CN111643885A - Virtual reality steering control method based on IMU - Google Patents
Virtual reality steering control method based on IMU Download PDFInfo
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- CN111643885A CN111643885A CN201910314605.0A CN201910314605A CN111643885A CN 111643885 A CN111643885 A CN 111643885A CN 201910314605 A CN201910314605 A CN 201910314605A CN 111643885 A CN111643885 A CN 111643885A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000005259 measurement Methods 0.000 claims abstract description 48
- 238000004891 communication Methods 0.000 claims description 4
- 230000002194 synthesizing effect Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract description 8
- 238000007654 immersion Methods 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000001953 sensory effect Effects 0.000 abstract description 4
- 238000012937 correction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
- A63F13/211—Input arrangements for video game devices characterised by their sensors, purposes or types using inertial sensors, e.g. accelerometers or gyroscopes
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
- A63F13/212—Input arrangements for video game devices characterised by their sensors, purposes or types using sensors worn by the player, e.g. for measuring heart beat or leg activity
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/40—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment
- A63F13/42—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle
- A63F13/428—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle involving motion or position input signals, e.g. signals representing the rotation of an input controller or a player's arm motions sensed by accelerometers or gyroscopes
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/55—Controlling game characters or game objects based on the game progress
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
- A63F2300/105—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals using inertial sensors, e.g. accelerometers, gyroscopes
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/80—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game specially adapted for executing a specific type of game
- A63F2300/8082—Virtual reality
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Abstract
The invention provides a virtual reality steering control method based on an IMU (inertial measurement Unit), which relates to the field of virtual reality and comprises the following steps of 1: the upper computer is connected with the inertia measurement unit to obtain the angle information of the inertia measurement unit in real time; step 2: initializing angle information of a role or an object needing steering control in the virtual reality software system; and step 3: and in the running process of the virtual reality software system, calculating and updating the angle information of the role or the object in the virtual reality software system in the current state in real time according to the current information of the initialization and inertia measurement unit. According to the invention, the rotation detection is carried out on the body of the player, so that the rotation of the character or the object is controlled, the visual sense of the corresponding visual angle is similar to the body sense of the player, the problem of incompatibility is avoided, and the immersion sense is increased; the difficulty of player control is reduced, and the sensory experience of virtual reality is increased.
Description
Technical Field
The invention relates to the field of virtual reality, in particular to a virtual reality steering control method based on an IMU (inertial measurement Unit).
Background
Virtual reality devices are currently used in many industries, such as: industries such as games, education and training, tourism, exhibitions and the like.
The main matching operation control mode of the existing virtual reality equipment is realized by adopting a handle controller, the control mode of the handle controller is to operate the content by a dial plate, a key and a side key, and the dial plate or the key can control a character or an object to rotate by a certain fixed numerical value.
The steering control method using a dial or a key cannot perform steering control at a rotation angle of the player's body, and the control of the rotation angle can be performed only at a fixed angle, which is inferior in visual sense effect according to the switching of the angle of view. The turning of the vision on the screen is very unnatural, so that the player is given poor experience, and the body of the player feels asymmetric, so that the immersion is lost.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a virtual reality steering control method based on an IMU, which controls a character or an object to rotate by detecting the rotation of a player body, so that the visual sense of the corresponding angle of view is similar to the body sense of the player, the problem of incompatibility is not generated, and the immersion sense is increased; the difficulty of player control is reduced, and the sensory experience of virtual reality is increased.
The invention provides a virtual reality steering control method based on an IMU (inertial measurement Unit), which comprises the following steps:
step 1: the upper computer is connected with the inertia measurement unit to obtain the angle information of the inertia measurement unit in real time;
step 2: initializing angle information of a role or an object needing steering control in the virtual reality software system;
and step 3: and in the running process of the virtual reality software system, calculating and updating the angle information of the role or the object in the virtual reality software system in the current state in real time according to the current information of the initialization and inertia measurement unit.
Furthermore, when the virtual reality steering control is closed, the communication connection between the upper computer and the inertia measurement unit is disconnected, and the initialization information of the roles or objects in the virtual reality software system is reset.
Further, if the angle of the character or object in the virtual reality software system needs to be corrected again, or the inertial measurement unit needs to be initialized again, the virtual reality steering control needs to be turned off first, and then the step 1 and the step 2 need to be executed again.
Further, the specific steps of calculating and updating the angle information of the character or the object in the virtual reality software system in real time at the current state are as follows:
step 3.1: acquiring an average value of angles acquired for many times by an inertia measurement unit to obtain an initialized offset angle, and recording a quaternion b and an Euler angle d of the offset angle;
step 3.2: acquiring a real-time angle a through an inertia measurement unit;
step 3.3: synthesizing a new Euler angle by coordinates x, y being 0 and z being 0 of the Euler angle d and converting the Euler angle into a quaternion c;
step 3.4: multiplying the quaternion b and the quaternion c by the inverse of the quaternion c, and then multiplying by the real-time angle a to obtain a rotating angle value;
step 3.5: and assigning the angle value to a corresponding role or object in the virtual reality software system.
Further, the inertial measurement unit comprises an accelerometer, a gyroscope and a magnetometer.
As described above, the virtual reality steering control method based on the IMU of the present invention has the following beneficial effects: according to the invention, the inertia measurement unit is used for carrying out rotation detection on the body, so that the role or the object is controlled to rotate instead of rotating at a fixed angle, the visual sense of the corresponding visual angle is close to the body sense of a player, the problem of incompatibility is avoided, and the immersion sense is increased; and an additional handle controller is not needed to control steering, so that the control difficulty of a player is reduced, and the sensory experience of virtual reality is increased.
Drawings
FIG. 1 is a flow chart of a method for controlling a virtual reality steering system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for calculating a rotational angle value disclosed in an embodiment of the present invention;
FIG. 3 is a block diagram of an inertial measurement unit according to an embodiment of the present invention;
fig. 4 is a block diagram illustrating a virtual reality head-mounted display system according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The invention provides a virtual reality steering control method based on an IMU (inertial measurement unit), which comprises the following steps:
step 1: the upper computer is connected with the inertia measurement unit to obtain the angle information of the inertia measurement unit in real time;
step 2: initializing angle information of a role or an object needing steering control in the virtual reality software system;
and step 3: and in the running process of the virtual reality software system, calculating and updating the angle information of the role or the object in the virtual reality software system in the current state in real time according to the current information of the initialization and inertia measurement unit.
Specifically, when the virtual reality steering control is closed, the communication connection between the upper computer and the inertia measurement unit is disconnected, and the initialization information of the roles or objects in the virtual reality software system is reset;
if the angle correction needs to be carried out on the role or the object in the virtual reality software system again, or the inertial measurement unit needs to be initialized again, the virtual reality steering control needs to be closed first, and then the step 1 and the step 2 are executed again;
as shown in fig. 2, the specific steps of calculating and updating the angle information of the character or object in the virtual reality software system in real time at the current state are as follows:
step 3.1: acquiring an average value of angles acquired for many times by an inertia measurement unit to obtain an initialized offset angle, and recording a quaternion b and an Euler angle d of the offset angle;
step 3.2: acquiring a real-time angle a through an inertia measurement unit;
step 3.3: synthesizing a new Euler angle by coordinates x, y being 0 and z being 0 of the Euler angle d and converting the Euler angle into a quaternion c;
step 3.4: multiplying the quaternion b and the quaternion c by the inverse of the quaternion c, and then multiplying by the real-time angle a to obtain a rotating angle value;
step 3.5: assigning the angle value to a corresponding role or object in the virtual reality software system;
specifically, the inertial measurement unit mainly has two degrees of freedom, namely six degrees of freedom and nine degrees of freedom, as shown in fig. 3, the six-degree-of-freedom inertial measurement unit internally includes an accelerometer and a gyroscope; the nine-degree-of-freedom inertial measurement unit internally comprises an accelerometer, a gyroscope and a magnetometer, wherein the accelerometer, the gyroscope and the magnetometer are respectively used for measuring acceleration, angle and direction; the communication modes of the inertia measurement unit mainly include Bluetooth, wireless, wired and the like.
Example 1:
as shown in fig. 1, the virtual reality steering control method of the present invention specifically operates as follows:
(1) starting a virtual reality head-mounted display system;
as shown in fig. 4, the virtual reality head-mounted display system includes a head-mounted display and a handle controller, where the head-mounted display includes an all-in-one machine, a hybrid display head-mounted display, and a head-mounted display based on base station or camera positioning; the handle controller comprises a single-handle controller and a double-handle controller;
(2) starting an inertia measurement unit;
(3) starting a client application program, starting a virtual reality software system, and entering a waiting state;
(4) wearing an inertia measurement unit on a player body, and connecting a virtual reality software system with the inertia measurement unit;
wherein, by clicking a function button on the handle controller, the virtual reality software system starts to connect with the inertia measurement unit and receives signals;
(5) initializing angle information of a role or an object needing to be controlled to walk in the virtual reality software system;
the method comprises the steps that angle deviation correction is carried out, under the condition that a player stands still, angle sampling is carried out for multiple times, and an average number is obtained to obtain a deviation angle initialized by an inertia measurement unit;
(6) acquiring the information of the inertial measurement unit in real time, updating the virtual reality software system, and calculating the angle information of the role or object in the current virtual reality software system according to the angle acquired by the initialized offset angle in the real-time movement process;
(7) stopping detection, closing the connection between the virtual reality software system and the inertial measurement unit, and when motion capture needs to be suspended, closing the connection between the virtual reality software system and the inertial measurement unit and zeroing the information such as the initialized offset angle;
(8) restarting detection, and repeating the step (5) and the step (6) when the virtual reality software system is required to provide the angle information of the inertial measurement unit again;
(9) and closing the virtual reality software system, closing the inertia measurement unit, and when the virtual reality software system is determined to stop, firstly disconnecting the virtual reality software system from the inertia measurement unit, taking down the head-mounted display and the handle controller, and taking down and closing the inertia measurement unit.
In conclusion, the player body is rotated and detected, so that the character or the object is controlled to rotate, the visual sense of the corresponding visual angle is similar to the body sense of the player, the problem of incompatibility is avoided, and the immersion sense is increased; the difficulty of player control is reduced, and the sensory experience of virtual reality is increased. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (5)
1. An IMU-based virtual reality steering control method is characterized by comprising the following steps:
step 1: the upper computer is connected with the inertia measurement unit to obtain the angle information of the inertia measurement unit in real time;
step 2: initializing angle information of a role or an object needing steering control in the virtual reality software system;
and step 3: and in the running process of the virtual reality software system, calculating and updating the angle information of the role or the object in the virtual reality software system in the current state in real time according to the current information of the initialization and inertia measurement unit.
2. The IMU-based virtual reality steering control method of claim 1, wherein: when the virtual reality steering control is closed, the communication connection between the upper computer and the inertia measurement unit is disconnected, and the initialization information of the roles or objects in the virtual reality software system is reset.
3. The IMU-based virtual reality steering control method of claim 1, wherein: if the angle of the character or the object in the virtual reality software system needs to be corrected again, or the inertial measurement unit needs to be initialized again, the virtual reality steering control needs to be closed first, and then the step 1 and the step 2 need to be executed again.
4. The IMU-based virtual reality steering control method of claim 1, wherein the specific steps of calculating and updating the angle information of the character or object in the virtual reality software system in real time at the current state are as follows:
step 3.1: acquiring an average value of angles acquired for many times by an inertia measurement unit to obtain an initialized offset angle, and recording a quaternion b and an Euler angle d of the offset angle;
step 3.2: acquiring a real-time angle a through an inertia measurement unit;
step 3.3: synthesizing a new Euler angle by coordinates x, y being 0 and z being 0 of the Euler angle d and converting the Euler angle into a quaternion c;
step 3.4: multiplying the quaternion b and the quaternion c by the inverse of the quaternion c, and then multiplying by the real-time angle a to obtain a rotating angle value;
step 3.5: and assigning the angle value to a corresponding role or object in the virtual reality software system.
5. The IMU-based virtual reality steering control method of claim 1, wherein: the inertial measurement unit comprises an accelerometer, a gyroscope and a magnetometer.
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| CN201910314605.0A CN111643885A (en) | 2019-04-18 | 2019-04-18 | Virtual reality steering control method based on IMU |
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| CN201910314605.0A CN111643885A (en) | 2019-04-18 | 2019-04-18 | Virtual reality steering control method based on IMU |
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Citations (6)
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|---|---|---|---|---|
| US20140152558A1 (en) * | 2012-11-30 | 2014-06-05 | Tom Salter | Direct hologram manipulation using imu |
| CN104898669A (en) * | 2015-04-30 | 2015-09-09 | 贺杰 | Virtual reality walking control method and system based on inertia sensor |
| CN106648116A (en) * | 2017-01-22 | 2017-05-10 | 隋文涛 | Virtual reality integrated system based on action capture |
| CN106648088A (en) * | 2016-12-14 | 2017-05-10 | 影动（北京）科技有限公司 | Inertial motion capture pose transient calibration method and inertial motion capture system |
| CN107898466A (en) * | 2017-10-17 | 2018-04-13 | 深圳大学 | A kind of limb motion based on inertial sensor catches system and method |
| CN108958465A (en) * | 2017-05-25 | 2018-12-07 | 纽密克斯传媒有限公司 | Walking analysis method, virtual reality interlock method and device |
-
2019
- 2019-04-18 CN CN201910314605.0A patent/CN111643885A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140152558A1 (en) * | 2012-11-30 | 2014-06-05 | Tom Salter | Direct hologram manipulation using imu |
| CN104898669A (en) * | 2015-04-30 | 2015-09-09 | 贺杰 | Virtual reality walking control method and system based on inertia sensor |
| CN106648088A (en) * | 2016-12-14 | 2017-05-10 | 影动（北京）科技有限公司 | Inertial motion capture pose transient calibration method and inertial motion capture system |
| CN106648116A (en) * | 2017-01-22 | 2017-05-10 | 隋文涛 | Virtual reality integrated system based on action capture |
| CN108958465A (en) * | 2017-05-25 | 2018-12-07 | 纽密克斯传媒有限公司 | Walking analysis method, virtual reality interlock method and device |
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