereo sound effect subsystem position
Appearance equation；
Step 3, pass through pose equation calculation and adjust warming control subsystem, smell control subsystem, vibration control subsystem,
The pose of stereo sound effect subsystem.
2. a kind of virtual reality fusion emulation experiment multi-modal interaction method according to claim 1, which is characterized in that in step
In 1, the multi-modal interaction system includes warming control subsystem, smell control subsystem, stereo sound effect subsystem, vibration control
Subsystem, controller, controlling terminal equipment, first connecting rod, the second connecting rod, third connecting rod, the 4th connecting rod, first
Motor, the second motor, third motor, the 4th motor；The vibration control subsystem passes through first connecting rod and warming control
System connection, the warming control subsystem are connect by the second connecting rod with smell control subsystem, smell control
System is connect by third connecting rod with stereo sound effect subsystem, and the stereo sound effect subsystem passes through the 4th connecting rod and motor
Connection；The junction that the first connecting rod is connect with warming control subsystem is provided with the first angular displacement sensor and the first electricity
Machine；The junction that second connecting rod is connect with smell control subsystem is provided with the second angular displacement sensor and the second electricity
Machine；The junction that the third connecting rod is connect with stereo sound effect subsystem is provided with third angular displacement sensor and third electricity
Machine；The junction that 4th connecting rod is connect with the 4th motor is provided with fourth angle displacement sensor, first angular displacement
Sensor, the second angular displacement sensor, third angular displacement sensor, fourth angle displacement sensor are respectively used to the first connection of measurement
The angular displacement of bar, the second connecting rod, third connecting rod, the 4th connecting rod, the first motor, the second motor, third motor,
Four motors are respectively used to rotation first connecting rod, the second connecting rod, third connecting rod, the 4th connecting rod to adjust pose.
3. a kind of virtual reality fusion emulation experiment multi-modal interaction method according to claim 2, which is characterized in that in step
In 2, establish warming control subsystem, smell control subsystem, vibration control subsystem, stereo sound effect subsystem pose equation
Method are as follows: enabling first connecting rod, the second connecting rod, third connecting rod, the length of the 4th connecting rod is respectively l1, l2, l3, l4,
According to the angular displacement of the length of each connecting rod motor corresponding with connecting rod, and then the pose equation of subsystem is calculated,
X=l1sinθ1+l2sin(θ1+θ2)+l3sin(θ1+θ2+θ3)+l4sin(θ1+θ2+θ3+θ4) (1)
Y=l1cosθ1+l2cos(θ1+θ2)+l3cos(θ1+θ2+θ3)-l4cos(θ1+θ2+θ3+θ4) (2)
θ '=θ1+θ2+θ3+θ4-180° (3)
The angular displacement is the first connecting rod obtained by angular displacement sensor measurement, the second connecting rod, third connecting rod, the
The angular displacement of four connecting rodsi(i=1,2,3,4).
4. a kind of virtual reality fusion emulation experiment multi-modal interaction method according to claim 3, which is characterized in that in step
In 3, passes through pose equation calculation and adjust warming control subsystem, smell control subsystem, vibration control subsystem, three-dimensional sound
The method for imitating the pose of subsystem are as follows:
Model is adjusted by the pose of pose establishing equation subsystems:
ai(i=1 ..., 4) is connection pole length,For the angular displacement of connecting rod pose adjustment；
Wherein:
Obtained from above warming control subsystem, smell control subsystem, vibration control subsystem, stereo sound effect subsystem position
Appearance issues start stop signal and positive and negative rotaring signal by motor and adjusts corresponding connecting rod progress angular displacementRotation
Turn, i.e., adjustment warming control subsystem, smell control subsystem, vibration control subsystem, stereo sound effect subsystem angle from
And pose is adjusted, when the start stop signal that motor receives is high level, motor rotation, otherwise motor stops；When motor receives
When the positive and negative rotaring signal arrived is high level, motor is rotated forward, otherwise motor reversal.
5. a kind of virtual reality fusion emulation experiment multi-modal interaction system, which is characterized in that the multi-modal interaction system includes temperature
Sensing control subsystem, smell control subsystem, stereo sound effect subsystem, vibration control subsystem, controller, controlling terminal are set
Standby, first connecting rod, the second connecting rod, third connecting rod, the 4th connecting rod, first motor, the second motor, third motor,
Four motors；The vibration control subsystem is connect by first connecting rod with warming control subsystem, and the warming controls subsystem
System is connect by the second connecting rod with smell control subsystem, and the smell control subsystem passes through third connecting rod and three-dimensional sound
Subsystem connection is imitated, the stereo sound effect subsystem is connected to motor by the 4th connecting rod；The first connecting rod and warming
The junction of control subsystem connection is provided with the first angular displacement sensor and first motor；Second connecting rod and smell control
The junction of subsystem connection is provided with the second angular displacement sensor and the second motor；The third connecting rod and stereo sound effect
The junction of subsystem connection is provided with third angular displacement sensor and third motor；4th connecting rod and the 4th motor connect
The junction connect is provided with fourth angle displacement sensor, first angular displacement sensor, the second angular displacement sensor, the third angle
Displacement sensor, fourth angle displacement sensor are respectively used to measurement first connecting rod, the second connecting rod, third connecting rod, the 4th
The angular displacement of connecting rod, the first motor, the second motor, third motor, the 4th motor be respectively used to rotation first connecting rod,
Second connecting rod, third connecting rod, the 4th connecting rod are to adjust pose.
6. a kind of virtual reality fusion emulation experiment multi-modal interaction system according to claim 5, which is characterized in that warming control
Subsystem includes at least Temperature Humidity Sensor, heating module, refrigeration module, humidification module, multiple relays；Using controller
Ambient temperature and humidity is acquired by Temperature Humidity Sensor, and uses close-loop control mode, in conjunction with PID controller, in experimentation reality
When by relay control heating, refrigeration and humidifier ambient temperature and humidity is adjusted.
7. a kind of virtual reality fusion emulation experiment multi-modal interaction system according to claim 5, which is characterized in that smell control
Subsystem includes at least steering engine, atomizing piece driver, atomizing piece, air blower.
8. a kind of virtual reality fusion emulation experiment multi-modal interaction system according to claim 5, which is characterized in that vibration control
Subsystem includes at least motor driving plate, one or more vibrating motors.
9. a kind of virtual reality fusion emulation experiment multi-modal interaction system according to claim 5, which is characterized in that three-dimensional sound
Effect subsystem includes at least, key, bluetooth module, sound equipment, virtual reality head-mounted display apparatus.
10. a kind of virtual reality fusion emulation experiment multi-modal interaction system according to claim 5, which is characterized in that described
Controller includes but is not limited to ARM microcontroller, 51 series monolithics, TMS320F2812 control chip, LPC2100 series core
Piece, 8051 family chips, DSP56F800 series control any one in chip.
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