CN115111964A - MR holographic intelligent helmet for individual training - Google Patents
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A33/00—Adaptations for training; Gun simulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H1/00—Personal protection gear
- F41H1/04—Protection helmets
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Abstract
The embodiment of the application provides an MR holographic intelligent helmet for individual training, which comprises a helmet body; a camera module; the earphone is arranged on the helmet body and is close to the ear of the human body; the base is connected with the helmet body, the base is connected with a fixing piece, the fixing piece is connected with a positioning module, and a display screen is arranged on one side of the positioning module; the MR glasses module is positioned below the helmet body, is used for being matched with the eyes of a human body and is used for constructing a simulated training scene; and the power supply module is arranged in the helmet body and is respectively and electrically connected with the camera module, the earphone, the positioning module, the MR glasses module and the display screen. The embodiment of the application can realize the establishment of a simulated training scene by arranging the MR glasses module matched with the eyes of a human body below the helmet body, greatly reduces the high cost and hardware loss caused by the real environment drilling, and reduces the potential safety hazard to a certain extent.
Description
Technical Field
The embodiment of the application belongs to the technical field of intelligent helmets, and particularly relates to an MR holographic intelligent helmet for individual training.
Background
Multifunctional helmets are very common in the market, but the existing multifunctional helmets cannot interact with users and cannot achieve the purpose of feedback type training. And the user can simply interact with the helmet.
A virtual reality helmet (VR helmet) may utilize a head-mounted display to seal a person's vision and hearing from the outside, guiding the user to create a sensation of being in a virtual environment. The VR helmet is applied to individual training actual combat at present, and the existing individual training VR helmet cannot improve the comprehensive combat capability of individual training, so improvement is urgently needed.
Disclosure of Invention
An object of the embodiment of the application is to provide a holographic intelligent helmet of MR for individual soldier's training, through being located helmet body below setting be used for with human eye matched with MR glasses module, can realize constructing the training scene of emulation, the high cost and the hardware loss that the real environment rehearsal of significantly reducing brought have reduced the potential safety hazard to a certain extent to solve the problem in the background art.
In order to solve the technical problem, the technical scheme of the MR holographic intelligent helmet for individual training provided by the embodiment of the application is as follows:
the embodiment of the application discloses a holographic intelligent helmet of MR for individual soldier's training includes:
a helmet body;
the camera module is arranged on the side surface of the helmet body;
the earphone is arranged on the helmet body and is close to the ear of the human body;
the base is connected with the helmet body, the base is connected with a fixing piece, the fixing piece is connected with a positioning module, and a display screen is arranged on one side of the positioning module;
the MR glasses module is positioned below the helmet body, is used for being matched with the eyes of a human body and is used for constructing a simulated training scene;
and the power supply module is arranged in the helmet body and is respectively and electrically connected with the camera module, the earphone, the positioning module, the MR glasses module and the display screen.
In a preferred embodiment of any of the above solutions, an eye movement tracking device, a head movement tracking device, an IR lamp and a control processor are arranged in the MR glasses module, and the eye movement tracking device, the head movement tracking device and the IR lamp are respectively electrically connected with the control processor;
the eye movement tracking device and the head movement tracking device are used for collecting eyeball information, and the control processor calculates the eyepoint direction and the eyeball movement direction according to the collected eyeball information, so that the man-machine interaction operation of the MR glasses module is realized.
In an embodiment of any of the foregoing schemes, the calculating the eye viewpoint direction and the eye movement direction includes:
the eye movement tracking device acquires the gaze direction of the eye sight in real time or the head movement tracking device acquires the gaze point of the center of the eye vision field in real time;
obtaining fixation point/fixation point coordinate positions of eyes in one or more front-facing camera pictures and a holographic space through a mapping algorithm;
acquiring a record of an eye movement track, and acquiring a current eye vision attention direction;
the image sensor captures an eyeball image, the characteristics in the eyeball pupil of each person are identified according to the processing of the image, and the fixation point of the watching screen is back calculated in real time according to the characteristics in the eyeball pupil.
In a preferred embodiment of any of the foregoing aspects, the recording of the eye movement trajectory includes:
gaze point, gaze time, gaze times, eye jump distance, and pupil size.
In an embodiment of any of the foregoing schemes, the constructing a simulated training scenario includes the following steps:
acquiring an original hand image in real time;
describing gestures by extracting features from raw hand images by measuring similarity of feature data, comprising:
in combination with skin color and feature points sensitive to illumination conditions, robust detection and segmentation are performed on a hand region, and when an interested region is detected, features need to be extracted from the interested region.
In a preferred embodiment of any of the above aspects, the raw hand image is acquired from a general camera, a stereo camera and a ToF camera.
In a preferred embodiment of any of the above aspects, the MR spectacle module further includes:
and the power supply module is electrically connected with the eye movement tracking device, the head movement tracking device, the IR lamp and the control processor.
In an embodiment of any of the foregoing solutions, the simulated training scenario includes:
simulating aircraft driving simulation, battleship driving simulation, simulating a real battlefield environment, simulating throwing, holding a gun, shooting, and aiming.
Compared with the prior art, the MR holographic intelligent helmet for individual training of the embodiment of the application is used for establishing a simulated training scene by arranging the MR glasses module matched with human eyes below the helmet body, so that the high cost and hardware loss caused by real environment drilling are greatly reduced, and the potential safety hazard is reduced to a certain extent.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. Some specific embodiments of the present application will be described in detail hereinafter by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or components, and it will be understood by those skilled in the art that the drawings are not necessarily drawn to scale, and wherein:
fig. 1 is a schematic view of an MR holographic intelligent helmet for individual training according to an embodiment of the present application.
Fig. 2 is a schematic view of an operation principle of the MR holographic intelligent helmet for individual training according to the embodiment of the present application.
Fig. 3 is a schematic flow chart of calculating an eye viewpoint direction and an eye movement direction of the MR holographic intelligent helmet for individual training according to the embodiment of the present application.
Fig. 4 is a schematic view of a training scene flow of the construction simulation of the MR holographic intelligent helmet for individual training according to the embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be apparent that the described embodiments are merely one example of a component of the present application and not an all component embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Examples
As shown in fig. 1, an embodiment of the present application provides an MR holographic smart helmet for individual training, including:
a helmet body 11;
a camera module 3, wherein the camera module 3 is arranged on the side surface of the helmet body 1;
an earphone 10, wherein the earphone 10 is arranged on the helmet body 1 and is close to the ear of the human body;
the base 5 is connected with the helmet body 1, the base 5 is connected with a fixing piece 6, the fixing piece 6 is connected with a positioning module 7, and a display screen 8 is installed on one side of the positioning module 7;
the MR glasses module is positioned below the helmet body 1, is used for being matched with the eyes of a human body and is used for constructing a simulated training scene; the simulated training scene comprises simulated airplane driving simulation, simulated battleship driving simulation, simulated real battlefield environment, simulated throwing, gun holding, shooting and aiming;
and the power supply module is arranged in the helmet body 1 and is respectively and electrically connected with the camera module 3, the earphone 10, the positioning module 7, the MR glasses module and the display screen 8.
In the MR holographic intelligent helmet for individual training of the embodiment of the invention, a microphone 9 is arranged near the head of a human body, the microphone 9 is electrically connected with a power supply module, a helmet body 1 is adopted as a main body of the digital helmet, a night vision device interface is arranged on the front side, an extension guide rail 2 is arranged on the side face, the power supply module is arranged on the guide rail 2, the position of the power supply module can be adjusted according to the direction of the guide rail 2, in the embodiment of the invention, the power supply module is preferably a rechargeable battery 4, in the invention, a positioning module 7 is embedded in the digital helmet, in the embodiment of the invention, the positioning module 7 is preferably an electronic compass and a satellite positioning terminal, the position and the direction of the head can be obtained in real time, the MR glasses module is a visor, and 1 miniature color display screen 8 is arranged above the left eye for displaying a simplified map, Peripheral situation, backward image display and short message display are achieved, 1 camera module 3 is embedded in the back of the brain of the helmet body 1, and in the embodiment of the invention, the camera module 3 is preferably a color visible light camera and is used for monitoring 90-120 m backward direction of soldiers 2 Range, within a distance of 100m, the headset 10 is a headphone 10, employing a headphone 10 (conventional or semi-conductive) and a microphone (conventional or jaw vibration type) for voice input and listening.
In the MR holographic intelligent helmet for individual training according to the embodiment of the present invention, an electronic compass (IMU): 16 bits quantization, 1KHz sampling rate, level/pitch angle measurement accuracy <2 degrees; satellite positioning terminal: positioning accuracy is less than 2 m; the miniature color display screen 8 adopts an AR liquid crystal screen: micro OLED display device, 0.5 inch resolution 1280 x 720; 0.37 inch resolution 1024 x 768, working temperature range-10-40, backward color visible light camera: viewing angle >90, resolution no less than 1280 x 720.
In the MR holographic intelligent helmet for individual training provided by the embodiment of the invention, a real battlefield environment is constructed by adopting a simulated training scene and a mixed reality technology, actions such as throwing, holding a gun, shooting and aiming are simulated, high cost and hardware loss caused by real environment drilling are greatly reduced, and potential safety hazards are reduced to a certain extent.
As shown in fig. 1, an eye movement tracking device, a head movement tracking device, an IR lamp and a control processor are arranged in the MR glasses module, and the eye movement tracking device, the head movement tracking device and the IR lamp are respectively electrically connected with the control processor;
the eye movement tracking device and the head movement tracking device are used for collecting eyeball information, and the control processor calculates the eyepoint direction and the eyeball movement direction according to the collected eyeball information so as to realize the man-machine interaction operation of the MR glasses module; the MR glasses module further comprises a power module which is electrically connected with the eye movement tracking device, the head movement tracking device, the IR lamp and the control processor, so that the normal operation of the circuit is guaranteed.
In the MR holographic intelligent helmet for individual training provided by the embodiment of the invention, in order to realize better use, a control processor is arranged in an MR glasses module, a compact and low-power-consumption information control processor is adopted to generate an image and convert target description voice into information, the information is plotted on a situation map, the situation map can be taken on a combat uniform or tactical vest, the control processor can also be placed in a helmet body 1 (installed through a guide rail 2 on the side surface of the helmet body 1) to reduce connecting cables, the control processor is connected with an interface with information distribution sharing, position and situation data can be received and sent through self-networking equipment, the peak power consumption of a CPU (Central processing Unit) of the control processor is less than 5W, and a reinforced electronic disk and a homemade operating system are adopted; through setting up power module, when the electric quantity is not enough, can paste stand-by power supply, hold in the palm through adopting rubber nose, MR glasses adopts the foam-rubber cushion with the helmet department of linking to each other, improves and wears the comfort level, and MR glasses structure simulation cockpit environment, and the training person carries out the combat simulation through the gesture operation.
As shown in fig. 2 and 3, the calculating of the eye viewpoint direction and the eye movement direction includes the steps of:
step 1: the eye movement tracking device acquires the gaze direction of the eye sight in real time or the head movement tracking device acquires the gaze point of the center of the eye vision field in real time;
step 2: obtaining fixation point/fixation point coordinate positions of eyes in one or more front-facing camera pictures and a holographic space through a mapping algorithm;
and step 3: acquiring a record of an eye movement track, and acquiring a current eye vision attention direction, wherein the record of the eye movement track comprises a fixation point, fixation time, fixation times, eye jump distance and pupil size;
and 4, step 4: the image sensor captures an eyeball image, the characteristics in the eyeball pupil of each person are identified according to the processing of the image, and the fixation point of the watching screen is back calculated in real time according to the characteristics in the eyeball pupil.
In the MR holographic intelligent helmet for individual training provided by the embodiment of the invention, Hough transformation has good anti-interference characteristic on image noise and is convenient for a computer to perform parallel processing, but generalized Hough transformation hardly meets the requirement on real-time data processing due to the defects of large calculation amount, large occupied memory and the like, so that the center of a pupil is positioned by adopting local generalized Hough transformation, the requirement of a system on storage space is reduced, and the speed and the precision of human eye positioning are improved. The local generalized Hough transform is a method for positioning a gaze point at the center of an eye visual field, which is provided based on a statistical clustering idea of the generalized Hough transform and a method for generating an arc by combining a center point, and specifically comprises the following steps:
step 11: design an accumulator ADD (X) m ，Y m ) And determining the range of the circle center coordinate in the parameter space.
Step 12: each point in the range is taken as a circle center O (X) in sequence n ，Y n ) And solving the pixel values of each point on a circular ring with approximate pupil radius r in the image space by using a method of generating a circular arc by using the central point. For accumulator ADD (X) m ，Y m ) Accumulating continuously, when all the points in the region are executed once, the corresponding peak value point (X) in the parameter space of the accumulator m ，Y m ) Step 12 is repeated for the pupil center coordinates of the human eye, each frame of image is detected in a circulating mode in sequence, only pixel points in a specific area are detected by the method, participation of other invalid points is avoided, the calculated amount is reduced, the pupil of the human eye can be approximated to a circle in a two-dimensional space, the circle center can be rapidly determined by utilizing local generalized Hough transformation, namely the center point of the pupil, the pupil radius is determined according to priori knowledge, the calculated amount is further reduced, and the instantaneity of human eye positioning is improved.
In the MR holographic intelligent helmet for individual training provided by the embodiment of the invention, a first visual angle of a participant wearing the MR holographic intelligent helmet can be transmitted to a background command system in real time, a commander can wear the helmet and transmit a command visual angle picture to the visual field of the participant, so that real-time guidance and data sharing are realized, the coordination efficiency is improved, the mouse position in the visual field of the participant is generated according to the pupil position of the participant, a camera, an IR lamp and a control processor are arranged in MR glasses, the camera is used for collecting human eye information, the control processor calculates the eye sight point direction and the movement direction of an eyeball according to the collected information, so that the man-machine interaction operation of an MR glasses screen is realized, and a vital sign system monitors the vital sign information of blood pressure, heart rate and body temperature lamps of the participant in real time and displays the MR glasses screen of the participant and the background command system large screen in real time.
As shown in fig. 2, the building of the simulated training scenario includes:
step 1: an original hand image acquired in real time, the original hand image being acquired from a general camera, a stereo camera and a ToF camera;
step 2: describing gestures by extracting features from raw hand images by measuring similarity of feature data, comprising:
and step 3: in combination with skin color and feature points sensitive to illumination conditions, robust detection and segmentation are performed on a hand region, and when an interested region is detected, features need to be extracted from the interested region.
In the MR holographic intelligent helmet for individual training according to the embodiment of the present invention, the original hand image obtained in real time is obtained from a general camera, a stereo camera and a ToF camera, and specifically includes the following steps:
step 11: and gesture preprocessing, namely obtaining a gesture outline image through conversion of an image color space, extraction of a gray image, median filtering and threshold segmentation.
Step 12: analyzing image features and extracting identification parameters: and analyzing the geometric characteristics of the hand by combining a hand Tortoise model, and extracting six identification parameters in total, wherein four of the six identification parameters are geometric moment variation parameters extracted based on the gesture outline image, and the other two identification parameters are respectively the ratio of the area to the perimeter of the gesture outline image in the outline cube image.
Step 13: and (4) performing classification recognition, namely forming a group of feature vectors according to the extracted feature recognition parameters, and performing training and classification recognition on the gesture image by utilizing the feature vectors.
Outputting the recognition result, storing the recognition frame in the form of data in the file, and calculating the recognition rate of each gesture
Step 14: and (3) extracting the gesture outline, namely solving all the outlines in the image by using a cvFindContours (tempImg, storage, & contours, sizeof (cvcontours), CV _ RETR _ E XTERNAL and CV _ CHAIN _ APPROX _ SIMPLE) function of OpenCV, storing the outlines into a container storage, pointing the pointer & contours to a first outline, and then selecting the outline of the hand from the outline set.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments can be modified, or technical features of components or all components thereof can be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (8)
1. An MR holographic smart helmet for individual training, comprising:
a helmet body;
the camera module is arranged on the side surface of the helmet body;
the earphone is arranged on the helmet body and is close to the ear of the human body;
the base is connected with the helmet body, the base is connected with a fixing piece, the fixing piece is connected with a positioning module, and a display screen is arranged on one side of the positioning module;
the MR glasses module is positioned below the helmet body, is used for being matched with the eyes of a human body and is used for constructing a simulated training scene;
and the power supply module is arranged in the helmet body and is respectively and electrically connected with the camera module, the earphone, the positioning module, the MR glasses module and the display screen.
2. The MR holographic intelligent helmet for individual training according to claim 1, wherein an eye movement tracking device, a head movement tracking device, an IR lamp and a control processor are arranged in the MR glasses module, and the eye movement tracking device, the head movement tracking device and the IR lamp are respectively and electrically connected with the control processor;
the eye movement tracking device and the head movement tracking device are used for collecting eyeball information, and the control processor calculates the eyepoint direction and the eyeball movement direction according to the collected eyeball information, so that the man-machine interaction operation of the MR glasses module is realized.
3. The MR holographic intelligent helmet for individual training according to claim 2, wherein the calculating of the eye viewpoint direction and the eye movement direction comprises:
the eye movement tracking device acquires the gaze direction of the eye sight in real time or the head movement tracking device acquires the gaze point of the center of the eye vision field in real time;
obtaining fixation point/fixation point coordinate positions of eyes in one or more front-facing camera pictures and a holographic space through a mapping algorithm;
acquiring a record of an eye movement track, and acquiring a current eye vision attention direction;
the image sensor captures an eyeball image, the characteristics in the eyeball pupil of each person are identified according to the processing of the image, and the fixation point of the watching screen is back calculated in real time according to the characteristics in the eyeball pupil.
4. The MR holographic smart helmet for individual training according to claim 3, wherein the recording of eye movement trajectory comprises:
gaze point, gaze time, gaze times, eye jump distance, and pupil size.
5. The MR holographic smart helmet for individual training according to claim 4, wherein said constructing a simulated training scenario comprises the steps of:
acquiring an original hand image in real time;
describing a gesture by extracting features from an original hand image by measuring similarity of feature data, the extracting features from the original hand image comprising:
in combination with skin color and feature points sensitive to illumination conditions, robust detection and segmentation are performed on a hand region, and when an interested region is detected, features need to be extracted from the interested region.
6. The MR holographic smart helmet for individual training according to claim 5, wherein the original hand images are acquired from a normal camera, a stereo camera and a ToF camera.
7. The MR holographic smart helmet for individual training of claim 6, wherein the MR eyeglasses module further comprises:
and the power supply module is electrically connected with the eye movement tracking device, the head movement tracking device, the IR lamp and the control processor.
8. The MR holographic smart helmet for individual training of claim 7, wherein the simulated training scenario comprises:
simulating aircraft driving simulation, battleship driving simulation, simulating a real battlefield environment, simulating throwing, holding a gun, shooting, and aiming.
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