CN112034979B - Wearable flight sensation feedback system based on force feedback - Google Patents
Wearable flight sensation feedback system based on force feedback Download PDFInfo
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- CN112034979B CN112034979B CN202010762829.0A CN202010762829A CN112034979B CN 112034979 B CN112034979 B CN 112034979B CN 202010762829 A CN202010762829 A CN 202010762829A CN 112034979 B CN112034979 B CN 112034979B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- 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
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- 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
- G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
Abstract
The invention discloses a wearable flight sensation feedback system based on force feedback, which comprises computer equipment for simulating and displaying the flight state of an unmanned aerial vehicle and a virtual flight scene interface, electroencephalogram signal acquisition equipment for acquiring electroencephalograms of users and wearable equipment for feeding back the user actions acquired by the electroencephalogram signal acquisition equipment, wherein the electroencephalogram signal acquisition equipment acquires the electroencephalogram information of the users and then sends the electroencephalogram information of the users to the computer equipment, the computer equipment sends the flight state information of the unmanned aerial vehicle to the wearable equipment, the computer equipment controls the simulated and displayed flight state of the unmanned aerial vehicle and the virtual flight scene interface according to the electroencephalogram information of the users, the wearable equipment feeds back the actions to the users in real time according to the flight state of the unmanned aerial vehicle, and the system has the characteristics of simple structure, low cost and light weight and is convenient to carry, the flight feeling of the user can be well simulated.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle human-computer interaction, and relates to a wearable flight sensation feedback system based on force feedback.
Background
It has become a fact that robots play an increasingly important role in human production and life. The unmanned aerial vehicle is taken as an important branch in the robot, so that the unmanned aerial vehicle has gained wide attention since the emergence, and the human-computer interaction technology of the unmanned aerial vehicle is rapidly developed. Meanwhile, with the increasing trend of people to flight feeling, people feel that the people fly like birds through certain tactile feedback, and the research field is widely concerned. By reproducing the forces encountered by the robot when interacting with the environment while performing a task, and providing haptic feedback to the user, it has been shown that the situational awareness of the user can be improved and the number of errors reduced.
At present, an operating rod, a keyboard, a touch screen, visual feedback and the like are generally adopted for the remote operation of the unmanned aerial vehicle or the human-computer interaction in a virtual environment, and gesture control is also adopted, so that people not only need to keep high concentration of spirit in the remote operation process of the unmanned aerial vehicle, but also have weak flight feeling, and cannot obtain reality and immersion in the flight process; by adopting a whole-body interaction technology, although a person can feel the immersion in flying, the device is heavy, the convenience of outdoor carrying cannot be met, and the device is complex in mechanism and high in cost; the adoption of vibrotactile sensation can not well simulate the pressure and the like suffered by a person, although a certain vibration feedback can be provided; force feedback generated by using devices such as an air bag, a vacuum pump, a compressor, an electromagnetic valve and the like has been proved to be natural pressure which can be sensed by human bodies, but the device is more required, so that the device is more complicated to work, and good portability cannot be ensured.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a wearable flight sensation feedback system based on force feedback, which has the characteristics of simple structure, low cost and light weight, is convenient to carry and can better simulate the flight sensation of a user.
In order to achieve the purpose, the wearable flight sensation feedback system based on force feedback comprises computer equipment used for displaying the flight state of the unmanned aerial vehicle and a virtual flight scene interface in a simulated mode, electroencephalogram signal acquisition equipment used for acquiring expression information of a user and wearable equipment used for feeding back electroencephalogram signals acquired by the acquisition equipment, wherein the electroencephalogram signal acquisition equipment acquires electroencephalogram information of the user and then sends the electroencephalogram information of the user to the computer equipment, the computer equipment sends the flight state information of the unmanned aerial vehicle to the wearable equipment, the computer equipment controls the flight state of the unmanned aerial vehicle and the virtual flight scene interface which are displayed in a simulated mode according to the electroencephalogram information of the user, and the wearable equipment feeds back actions to the user in real time according to the flight state of the unmanned aerial vehicle.
The electroencephalogram signal acquisition equipment is used for acquiring electroencephalograms generated by expression information of a user, and the expression information of the user comprises normal expressions, frowns, surprises, smiles and teeth biting.
The electroencephalogram signal that user's expression information produced and unmanned aerial vehicle's flight state one-to-one, wherein, when the normal expression of user, the normal flight state of unmanned aerial vehicle is shown in the computer equipment simulation, when the user frown, the unmanned aerial vehicle state of diving is shown in the computer equipment simulation, when the user is surprised, the unmanned aerial vehicle state of swinging up is shown in the computer equipment simulation, when the user smiles, the unmanned aerial vehicle state of rolling left is shown in the computer equipment simulation, when the user bites the tooth, the unmanned aerial vehicle state of rolling right is shown in the computer equipment simulation.
The computer equipment is connected with the sensing equipment through the dongle.
The wearable equipment comprises wearable clothes, wherein a first flat plate, a second flat plate, a third flat plate and a fourth flat plate are respectively arranged on a left chest, a right chest, a left back and a right back of the wearable clothes, a first air bag is arranged between the first flat plate and a human body, a second air bag is arranged between the second flat plate and the human body, a third air bag is arranged between the third flat plate and the human body, a fourth air bag is arranged between the fourth flat plate and the human body, and a first motor pulls the first flat plate through a first cable so that the first air bag applies pressure to the left chest of the human body; the second motor pulls the second flat plate through the second cable, so that the second air bag applies pressure to the right chest of the human body, the third motor pulls the third flat plate through the third cable, so that the third air bag applies pressure to the left back of the human body, and the fourth motor pulls the fourth flat plate through the fourth cable, so that the fourth air bag applies pressure to the right back of the human body.
The invention has the following beneficial effects:
when the wearable flight sensation feedback system based on force feedback is in specific operation, electroencephalogram information generated by expression of a user is acquired through electroencephalogram signal acquisition equipment, the computer equipment controls the flight state of the unmanned aerial vehicle and the virtual flight scene interface which are simulated and displayed according to the electroencephalogram information of the user, and the wearable equipment feeds back actions to the user in real time according to the flight state of the unmanned aerial vehicle so as to simulate the flight sensation of the user.
Furthermore, the flat plate extrusion air bag is used for simulating real pressure acting on a human body through the air bag, so that different touch feedback corresponding to different flight postures of the unmanned aerial vehicle is provided for a user, and the unmanned aerial vehicle has the characteristics of light weight and simple structure.
Furthermore, on the basis of computer equipment simulation, wearable equipment is added, hands and arms are thoroughly liberated, a user is prompted to more actively and intuitively control the flight attitude of the unmanned aerial vehicle, the hands of the user are liberated, the unmanned aerial vehicle can do other work, the flexibility of the unmanned aerial vehicle is improved, meanwhile, in the whole process, the user is in a state of passively receiving flight force feedback, the current flight state of the unmanned aerial vehicle can be more clearly sensed and judged, the immersion and force sensing intuitiveness when the user controls the unmanned aerial vehicle are enhanced, and the flight attitude control of the user on the unmanned aerial vehicle is improved.
Further, in the virtual flight scene provided by the invention, public variables such as the flight speed of the unmanned aerial vehicle, the following speed of the camera and the like are provided, so that a user can adjust the virtual flight scene according to the needs of the user and can set the expression control mode of the user according to the preference or the needs of the user.
Drawings
FIG. 1 is a schematic overall logic diagram of the present invention;
FIG. 2 is a diagram illustrating the overall effect of the present invention;
FIG. 3 is a schematic diagram of a virtual flight scenario according to the present invention;
FIG. 4 is a schematic diagram of a frame of a computer apparatus according to the present invention;
FIG. 5 is a schematic diagram of the connection between the computer device and the host computer according to the present invention;
FIG. 6 is a schematic diagram of a wearable device frame according to the present invention;
FIG. 7 is a schematic front view of a wearable device of the present invention;
FIG. 8 is a schematic rear view of a wearable device of the present invention;
FIG. 9 is a side schematic view of a wearable device of the present invention;
FIG. 10 is a schematic view of the shoulder strap design of the wearable device of the present invention;
FIG. 11 is a schematic view of a virtual flight environment interface according to the present invention;
wherein, I is computer equipment, II is sensing equipment, III is wearable equipment, 1 is electroencephalogram equipment connection state display, 2 is a dongle, 3 is an upper computer, 4 is a life jacket, 5 is a first belt, 6 is a second belt, 7 is a third belt, 8 is a first flat plate, 9 is a second flat plate, 10 is a fourth flat plate, 11 is a third flat plate, 12 is a first motor, 13 is a second motor, 14 is a fourth motor, 15 is a third motor, 16 is a first cable, 17 is a second cable, 18 is a fourth cable, 19 is a third cable, 20 is a first air bag, 21 is a second air bag, 22 is a fourth air bag, 23 is a third air bag, 24 is a first shoulder strap, 25 is a second shoulder strap, 26 is a fourth shoulder strap, 27 is a third shoulder strap, 28 is a training-normal key, 29 is a training-dive key, 30 is a-dive key, 31 is a training-left-roll key, 32 is a training-right scroll key, 33 is a status progress bar, 34 is a status display bar, 35 is a start game key, 36 is an exit game key, 37 is a jump circle terrain, 38 is an unmanned aerial vehicle model, and 39 is a real terrain simulation.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, the wearable flight sensation feedback system based on force feedback comprises a computer device i for displaying the flight state of the unmanned aerial vehicle and a virtual flight scene interface in a simulated manner, an electroencephalogram signal acquisition device ii for acquiring electroencephalogram signals of a user, and a wearable device iii for feeding back user electroencephalogram information acquired by the electroencephalogram signal acquisition device ii, wherein the electroencephalogram signal acquisition device ii acquires electroencephalogram information of the user and then sends the electroencephalogram information of the user to the computer device i, the computer device i sends flight state information of the unmanned aerial vehicle to the wearable device iii, the computer device i controls the flight state of the unmanned aerial vehicle and the virtual flight scene interface displayed in a simulated manner according to the electroencephalogram information of the user, the wearable device iii feeds back actions to the user in real time according to the flight state of the unmanned aerial vehicle, and the user wears a sensing device ii and the wearable device iii, different electroencephalograms are generated by making different facial expressions, different signals are identified and stored by the computer equipment I, the posture of the unmanned aerial vehicle in the virtual flight scene is controlled based on the electroencephalograms, the wearable equipment III is controlled to act based on the posture change data, visual feedback and tactile feedback are provided for a user, and the user is in a passive feedback receiving state in the whole process.
Referring to fig. 3, visual feedback is provided for a user through a computer device i, the design of the flight scene of the unmanned aerial vehicle comprises terrain design, model import, control scripts and UI interface design, and an implementation environment is provided for the whole system.
Referring to fig. 4, perception equipment II is used for acquireing user's expression information, user's expression information includes normal expression, frown, surprise, smile and bite, user's expression information and unmanned aerial vehicle's flight state one-to-one, wherein, when user's normal expression, the normal flight state of unmanned aerial vehicle is shown in the I simulation of computer equipment, when user frown, the I simulation of computer equipment shows unmanned aerial vehicle dive state, when user's surprise, the I simulation of computer equipment shows unmanned aerial vehicle dash state, when user's smile, the I simulation of computer equipment shows unmanned aerial vehicle roll state on the left, when user bites the tooth, the I simulation of computer equipment shows unmanned aerial vehicle roll state on the right.
Referring to fig. 5, the computer device i is connected with the sensing device ii through the dongle 2, sets a system environment of a virtual flight scene, opens the sensing device ii, connects the dongle 2, opens and operates the virtual flight scene, and realizes interaction between the sensing device ii and the virtual flight scene.
Referring to fig. 6, the wearable device iii is controlled in real time by the change of the posture of the unmanned aerial vehicle, provides tactile feedback to the user, and is used to cling to the skin through the air bag, providing pressure to the user; the motor is used for driving the mooring rope so as to drive the air bag to move.
Referring to fig. 7, 8 and 10, the wearable garment is modified from the life jacket 4, when a user wears the wearable garment, the wearable garment is fixed by the first strap 5, the second strap 6 and the third strap 7, unnecessary foam materials in the life jacket 4 are cut and taken out, one layer is sewn at the left side and the right side of the symmetrical positions of the chest and the back of the life jacket 4, an air bag is filled in the wearable garment for fixation, the foam materials are taken out from the outer layer of the air bag, the first flat plate 8, the second flat plate 9, the third flat plate 11 and the fourth flat plate 10 are placed in the wearable garment for fixation, the flat plates are designed in a convex shape, the requirements of light weight, high rigidity and the like can be met, and acrylic plates and the like can be adopted.
Specifically, a first flat plate 8, a second flat plate 9, a third flat plate 11 and a fourth flat plate 10 are respectively arranged on a left chest, a right chest, a left back and a right back of the wearable garment, wherein a first air bag 20 is arranged between the first flat plate 8 and a human body, a second air bag 21 is arranged between the second flat plate 9 and the human body, a third air bag 23 is arranged between the third flat plate 11 and the human body, a fourth air bag 22 is arranged between the fourth flat plate 10 and the human body, and the first flat plate 8 is pulled by a first motor 12 through a first cable 16, so that the first air bag 20 applies pressure to the left chest of the human body; the second motor pulls the second plate 9 through the second cable 17 so that the second air cell 21 applies pressure to the right chest of the person, the third motor 15 pulls the third plate 11 through the third cable 19 so that the third air cell 23 applies pressure to the left back of the person, and the fourth motor 14 pulls the fourth plate 10 through the fourth cable 18 so that the fourth air cell 22 applies pressure to the right chest of the person.
Referring to fig. 10, the shoulder straps of the lifejacket 4 are redesigned with two straps on each side, through each of which a cable is threaded, wherein the first strap 24 is adapted to secure the first cable 16 pulled from the first plate 8 through the shoulder strap, the third strap 27 is adapted to secure the third cable 19 pulled from the third plate 11 through the shoulder strap, the second strap 25 is adapted to secure the second cable 17 pulled from the second plate 9 through the shoulder strap, and the fourth strap 26 is adapted to secure the fourth cable 18 pulled from the fourth plate 10 through the shoulder strap, the cables being arranged in a plastic hose arranged along the structure of the wearable device iii, on the one hand to reduce the resistance to the cables and on the other hand to complete the cabling of the cables to follow a fixed path.
Referring to fig. 7, 8, 9 and 10, the wearable device iii in the present invention provides force feedback to the user in four different flight states according to the change in the flight attitude of the drone. When the unmanned aerial vehicle does the dive motion, the first motor 12 and the second motor 13 are driven to rotate forwards, and the first flat plate 8 and the second flat plate 9 are respectively driven to extrude the first air bag 20 and the second air bag 21 so as to provide simulated stress for a user when the unmanned aerial vehicle dives downwards; when the unmanned aerial vehicle does the upward-looking movement, the third motor 15 and the fourth motor 14 are driven to rotate forwards, and the third flat plate 11 and the fourth flat plate 10 are respectively driven to extrude the third air bag 23 and the fourth air bag 22, so that the simulated stress of the unmanned aerial vehicle during upward-looking movement is provided for a user; when the unmanned aerial vehicle rolls left, the first motor 12 and the third motor 15 are driven to rotate forwards, and the third flat plate 11 and the first flat plate 8 are respectively driven to extrude the third air bag 23 and the first air bag 20, so that the simulated stress of the unmanned aerial vehicle when the unmanned aerial vehicle rolls left is provided for a user; when the unmanned aerial vehicle rolls right, the second motor 13 and the fourth motor 14 are driven to rotate positively, and the fourth flat plate 10 and the second flat plate 9 are driven to extrude the second air bag 21 and the fourth air bag 22 respectively, so that the simulation stress of the unmanned aerial vehicle during rolling right is provided for the user.
Referring to fig. 11, the virtual flight scene is connected with the wearable device iii based on serial port communication, the virtual flight scene is opened and operated, the computer device i is connected with the virtual flight scene, and when the connection state of the electroencephalogram device 1 is all green, the connection is successful. The control commands represented by the keys are as follows: clicking a training-normal key 28, making a normal expression by the user, making a normal flight attitude by the unmanned aerial vehicle, namely making an attitude angle zero, starting moving the status progress bar 33 from left to right at the moment, when the status progress bar 33 moves to the rightmost end, displaying the success of training by the status display column 34, and controlling the unmanned aerial vehicle to successfully train in the normal flight attitude by the normal expression at the moment; by analogy, the training-dive key 29, the training-upward-dive key 30, the training-leftward-turning key 31 and the training-rightward-turning key 32 are respectively clicked, the user respectively makes frown expressions, surprised expressions, smiling expressions and tooth biting expressions, the unmanned aerial vehicle model 38 respectively makes dive, upward-dive, leftward-turning and rightward-turning actions, and when the state display columns 34 all display that the training is successful, the expression training of the user can be completed.
The invention allows the user to select the expression suitable for the user according to the preference of the user to control the flight of the unmanned aerial vehicle, and only needs to meet the requirement that the expressions have certain difference and differentiability.
After finishing the expression training, the user can start the game by clicking the game starting key 35, and at the moment, each training button is automatically locked; the whole game can be quitted by clicking the quit game key 36, the last expression training data of the user is stored, the last expression training data is convenient to directly use next time, and in the game process, the state display bar 34 can output the current flight state of the unmanned aerial vehicle in real time.
The invention provides two terrains, one is real terrain simulation 39, the other is jumping circle terrain 38, which is composed of a plurality of jumping circles larger than the size of the unmanned aerial vehicle, the jumping circles are randomly arranged, a user needs to control the unmanned aerial vehicle to pass through the jumping circles, the jumping circles are not collided and missed in the process, and the unmanned aerial vehicle is controlled to complete specified actions as much as possible, so that force feedback corresponding to different flight states of the unmanned aerial vehicle is obtained.
The wearable device III can check the satisfaction degree of the wearable device III on four dimensions of portability, use simplicity, force perception intuition and immersion through investigating the subjective score of a user, and a Likter seven-point scale is adopted.
Claims (3)
1. A wearable flight sensation feedback system based on force feedback is characterized by comprising computer equipment (I) for simulating and displaying the flight state of an unmanned aerial vehicle and a virtual flight scene interface, electroencephalogram signal acquisition equipment (II) for acquiring electroencephalogram signals of a user, and wearable equipment (III) for feeding back the electroencephalogram signals acquired by the electroencephalogram signal acquisition equipment (II), wherein, the EEG signal acquisition equipment (II) acquires the EEG information of a user and then sends the EEG information of the user to the computer equipment (I), the computer equipment (I) sends the flight state information of the unmanned aerial vehicle to the wearable equipment (III), the computer equipment (I) controls the flight state of the unmanned aerial vehicle and the virtual flight scene interface which are simulated and displayed according to the EEG signal of the user, the wearable device (III) feeds back actions to the user in real time according to the flight state of the unmanned aerial vehicle;
the electroencephalogram signal acquisition equipment (II) is used for acquiring electroencephalogram signals generated by expression information of a user, and the expression information of the user comprises normal expressions, frowns, surprises, smiles and teeth biting;
the wearable equipment (III) comprises wearable clothes, wherein a first flat plate (8), a second flat plate (9), a third flat plate (11) and a fourth flat plate (10) are respectively arranged on a left chest, a right chest, a left back and a right back of the wearable clothes, a first air bag (20) is arranged between the first flat plate (8) and a human body, a second air bag (21) is arranged between the second flat plate (9) and the human body, a third air bag (23) is arranged between the third flat plate (11) and the human body, a fourth air bag (22) is arranged between the fourth flat plate (10) and the human body, and the first motor (12) pulls the first flat plate (8) through a first cable (16) so that the first air bag (20) applies pressure to the left chest of the human body; the second motor (13) pulls the second plate (9) through the second cable (17) to enable the second air bag (21) to apply pressure to the right chest of the human body, the third motor (15) pulls the third plate (11) through the third cable (19) to enable the third air bag (23) to apply pressure to the left back of the human body, and the fourth motor (14) pulls the fourth plate (10) through the fourth cable (18) to enable the fourth air bag (22) to apply pressure to the right back of the human body.
2. The wearable flight sensation feedback system based on force feedback of claim 1, characterized in that, electroencephalogram generated by expression information of the user corresponds to the flight state of the unmanned aerial vehicle one-to-one, wherein, when the user has normal expression, the normal flight state of the unmanned aerial vehicle is simulated and displayed by the computer device (I), when the user has frown, the dive state of the unmanned aerial vehicle is simulated and displayed by the computer device (I), when the user is surprised, the dive state of the unmanned aerial vehicle is simulated and displayed by the computer device (I), when the user has smile, the roll state of the unmanned aerial vehicle is simulated and displayed by the computer device (I), and when the user bites the teeth, the roll state of the unmanned aerial vehicle on the right is simulated and displayed by the computer device (I).
3. Wearable flight sensation feedback system based on force feedback according to claim 1, characterized in that the computer device (i) and the brain electrical signal acquisition device (ii) are connected via a dongle (2).
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| CN201829068U (en) * | 2010-09-13 | 2011-05-11 | 徐龙龙 | Individual training system based on virtual reality |
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