CN116107437B - Virtual-real combined force feedback method and system, force feedback garment and related equipment - Google Patents
Virtual-real combined force feedback method and system, force feedback garment and related equipment Download PDFInfo
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
Abstract
The application provides a virtual-real combined force feedback method, a system, force feedback clothing and related equipment, wherein when receiving a force feedback trigger signal, a target collision trigger and a target stress type on a virtual character model are determined according to the force feedback trigger information; a plurality of first collision triggers are arranged on the virtual character model, and the target collision trigger is the first collision trigger contacted with the object provided with the external force; determining a target force feedback template matched with the target stress type from preset force feedback templates, and converting the target force feedback template into a touch signal; sending the haptic signal to the force feedback garment so that the force feedback garment triggers the target force feedback element to output a corresponding force based on the haptic signal; the force feedback clothing comprises a plurality of force feedback elements, wherein each force feedback element is bound with each first collision trigger on the virtual character model one by one, and the target force feedback element is a force feedback element corresponding to the target collision trigger.
Description
Technical Field
The invention relates to the technical field of virtual reality, in particular to a virtual-real combined force feedback method, a virtual-real combined force feedback system, force feedback clothing and related equipment.
Background
With the continuous development of technology, the experience of users can be improved by combining virtual and real modes at present, for example, in a virtual game, a system can send signals to corresponding devices (such as a handle, an earphone, a steering wheel and the like) in the hands of the users under specific conditions so as to realize force feedback through the corresponding devices, and the users can feel things happening in the virtual world; alternatively, the user is given an interactive experience by shaking, jolting or otherwise (e.g., water, wind, etc.) the seat.
However, the existing force feedback mode is single, is not real and fine enough, and cannot truly simulate the feeling of the character in the virtual environment, so that the user experience feeling is poor.
Disclosure of Invention
In view of this, the invention provides a virtual-real combined force feedback method, a system, force feedback clothing and related equipment, which solve the problems that in the prior art, the force feedback mode is single, the reality is not fine enough, the feeling of a character in a virtual environment cannot be really simulated, and the user experience feeling is poor.
The first aspect of the present invention provides a force feedback method combining virtual and real, which is applied to a force feedback system combining virtual and real, and the method comprises:
when receiving the force feedback trigger signal, determining a target collision trigger and a target stress type on the virtual character model according to the force feedback trigger information; wherein a plurality of first collision triggers are arranged on the virtual character model, and the target collision trigger is the first collision trigger contacted with an object configured with external force;
determining a target force feedback template matched with the target stress type from preset force feedback templates, and converting the target force feedback template into a touch signal;
transmitting the haptic signal to a force feedback garment so that the force feedback garment triggers a target force feedback element to output a corresponding force based on the haptic signal; the force feedback clothing comprises a plurality of force feedback elements, wherein each force feedback element is bound with each first collision trigger on the virtual character model one by one in advance, and the target force feedback element is the force feedback element corresponding to the target collision trigger.
Optionally, when the force feedback trigger signal is received, determining a target collision trigger and a target stress type on the virtual character model according to the force feedback trigger information includes:
receiving a force feedback trigger signal; wherein the force feedback trigger signal at least comprises stress position information;
determining a target collision trigger which is in contact with an object configured with external force currently from the first collision triggers according to the stress position information;
and determining a target stress type matched with the external force configured on the object contacted with the target collision trigger from preset stress types.
Optionally, the force feedback trigger signal further includes a force time corresponding to the target collision trigger, and the method further includes:
collecting a plurality of the haptic signals;
generating a coherent touch signal according to each touch signal and the corresponding stress time thereof;
and sending the continuous touch signals to the force feedback clothing, so that the force feedback clothing sequentially triggers corresponding target force feedback elements based on the continuous touch signals to generate continuous acting forces.
A second aspect of the present invention provides a virtual-real combined force feedback system, the system comprising:
the first determining unit is used for determining a target collision trigger and a target stress type on the virtual character model according to the force feedback trigger information when receiving the force feedback trigger signal; wherein a plurality of first collision triggers are arranged on the virtual character model, and the target collision trigger is the first collision trigger contacted with an object configured with external force;
the conversion unit is used for determining a target force feedback template matched with the target stress type from preset force feedback templates and converting the target force feedback template into a touch signal;
the first signal sending unit is used for sending the touch signal to the force feedback clothing so that the force feedback clothing triggers the target force feedback element to output corresponding force based on the touch signal; the force feedback clothing comprises a plurality of force feedback elements, wherein each force feedback element is bound with each first collision trigger on the virtual character model one by one in advance, and the target force feedback element is the force feedback element corresponding to the target collision trigger.
Optionally, the first determining unit includes:
the receiving unit is used for receiving the force feedback trigger signal; wherein the force feedback trigger signal at least comprises stress position information;
a second determining unit configured to determine, from among the respective first collision triggers, a target collision trigger currently in contact with an object configured with an external force, based on the force-receiving position information;
and the third determining unit is used for determining a target stress type matched with the external force configured on the object contacted with the target collision trigger from preset stress types.
A third aspect of the present invention provides a force feedback garment comprising a haptic signal receiver, a data transmission module connected to the haptic signal receiver, and a plurality of force feedback elements connected to the data transmission module;
a haptic signal receiver for receiving a haptic signal;
the data sending module is used for determining a target force feedback element from the force feedback elements according to the touch signal, and sending an output instruction to the target force feedback element so as to trigger the target force feedback element to output corresponding force according to the output instruction; wherein the output instruction is generated from the haptic signal.
Optionally, the data sending module comprises an element positioning system;
the element positioning system is used for determining a target force feedback element corresponding to the target collision trigger from the force feedback elements according to the touch signals.
Optionally, the haptic signal receiver is further configured to receive a coherent haptic signal, so that the data sending module sequentially triggers each corresponding target force feedback element according to the coherent haptic signal to generate a coherent acting force.
A fourth aspect of the present invention provides an electronic device, comprising: the device comprises a processor and a memory, wherein the processor and the memory are connected through a communication bus; the processor is used for calling and executing the program stored in the memory; the memory is configured to store a program, where the program is configured to implement the virtual-real force feedback method according to the first aspect of the present invention.
A fifth aspect of the present invention provides a computer readable storage medium having stored therein computer executable instructions for performing the virtual-real combined force feedback method as provided in the first aspect of the present invention.
The invention provides a virtual-real combined force feedback method, a system, force feedback clothing and related equipment, wherein when the virtual-real combined force feedback system receives a force feedback trigger signal, a target collision trigger and a target stress type on a virtual character model are determined according to the force feedback trigger information; wherein the virtual character model is provided with a plurality of first collision triggers, and the target collision trigger is a first collision trigger contacted with an object configured with external force; determining a target force feedback template matched with the target stress type from preset force feedback templates, and converting the target force feedback template into a touch signal; sending the haptic signal to the force feedback garment so that the force feedback garment triggers the target force feedback element to output a corresponding force based on the haptic signal; the force feedback clothing comprises a plurality of force feedback elements, wherein each force feedback element is bound with each first collision trigger on the virtual character model one by one, and the target force feedback element is a force feedback element corresponding to the target collision trigger. According to the technical scheme provided by the invention, the stress type of each external force and the stress template corresponding to each stress type can be preset, when the virtual character model receives the touch of an object configured with the external force, the virtual-real combined force feedback system can convert the target stress template corresponding to the target stress type corresponding to the external force configured on the object touched by the target collision trigger into corresponding touch signal signals, so that the force feedback clothing triggers the corresponding target force feedback element according to the touch signal sent by the system, the target force feedback element simulates the force when the object configured with the external force collides with the virtual character model, the force feedback mode is various, and the feeling of the character in the virtual environment can be truly and finely simulated, thereby improving the interactive experience of the user in the virtual environment in reality.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a virtual-real force feedback method according to an embodiment of the present invention;
FIG. 2 is an exemplary diagram of a virtual character model and a virtual character model configured with respective first collision triggers provided in accordance with an embodiment of the present invention;
fig. 3 (a) is an exemplary diagram showing the occurrence of multiple identical force feedback templates within the same time frame according to an embodiment of the present invention;
fig. 3 (b) is an exemplary diagram of a plurality of different force feedback templates occurring in the same time frame according to an embodiment of the present invention;
fig. 3 (c) is an exemplary diagram showing only one force feedback template in one time frame provided in an embodiment of the present invention;
FIG. 4 is an exemplary diagram of a virtual character model provided by an embodiment of the present invention being continuously touched by an object configured with an external force moving from point (X, Y, Z1) to point (X, Y, Z2) over a period of time;
fig. 5 is a schematic structural diagram of a virtual-real force feedback system according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a force feedback garment according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of another force feedback garment according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by these devices, modules, or units.
It should be noted that references to "one" or "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be interpreted as "one or more" unless the context clearly indicates otherwise.
Referring to fig. 1, a flow chart of a virtual-real combined force feedback method provided by an embodiment of the present invention is shown, and the method is applied to a virtual-real combined force feedback system, and specifically includes the following steps:
s101: when the force feedback trigger signal is received, determining a target collision trigger and a target stress type on the virtual character model according to the force feedback trigger information; the virtual character model is provided with a plurality of first collision triggers, and the target collision trigger is the first collision trigger contacted with the object provided with external force.
The virtual-real combined force feedback method provided by the embodiment of the application can be applied to application scenes of virtual combined reality.
In the embodiment of the application, the virtual character model in the virtual environment can be constructed in advance through three-dimensional software, and the virtual character model is matched with human bones so as to drive the points of the virtual character model through the skin system, wherein the virtual character model comprises a plurality of points, and each virtual character model is provided with independent numbers and space coordinates (X, Y and Z).
Specifically, the skeleton and the virtual character model can be linked through a skin system such as physique, skin, bonesPro, and mainly comprises envelope adjustment, weight value setting and the like.
In this embodiment of the present application, a corresponding first crash trigger (a_collision) may be added to each point on the virtual character model in advance, as shown in fig. 2, and each first crash trigger is bound to each force feedback element on the force feedback garment one by one.
It should be noted that, the Collider is a word that adds a collision to a virtual object in the engine, in the virtual environment, the Collider may be added to a wall or an object, and the virtual character also adds the Collider, so that the virtual character cannot penetrate the wall or the object. The Engine may be Unity3D, universal Engine, etc.
In practical application, the more first collision triggers are added on the virtual character model, the more force feedback elements are matched with the force feedback clothing, and the force feedback to the user is finer and more accurate.
In the embodiment of the present application, a corresponding external force Rigidbody may be configured for each object in advance, and a corresponding stress type may be set for different external forces. For example, the different external forces may be (b_binder_a), ((b_binder_b), ((b_binder_c).
In the specific execution of step S101, when the virtual character model is touched or touched by an object configured with an external force, a corresponding force feedback trigger signal is sent to the virtual-real combined force feedback system. The virtual-real combined force feedback system can receive the force feedback starting signal in real time, and when the virtual-real combined force feedback system receives the force feedback triggering signal, the target collision trigger which is currently contacted with the object configured with the external force on the virtual character model and the stress type corresponding to the external force which is currently contacted by the target collision trigger can be determined according to the force feedback triggering signal. The force feedback trigger signal at least comprises stress position information.
Optionally, when the virtual-real combined force feedback system receives the force feedback trigger signal, determining a target collision trigger currently contacted with the object configured with the external force from each first collision trigger according to the force position information in the force feedback trigger signal, and determining a target force type matched with the external force configured on the object contacted with the target collision trigger from preset force types.
In the practical application process, the virtual character model may possibly encounter itself, at this time, since no external force is configured on the first collision trigger, no force feedback trigger signal is sent, that is, no collision occurs, and the virtual character model itself generates interactive collision to itself, and is already subjected to force feedback.
S102: and determining a target force feedback template matched with the target stress type from preset force feedback templates, and converting the target force feedback template into a touch signal.
In this embodiment of the present application, a corresponding force feedback template may be configured for each stress type in advance, so as to give different force feedback experiences to the user. The force feedback templates may include, among other things, the strength, extent, duration, strength profile and whether the force expands, whether displacement occurs, whether a hard straight time is generated, etc.
It should be noted that the stress intensity may be light, medium, heavy, etc., the stress range may be a small range, a medium range, a large range, etc., the stress duration may be short, long, ultra-long, etc., and the stress intensity curve may be relatively smooth from top to bottom.
For example, the force feedback template corresponding to the stress type of the external force configured by a certain object may include: the stress intensity is medium, the stress range is small, the stress duration is short, the stress intensity curve is smooth from top to bottom, and the stress is not expanded.
Regarding the setting of the force feedback template, the setting may be performed according to practical applications, and the embodiments of the present application are not limited.
In the specific execution of step S102, after determining the target collision trigger and the target stress type on the target collision trigger, the virtual-real combined force feedback system may determine a target force feedback template matched with the target stress type from preset force feedback templates, and convert the target force feedback template into a tactile signal that can be received by the force feedback garment.
S103: sending the haptic signal to the force feedback garment so that the force feedback garment triggers the target force feedback element to output a corresponding force based on the haptic signal; the force feedback clothing comprises a plurality of force feedback elements, wherein each force feedback element is bound with each first collision trigger on the virtual character model one by one, and the target force feedback element is a force feedback element corresponding to the target collision trigger.
In the specific execution of step S103, the virtual-real combined force feedback system may send the haptic signal to the force feedback garment after generating the corresponding haptic signal, so that when the force feedback garment receives the haptic signal, the force feedback garment determines, from the force feedback elements on the force feedback garment, a target force feedback element corresponding to the target collision trigger according to the haptic signal, and triggers the target force feedback element to simulate the force used when the object configured with the external force collides with the virtual character model, thereby enabling the user to experience interactive experience in the virtual environment in reality.
Further, in the embodiment of the present application, the force feedback trigger signal further includes a stress time corresponding to the target collision trigger, and the virtual-real combined force feedback system may further collect a plurality of haptic signals; generating a coherent touch signal according to the stress time corresponding to each touch signal; and sending the coherent touch signals to the force feedback clothing so that the force feedback clothing sequentially triggers corresponding target force feedback elements based on the coherent touch signals to generate coherent acting forces, and thus, a user can feel interactive experience in a virtual environment more truly and finely.
It should be noted that, the target stress templates corresponding to each of the plurality of haptic signals may be the same or different, and the stress time corresponding to each haptic signal may be the same or different.
In practical applications, the virtual character model may be simultaneously collided with a plurality of objects configured with the same external force or simultaneously collided with a plurality of objects configured with different external forces in the same time frame. As shown in fig. 3 (a), multiple identical force feedback templates may occur in the same time frame; alternatively, as shown in fig. 3 (b), a plurality of different force feedback templates appear in the same time frame; alternatively, as shown in fig. 3 (c), only one force feedback template appears in one time frame. Wherein the different force feedback templates may include a force feedback template a, a force feedback template b, and a force feedback template c.
For example, when two objects configured with external forces simultaneously perform a pushing action like shoulders of the virtual character model, the shoulders of the virtual character model are simultaneously subjected to 2 external forces in the time frame, and interaction occurs.
In practical applications, the virtual character model may also be continuously touched by an object configured with an external force, at this time, the virtual-real combined force feedback system may collect a plurality of haptic signals within the period of continuous touch, generate a coherent haptic signal according to each haptic signal and a corresponding stress time thereof, generate a coherent haptic signal, and finally send the coherent haptic signal to the force feedback garment, so that the force feedback garment sequentially triggers each corresponding target force feedback element based on the coherent haptic signal to generate a coherent acting force.
For example, the virtual character model is continuously touched by an object configured with an external force from the point (X, Y, Z1) to the point (X, Y, Z2) in a period of time, and as shown in fig. 4, the virtual-real combined force feedback system may collect the haptic signal 1 corresponding to the target collision trigger 1 corresponding to the point (X, Y, Z1) and the haptic signal 2 corresponding to the target collision trigger 2 corresponding to the point (X, Y, Z2) in the period of time of continuous touching; and generating a coherent touch signal according to the touch signal 1, the stress time corresponding to the touch signal 1 and the stress time corresponding to the touch signal 2, and finally transmitting the coherent touch signal to the force feedback clothing so that the force feedback clothing sequentially triggers a target force feedback element corresponding to the target collision trigger 1 and a target force feedback element corresponding to the target collision trigger 2 based on the coherent touch signal to generate coherent acting force.
In this embodiment of the present application, a set of force location information may be further formed according to force information corresponding to each target collision trigger, so it can be seen that the set of force location information may include a plurality of force locations, and force feedback templates corresponding to each force location may be the same or different.
The invention provides a virtual-actual combined force feedback method, wherein when a virtual-actual combined force feedback system receives a force feedback trigger signal, a target collision trigger and a target stress type on a virtual character model are determined according to the force feedback trigger information; wherein the virtual character model is provided with a plurality of first collision triggers, and the target collision trigger is a first collision trigger contacted with an object configured with external force; determining a target force feedback template matched with the target stress type from preset force feedback templates, and converting the target force feedback template into a touch signal; sending the haptic signal to the force feedback garment so that the force feedback garment triggers the target force feedback element to output a corresponding force based on the haptic signal; the force feedback clothing comprises a plurality of force feedback elements, wherein each force feedback element is bound with each first collision trigger on the virtual character model one by one, and the target force feedback element is a force feedback element corresponding to the target collision trigger. According to the technical scheme provided by the invention, the stress type of each external force and the stress template corresponding to each stress can be preset, when the virtual character model receives the touch of the object configured with the external force, the virtual-real combined force feedback system can convert the target stress template corresponding to the target stress type corresponding to the external force configured on the object touched by the target collision trigger into corresponding touch signals, so that the force feedback clothing triggers the target force feedback element according to the touch signals sent by the system, the target force feedback element simulates the force when the object configured with the external force collides with the virtual character model, the force feedback mode is various, and the feeling of the character in the virtual environment can be truly and finely simulated, thereby improving the interactive experience of the user in the virtual environment in reality.
Based on the virtual-real combined force feedback method provided by the embodiment of the present invention, correspondingly, the present invention also provides a virtual-real combined force feedback system, as shown in fig. 5, which includes:
a first determining unit 51, configured to determine a target collision trigger and a target stress type on the virtual character model according to the force feedback trigger information when receiving the force feedback trigger signal; wherein the virtual character model is provided with a plurality of first collision triggers, and the target collision trigger is a first collision trigger contacted with an object configured with external force;
the conversion unit 52 is configured to determine a target force feedback template that matches a target force type from preset force feedback templates, and convert the target force feedback template into a haptic signal;
a first signal transmitting unit 53 for transmitting a haptic signal to the force feedback garment so that the force feedback garment triggers the target force feedback element to output a corresponding force based on the haptic signal; the force feedback clothing comprises a plurality of force feedback elements, wherein each force feedback element is bound with each first collision trigger on the virtual character model one by one, and the target force feedback element is a force feedback element corresponding to the target collision trigger.
The specific principle and execution process of each unit in the virtual-real combined force feedback system disclosed in the above embodiment of the present invention are the same as those in the virtual-real combined force feedback method disclosed in fig. 1 of the above embodiment of the present invention, and may refer to the corresponding parts in the virtual-real combined force feedback method disclosed in fig. 1 of the above embodiment of the present invention, and will not be repeated here.
The invention provides a virtual-actual combined force feedback system, which determines a target collision trigger and a target stress type on a virtual character model according to force feedback trigger information when receiving a force feedback trigger signal; wherein the virtual character model is provided with a plurality of first collision triggers, and the target collision trigger is a first collision trigger contacted with an object configured with external force; determining a target force feedback template matched with the target stress type from preset force feedback templates, and converting the target force feedback template into a touch signal; sending the haptic signal to the force feedback garment so that the force feedback garment triggers the target force feedback element to output a corresponding force based on the haptic signal; the force feedback clothing comprises a plurality of force feedback elements, wherein each force feedback element is bound with each first collision trigger on the virtual character model one by one, and the target force feedback element is a force feedback element corresponding to the target collision trigger. According to the technical scheme provided by the invention, the stress type of each external force and the stress template corresponding to each stress can be preset, when the virtual character model receives the touch of the object configured with the external force, the virtual-real combined force feedback system can convert the target stress template corresponding to the target stress type corresponding to the external force configured on the object touched by the target collision trigger into corresponding touch signals, so that the force feedback clothing triggers the target force feedback element according to the touch signals sent by the system, the target force feedback element simulates the force when the object configured with the external force collides with the virtual character model, the force feedback mode is various, and the feeling of the character in the virtual environment can be truly and finely simulated, thereby improving the interactive experience of the user in the virtual environment in reality.
Optionally, the first determining unit includes:
the receiving unit is used for receiving the force feedback trigger signal; the force feedback trigger signal at least comprises stress position information;
a second determining unit configured to determine, from among the respective first collision triggers, a target collision trigger currently in contact with the object configured with the external force, based on the force-receiving position information;
and the third determining unit is used for determining a target stress type matched with the external force configured on the object contacted with the target collision trigger from preset stress types.
Optionally, the force feedback trigger signal further includes a stress time corresponding to the target collision trigger, and the virtual-real combined force feedback system provided by the invention further includes:
a collection unit for collecting a plurality of haptic signals;
a coherent haptic signal generation unit for generating a coherent haptic signal according to each haptic signal and its corresponding force time;
and the second signal sending unit is used for sending the coherent touch signals to the force feedback clothing so that the force feedback clothing sequentially triggers the corresponding target force feedback elements based on the coherent touch signals to generate coherent acting forces.
Referring to fig. 6, a schematic structural diagram of a force feedback garment according to an embodiment of the present invention is shown, where the force feedback garment includes a tactile signal receiver, a data transmitting module connected to the tactile signal receiver, a plurality of force feedback elements connected to the data transmitting module, and a power supply system;
and a haptic signal receiver for receiving the haptic signal.
In the embodiment of the application, the tactile signal receiver can receive the tactile signal sent by the virtual-real combined force feedback system in real time and send the received tactile signal to the data sending unit.
The data sending module is used for determining a target force feedback element from all force feedback elements according to the touch signal, and sending an output instruction to the target force feedback element so as to trigger the target force feedback element to output corresponding force according to the output instruction; wherein the output instruction is generated from the haptic signal.
In this embodiment of the present application, a plurality of force feedback elements may be pre-formed on the force feedback garment, and each first collision trigger of the virtual character model and each force feedback element on the force feedback garment may be labeled in a one-to-one manner, that is, each first collision trigger of the virtual character model and each force feedback element on the force feedback garment may be bound one-to-one.
It should be noted that the data transmitting unit may include a wired, bluetooth, WIFI, etc., and preferably a flexible sensor.
It should be further noted that, the force feedback elements may be provided on the force feedback garment by stitching, gluing, or the like.
In the embodiment of the application, the power supply system may include a battery, a charging device, and the like, wherein the battery may be a preferably flexible battery. The power supply system may be set according to practical applications, and the embodiments of the present application are not limited.
Referring to fig. 7 in combination with fig. 6, the data transmitting unit provided by the present invention includes an element positioning system for determining a target force feedback element corresponding to a target collision trigger from among the force feedback elements according to a haptic signal, so that the target force feedback element simulates a force when an object configured with an external force collides with a virtual character model.
It should be noted that, the force that the target force feedback element can simulate may be vibration, magnetic force, spiral force, pressure, etc., and the force feedback mode of the force feedback element may be set according to each preset stress template, which is not limited in this embodiment of the present application.
An embodiment of the present application provides an electronic device, as shown in fig. 8, where the electronic device includes a processor 801 and a memory 802, where the memory 802 is configured to store program codes and data of virtual-real combined force feedback, and the processor 801 is configured to invoke program instructions in the memory to execute steps shown in a virtual-real combined force feedback method in the above embodiment.
The embodiment of the application provides a storage medium, which comprises a storage program, wherein when the program runs, equipment in which the storage medium is controlled to execute the virtual-real combined force feedback method shown in the embodiment.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for a system or system embodiment, since it is substantially similar to a method embodiment, the description is relatively simple, with reference to the description of the method embodiment being made in part. The systems and system embodiments described above are merely illustrative, wherein elements illustrated as separate elements may or may not be physically separate, and elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (9)
1. The utility model provides a virtual-real combined force feedback method which is characterized in that the method is applied to a virtual-real combined force feedback system, and comprises the following steps:
when a force feedback trigger signal is received, determining coordinates of points touched by an object configured with external force according to the force feedback trigger signal, determining a target collision trigger on a virtual character model based on the coordinates of the touched points, and determining a target stress type matched with the external force configured on the object contacted with the target collision trigger; wherein a plurality of first collision triggers are arranged on the virtual character model, and the target collision trigger is the first collision trigger contacted with an object configured with external force; each first collision trigger has independent spatial coordinates;
determining a target force feedback template matched with the target stress type from preset force feedback templates, and converting the target force feedback template into a touch signal; the force feedback template comprises stress intensity, stress range, duration, stress intensity curve, whether expansion, whether displacement occurs and whether hard straight time occurs;
transmitting the haptic signal to a force feedback garment so that the force feedback garment triggers a target force feedback element to output a corresponding force based on the haptic signal; the force feedback clothing comprises a plurality of force feedback elements, wherein each force feedback element is bound with each first collision trigger on the virtual character model one by one in advance, and the target force feedback element is the force feedback element corresponding to the target collision trigger.
2. The method of claim 1, wherein the force feedback trigger signal further comprises a force time corresponding to the target impact trigger, the method further comprising:
collecting a plurality of the haptic signals;
generating a coherent touch signal according to each touch signal and the corresponding stress time thereof;
and sending the continuous touch signals to the force feedback clothing, so that the force feedback clothing sequentially triggers corresponding target force feedback elements based on the continuous touch signals to generate continuous acting forces.
3. A virtual-real combined force feedback system, the system comprising:
the first determining unit is used for determining coordinates of points touched by the object configured with external force according to the force feedback trigger signal when the force feedback trigger signal is received, determining a target collision trigger on the virtual character model based on the coordinates of the touched points, and determining a target stress type matched with the external force configured on the object contacted with the target collision trigger; wherein a plurality of first collision triggers are arranged on the virtual character model, and the target collision trigger is the first collision trigger contacted with an object configured with external force; each first collision trigger has independent spatial coordinates;
the conversion unit is used for determining a target force feedback template matched with the target stress type from preset force feedback templates and converting the target force feedback template into a touch signal; the force feedback template comprises stress intensity, stress range, duration, stress intensity curve, whether expansion, whether displacement occurs and whether hard straight time occurs;
the first signal sending unit is used for sending the touch signal to the force feedback clothing so that the force feedback clothing triggers the target force feedback element to output corresponding force based on the touch signal; the force feedback clothing comprises a plurality of force feedback elements, wherein each force feedback element is bound with each first collision trigger on the virtual character model one by one in advance, and the target force feedback element is the force feedback element corresponding to the target collision trigger.
4. A system according to claim 3, wherein the first determining unit comprises:
the receiving unit is used for receiving the force feedback trigger signal; the force feedback trigger signal at least comprises coordinates of a touch point;
a second determining unit configured to determine, from among the respective first collision triggers, a target collision trigger currently in contact with an object configured with an external force, based on coordinates of the touch point;
and the third determining unit is used for determining a target stress type matched with the external force configured on the object contacted with the target collision trigger from preset stress types.
5. The force feedback garment is characterized by comprising a touch signal receiver, a data transmission module connected with the touch signal receiver and a plurality of force feedback elements connected with the data transmission module, wherein each force feedback element is bound with each first collision trigger on a virtual character model one by one in advance;
the haptic signal receiver is used for receiving the haptic signal sent by the virtual-real combined force feedback system, wherein the haptic signal is a signal determined by the virtual-real combined force feedback system based on a target force feedback template matched with a target force type; the target stress type is determined according to external force configured on an object contacted with the target collision trigger; the force feedback template comprises stress intensity, stress range, duration, stress intensity curve, whether expansion, whether displacement occurs and whether hard straight time occurs; the target collision triggers are collision triggers which are determined from the first collision triggers and are contacted with an object configured with external force based on coordinates of the touched point; the coordinates of the touched point are coordinates determined based on the force feedback trigger signal; each first collision trigger on the virtual character model has independent spatial coordinates;
the data sending module is used for determining a target force feedback element from the force feedback elements according to the touch signal, and sending an output instruction to the target force feedback element so as to trigger the target force feedback element to output corresponding force according to the output instruction; wherein the output instruction is generated according to the haptic signal; the target force feedback element is a force feedback element corresponding to the target collision trigger.
6. The force feedback garment of claim 5, wherein the data transmission module comprises an element positioning system;
the element positioning system is used for determining a target force feedback element corresponding to the target collision trigger from the force feedback elements according to the touch signals.
7. The force feedback garment of claim 5, wherein the haptic signal receiver is further configured to receive a coherent haptic signal such that the data transmission module sequentially triggers corresponding respective target force feedback elements to generate a coherent force based on the coherent haptic signal.
8. An electronic device, comprising: the device comprises a processor and a memory, wherein the processor and the memory are connected through a communication bus; the processor is used for calling and executing the program stored in the memory; the memory is configured to store a program for implementing the virtual-real combined force feedback method according to claim 1 or 2.
9. A computer readable storage medium, wherein computer executable instructions are stored in the computer readable storage medium, and the computer executable instructions are used for executing the virtual-real combined force feedback method according to claim 1 or 2.
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| KR20200052540A (en) * | 2018-11-07 | 2020-05-15 | (주)리얼감 | Force feedback method and system using density, machine-readable storage medium |
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| DE102016215481A1 (en) * | 2016-08-18 | 2018-02-22 | Technische Universität Dresden | System and method for haptic interaction with virtual objects |
| US20220113804A1 (en) * | 2019-06-26 | 2022-04-14 | Fvrvs Limited | Virtual reality surgical training systems with advanced haptic feedback |
| US20220111290A1 (en) * | 2020-10-09 | 2022-04-14 | Contact Control Interfaces, LLC | Haptic engine for spatial computing |
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| KR20200052540A (en) * | 2018-11-07 | 2020-05-15 | (주)리얼감 | Force feedback method and system using density, machine-readable storage medium |
| CN109739360A (en) * | 2019-01-07 | 2019-05-10 | 东北大学 | A kind of control system and method that device for force feedback emulates human body soft tissue |
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