CN113630593A - Multi-mode high-precision full-space hybrid positioning system - Google Patents
Multi-mode high-precision full-space hybrid positioning system Download PDFInfo
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- CN113630593A CN113630593A CN202110941281.0A CN202110941281A CN113630593A CN 113630593 A CN113630593 A CN 113630593A CN 202110941281 A CN202110941281 A CN 202110941281A CN 113630593 A CN113630593 A CN 113630593A
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- 238000004891 communication Methods 0.000 claims abstract description 24
- 230000003993 interaction Effects 0.000 claims abstract description 11
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000013507 mapping Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims 3
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/275—Image signal generators from 3D object models, e.g. computer-generated stereoscopic image signals
- H04N13/279—Image signal generators from 3D object models, e.g. computer-generated stereoscopic image signals the virtual viewpoint locations being selected by the viewers or determined by tracking
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
- H04L67/1001—Protocols in which an application is distributed across nodes in the network for accessing one among a plurality of replicated servers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
- H04L67/1095—Replication or mirroring of data, e.g. scheduling or transport for data synchronisation between network nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
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Abstract
The invention discloses a multi-mode high-precision full-space hybrid positioning system, which comprises a system environment, terminal equipment, server equipment and edge equipment, wherein the equipment terminal, the server equipment and the equipment terminal all rely on a communication system to complete bidirectional data interaction; the system environment comprises a physical environment and a virtual environment; the terminal equipment senses and processes the physical environment information so as to control the execution system to feed back or send the sensed information to the server-side equipment; the edge terminal equipment is used for assisting the terminal equipment in positioning and acquiring positioning data of the terminal equipment, and transmitting the positioning data to the server terminal equipment or transmitting the positioning data to the terminal equipment for secondary processing/matching; and the server-side equipment processes the received data so as to complete the updating of the virtual environment and the issuing of the execution instruction. By adopting the hybrid positioning system, the invention provides high-precision and strong-real-time pose acquisition for the virtual reality or augmented reality technology, and enhances experience and practicability.
Description
Technical Field
The invention relates to the technical field of mixed reality, in particular to a multi-mode high-precision full-space mixed positioning system.
Background
In the current virtual reality, augmented reality and mixed reality fields, the positioning is basically realized through single Inside-out terminal machine vision or Outside-in external equipment, the applicable scene is small, and the limiting conditions are many.
Under the mixed reality scene, the existing equipment in the market can not be accurately positioned in a larger space, can not embody the advantages and the characteristics of the mixed reality technology, and is difficult to be applied to the specific scene.
Under the mixed reality scene with multiple users and multiple virtual objects, the existing mixed reality positioning technology and interaction mode can not meet the requirements, and the capability of responding to the interaction execution feedback of multiple requests under the same virtual scene is lacked.
Disclosure of Invention
The problem to be solved by the invention is to position one or more mixed reality devices in physical spaces of different dimensions, so that one or more operators interact with corresponding virtual objects in the same continuous physical space.
In order to achieve the purpose, the invention provides the following technical scheme:
a multi-mode high-precision full-space hybrid positioning system comprises a system environment, terminal equipment, server equipment and edge equipment, wherein the equipment terminal, the server equipment and the equipment terminal all rely on a communication system to complete bidirectional data interaction;
the system environment is divided into a physical environment and a virtual environment, the physical environment is composed of a visual environment, a sound environment and an operator, and the virtual environment comprises a prefabricated digital twin environment and a real-time digital twin model; the virtual environment is carried in the terminal equipment or the server-side equipment;
the terminal equipment is carried by an operator and is provided with a sensing system, an operation system, an execution system and a communication system; the sensing system consists of sensors and is used for realizing sensing and man-machine interaction of a physical environment; the operation system controls the execution system to complete feedback operation according to the sensing system data, and completes external two-way data transmission by depending on the communication system;
the server-side equipment is equipment deployed in a system management center, and is loaded with a cloud computing system and a communication system, the communication system completes external bidirectional data transmission, the cloud computing system performs computing processing on received data according to data types, and virtual environment updating and debugging of edge-side equipment and terminal equipment are completed according to the processed data;
the edge terminal equipment is equipment deployed in a physical environment and is provided with a positioning system, a communication system and an edge computing system; the positioning system is divided into an active positioning system and a passive positioning device, and the active positioning system transmits the acquired positioning data of the terminal equipment to the server-side equipment for calculation processing through an edge calculation system or a communication system, or transmits the positioning data to the terminal equipment for secondary processing/matching; the passive positioning tag is used for acquiring and processing data by a sensor in the terminal equipment.
Preferably, the active positioning system is built by relying on UWB, Bluetooth, a GPS base station and infrared positioning, and the passive positioning device comprises an optical tag, a sound generator and a modulated light generator.
Preferably, the virtual environment is established by three-dimensional scanning, synchronous positioning and mapping, mapping and three-dimensional reconstruction methods, and the real-time digital twin model includes a virtual object corresponding to a real object and a virtual object corresponding to an operator.
Preferably, the execution system comprises a display unit, a feedback unit and a media unit, and is built by relying on an actuator mainly comprising a loudspeaker, a display and a motor.
The hybrid positioning system adopting the structure has the following advantages:
1. by the multi-mode mixed positioning method, high-precision and strong-real-time pose acquisition is provided for a virtual reality or augmented reality technology, and experience and practicability of the technology are enhanced.
2. The method can perform model selection and adjustment of different edge devices according to various different scenes, and a matched software system can also be matched with a hardware system for self-adaption, so that various application requirements are met.
Drawings
FIG. 1 is a component framework diagram of an embodiment of the present invention;
fig. 2 is a diagram illustrating a scenario according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the drawings and the embodiment.
Fig. 1 shows a multi-modal high-precision full-space hybrid positioning system, which includes a system environment, a terminal device, a server device, and an edge device. The equipment terminal, the server side equipment and the equipment terminal all rely on a communication system to complete bidirectional data interaction.
1. System environment
The system environment is divided into a physical environment and a virtual environment.
The physical environment includes a visual environment, a sound environment, and an operator. The operator is an object with the terminal equipment, and the terminal equipment is operated to interact with the edge terminal equipment. The operator may include multiple names, but must be connected to a network environment to complete the interaction between the operators.
The virtual environment is a cloud mirror image of the physical environment and is built by methods of three-dimensional scanning, synchronous positioning and map building, surveying and mapping, three-dimensional reconstruction and the like. The virtual environment comprises a prefabricated digital twin environment and a real-time digital twin model, the prefabricated digital twin environment is presented in a two-dimensional or three-dimensional reconstruction map, and the real-time digital twin model is a virtual object corresponding to a real object in the physical environment. The real-time digital twin model comprises a virtual object corresponding to a real object and a virtual object corresponding to an operator. The virtual environment exists in the terminal device or the server device.
2. Terminal device
The terminal device is a device carried by an operator, and is equipped with a sensing system, an arithmetic system, an execution system, and a communication system.
The sensing system comprises a physical quantity signal sensor mainly comprising optics, images and sounds, and man-machine interaction is carried out between the sensing system and an operator. The physical quantity signal sensor is specifically a physical quantity sensor, an image sensor and an acoustic sensor, wherein the physical quantity sensor and the image sensor collect visual environment information, and the physical quantity sensor and the acoustic sensor collect sound environment information.
The operation system is divided into an edge operation system and an upper operation system, and bidirectional data interaction is completed between the edge operation system and the upper operation system. The edge computing system is used for receiving the data transmitted by the sensing system and issuing a control instruction to the execution system. The upper operation system completes secondary processing of data transmitted by the edge calculation system, completes bidirectional data synchronization with the real-time digital twin model according to the secondary processing, and transmits the data to the communication system.
The execution system receives the instructions of the edge computing system and sends feedback information to the operator. The execution system is divided into a display unit, a feedback unit and a media unit and is realized by means of actuators such as a loudspeaker, a display and a motor. The feedback unit is used for providing basic data to the edge computing system.
The communication system receives the data transmitted by the upper operation system and sends the data received from other end equipment to the upper operation system. The communication system is realized by depending on Wi-Fi, Bluetooth, RFID and various USB interface technologies or hardware.
3. Server side equipment
The server device is a device deployed in a system management center, and is loaded with a cloud computing system, a virtual environment (or loaded on a terminal device), and a communication system.
The cloud computing system receives data from the terminal equipment and the edge terminal equipment through the communication system, performs computing processing on the data according to the data type, and forms execution instructions and condition updating data. And the execution instruction is used for being transmitted back to the terminal equipment and/or the edge terminal equipment, and the condition updating data is used for finishing the updating of the virtual environment.
4. Edge terminal device
The edge end equipment is equipment deployed in a physical environment, and an edge computing system, a communication system and a positioning system are loaded on the edge end equipment.
The positioning system is used for acquiring positioning data of the terminal equipment and comprises an active positioning system and a passive positioning device. The active positioning system mainly comprises UWB, Bluetooth, a GPS base station and infrared positioning. The passive positioning device mainly comprises an optical label, a sound generator and a modulation light generator. The active positioning system is deployed according to the size and the spatial form of the physical environment space and is used for detecting and positioning the terminal equipment. The passive positioning device obtains and processes data by a sensor in the terminal equipment.
The communication system transmits the positioning data to the server device for calculation processing through an edge calculation system or a wired or wireless transmission mode, or transmits the positioning data to the terminal device for secondary processing or matching.
As shown in the example scenario of fig. 2, operator a walks with a mixed reality terminal Ma in a museum Ea (physical environment) where a positioning system is installed. And the base stations Da, Db and Dc of the positioning system D in the edge end device acquire the coordinates of the Ma in the museum Ea and upload the coordinates to the service end device Sa. The image sensor of Ma recognizes the optical tag Ta of the edge-end device, Ma generates the corresponding virtual object Pa (real-time digital twin model) in the corresponding coordinates of the virtual scene Eb (pre-fabricated digital twin environment) with the physical coordinates of Ta in Ea, while synchronizing the coordinates of Pb in Eb to Sa. The coordinate data uploaded by Ma and D are then compared by Sa and the coordinates of Pb in Eb are recalculated and synchronized to Eb.
The above is a specific embodiment of the present invention, but the scope of the present invention should not be limited thereto. Any changes or substitutions that can be easily made by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention, and therefore, the protection scope of the present invention is subject to the protection scope defined by the appended claims.
Claims (4)
1. The utility model provides a mixed positioning system of multimode high accuracy total space which characterized in that: the system comprises a system environment, terminal equipment, server equipment and edge equipment, wherein the equipment terminal, the server equipment and the edge equipment all rely on a communication system to complete bidirectional data interaction;
the system environment is divided into a physical environment and a virtual environment, the physical environment is composed of a visual environment, a sound environment and an operator, and the virtual environment comprises a prefabricated digital twin environment and a real-time digital twin model; the virtual environment is carried in the terminal equipment or the server-side equipment;
the terminal equipment is carried by an operator and is provided with a sensing system, an operation system, an execution system and a communication system; the sensing system consists of sensors and is used for realizing sensing and man-machine interaction of a physical environment; the operation system controls the execution system to complete feedback operation according to the sensing system data, and completes external two-way data transmission by depending on the communication system;
the server-side equipment is equipment deployed in a system management center, and is loaded with a cloud computing system and a communication system, the communication system completes external bidirectional data transmission, the cloud computing system performs computing processing on received data according to data types, and virtual environment updating and debugging of edge-side equipment and terminal equipment are completed according to the processed data;
the edge terminal equipment is equipment deployed in a physical environment and is provided with a positioning system, a communication system and an edge computing system; the positioning system is divided into an active positioning system and a passive positioning device, and the active positioning system transmits the acquired positioning data of the terminal equipment to the server-side equipment for calculation processing through an edge calculation system or a communication system, or transmits the positioning data to the terminal equipment for secondary processing/matching; the passive positioning tag is used for acquiring and processing data by a sensor in the terminal equipment.
2. The multi-modal high-precision full-space hybrid localization system of claim 1, wherein: the active positioning system is built by relying on UWB, Bluetooth, a GPS base station and infrared positioning, and the passive positioning device comprises an optical label, a sound generator and a modulation light generator.
3. The multi-modal high-precision full-space hybrid localization system of claim 1, wherein: the virtual environment is established through three-dimensional scanning, synchronous positioning and map building, mapping and three-dimensional reconstruction methods, and the real-time digital twin model comprises a virtual object corresponding to a real object and a virtual object corresponding to an operator.
4. The multi-modal high-precision full-space hybrid localization system of claim 1, wherein: the execution system comprises a display unit, a feedback unit and a media unit, and is built by relying on an actuator mainly comprising a loudspeaker, a display and a motor.
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| CN202110941281.0A CN113630593A (en) | 2021-08-17 | 2021-08-17 | Multi-mode high-precision full-space hybrid positioning system |
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| CN202110941281.0A CN113630593A (en) | 2021-08-17 | 2021-08-17 | Multi-mode high-precision full-space hybrid positioning system |
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2021
- 2021-08-17 CN CN202110941281.0A patent/CN113630593A/en active Pending
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| CN103810353A (en) * | 2014-03-09 | 2014-05-21 | 杨智 | Real scene mapping system and method in virtual reality |
| CN107167132A (en) * | 2016-03-07 | 2017-09-15 | 上海积杉信息科技有限公司 | Indoor locating system based on augmented reality and virtual reality |
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Application publication date: 20211109 |