CN116236772A - Virtual simulation control handle - Google Patents

Abstract

The invention relates to a virtual simulation control handle, which comprises a first rotating arm, a second rotating arm, a third rotating arm and a fourth rotating arm, wherein the first rotating arm is vertically arranged on a base and is in rotating connection with the base; the angle sensor is used for acquiring the angle of the rotating arm when rotating and the rotation angle of the handle body; also provided is a processor configured to: and obtaining coordinate information of the datum point on the handle body and posture information of the handle body according to the angle data acquired by the angle sensor, the lengths of the first rotating arm and the fourth rotating arm, the length of the handle body and the position information of the datum point on the handle body, and mapping the coordinate information and the posture information of the datum point on the handle body into a virtual scene. The multi-degree-of-freedom virtual simulation operation handle is used for replacing a mouse, real operation gesture data can be mapped to a virtual scene, the position and the angle of operated equipment are reproduced in the virtual environment, gesture change is completed, and therefore real operation is simulated.

Description

Virtual simulation control handle

Technical Field

The invention relates to the technical field of virtual simulation, in particular to a virtual simulation control handle.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

Virtual simulation typically uses a mouse to control objects in a virtual space, and coordinates of the mouse when moving can be mapped into the virtual space to realize control of the objects in the virtual space. In the process of simulating some special scenes, such as operations, acupuncture and chemical experiments, the mouse can only complete movement in the plane direction, so that rotation or height change operation cannot be realized, the virtual simulation scene is limited, and the operator experience of real space feeling can be influenced.

Disclosure of Invention

In order to solve the technical problems in the background art, the invention provides a virtual simulation control handle, which uses a multi-degree-of-freedom virtual simulation operation handle to replace real operation equipment, can map real operation gesture data to a virtual scene, and reproduces the position and angle of the operated equipment (such as a simulated needle, a simulated scalpel, a simulated measuring cup and the like) in the virtual environment to complete gesture changes such as tilting, moving, rotating and the like, thereby simulating real operation.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

the first aspect of the invention provides a virtual simulation control handle, which comprises a first rotating arm vertically arranged on a base and rotationally connected with the base, wherein the first rotating arm is sequentially rotationally connected with second to fourth rotating arms, and the tail end of the fourth rotating arm is movably connected with a datum point of a handle body;

the angle sensor is used for acquiring the angle of the rotating arm when rotating and the rotation angle of the handle body;

also provided is a processor configured to: and obtaining coordinate information of the datum point on the handle body and posture information of the handle body according to the angle data acquired by the angle sensor, the lengths of the first rotating arm and the fourth rotating arm, the length of the handle body and the position information of the datum point on the handle body, and mapping the coordinate information and the posture information of the datum point on the handle body into a virtual scene.

The base is fixed, and first rotation arm head end is arranged perpendicularly on the base and rotates around perpendicular first axle.

The head end of the second rotating arm is rotationally connected with the tail end of the first rotating arm, and the second rotating arm rotates around a second shaft which is horizontally arranged.

The head end of the third rotating arm is rotationally connected with the tail end of the second rotating arm, the third rotating arm rotates around a third shaft which is horizontally arranged, and the third shaft is arranged in parallel with the second shaft.

The head end of the fourth rotating arm is rotationally connected with the tail end of the third rotating arm, the connecting line of the head end and the tail end of the fourth rotating arm is collinear with the axis where the third rotating arm is located, the fourth rotating arm rotates around the axis where the third rotating arm is located, the axis is a fourth shaft, and the fourth shaft is perpendicular to the third shaft.

The tail end of the fourth rotating arm is rotationally connected with the handle body, a datum point is arranged on the handle body, the axis passing through the datum point is a fifth shaft, the handle body rotates around the fifth shaft, and the fifth shaft is perpendicular to the fourth shaft.

The handle body is a cylinder with a tip and can rotate around the axial direction of the cylinder, and the rotating shaft is a sixth shaft.

The fourth rotating arm is arc-shaped or semicircular.

The gesture information of the handle body is a triaxial rotation angle, and the gesture information comprises an angle of rotation of the handle body around a sixth axis, an angle of rotation of the handle body around a fifth axis and an angle of rotation of the handle body together with a fourth rotating arm around a fourth axis.

Coordinate information of a reference point on the handle body is obtained, specifically:

defining a connecting point of the first rotating arm and the second rotating arm as an origin of a coordinate system, defining a height direction as a y-axis of the coordinate system, and making the height direction positive upwards; defining the left-right direction as the x axis of the coordinate system and the right direction as positive; defining the far and near directions as z-axis and the far direction as positive;

the relative rotation angle of the base and the first rotating arm is an angle a, the included angle of the second rotating arm relative to the horizontal plane is an angle b, and the relative rotation angle of the second rotating arm and the third rotating arm is an angle c;

coordinates of the reference point are as follows:

x=l2×cos (angle b) ×cos (angle a) +l3×sin (angle c- (90-angle b))×cos (angle a)

Y=l2×sin (angle b) -L3×cos (angle a- (90-angle a))

Z=l2×cos (angle b) ×sin (angle a) +l3×sin (angle c- (90-angle b))×sin (angle a)

Wherein L2 is the length of the second rotating arm, and L3 is the sum of the length of the third rotating arm and the effective length of the fourth rotating arm.

Compared with the prior art, the above technical scheme has the following beneficial effects:

1. the angle sensor obtains the angle between the two rotating arms related to the rotating shaft and the rotation angle of the handle body, meanwhile, the length of each group of rotating arms is known, and when the whole control handle is held to move, the processor can be utilized to obtain the coordinates of the datum point according to the principle of a trigonometric function; meanwhile, as the length of the handle body and the position of the datum point on the handle body are also known, the coordinate of the datum point can be converted into the coordinate of the tip of the handle body and the posture information of the handle body. When the control handle is mapped into a virtual scene, the whole control handle can replace a mouse, the defect that the mouse only has planar two-dimensional position information when the traditional virtual scene is operated is overcome, and actions such as gesture, rotation and the like when an operator holds the handle body can be correctly mapped into the virtual scene, so that real operation is simulated.

2. The handle body can simulate objects in shapes such as a scalpel, a puncture needle, a measuring cup and the like, so that the operation which is more similar to a real scene is completed in a virtual scene.

3. The virtual simulation experiment can reduce the risk of the physical experiment, for example, in some scenes which can cause human body injury, toxic substance pollution, combustibility or explosiveness, the operation can be completed in the virtual scene through the control handle of the embodiment, and the remote control operation is realized through the linkage of the virtual scene and the manipulator.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

FIG. 1 is a schematic illustration of a virtual simulated control handle structure provided by one or more embodiments of the invention;

FIG. 2 is a schematic diagram of a virtual simulated control handle provided by one or more embodiments of the present invention to obtain Y-axis coordinates;

in the figure: 1 first rotating arm, 2 second rotating arm, 3 third rotating arm, 4 fourth rotating arm, 5 datum point, 6 handle body, 7 first button, 8 second button.

Detailed Description

The invention will be further described with reference to the drawings and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

As described in the background art, virtual simulation generally controls an object in a virtual space using a mouse, and coordinates when the mouse moves can be mapped into the virtual space to achieve control of the object in the virtual space. In the process of simulating some special scenes, such as operations, acupuncture and chemical experiments, the mouse can only complete movement in the plane direction, so that rotation or height change operation cannot be realized, the virtual simulation scene is limited, and the operator experience of real space feeling can be influenced.

Therefore, the following embodiment provides a virtual simulation control handle, and the virtual simulation control handle with multiple degrees of freedom is used for replacing a real operation device, so that real operation gesture data can be mapped to a virtual scene, the position and the angle of the operated device (such as a simulated needle, a surgical knife, a measuring cup and the like) are reproduced in the virtual environment of a computer, and gesture changes such as tilting, moving, rotating and the like are completed, thereby simulating real operation.

Embodiment one:

1-2, the virtual simulation control handle comprises a first rotating arm which is vertically arranged on a base and is rotationally connected with the base, wherein the first rotating arm is sequentially rotationally connected with second to fourth rotating arms, and the tail end of the fourth rotating arm is movably connected with a datum point of a handle body;

the angle sensor is used for acquiring the angle of the rotating arm when rotating and the rotation angle of the handle body;

also provided is a processor configured to: and obtaining coordinate information of the datum point on the handle body and posture information of the handle body according to the angle data acquired by the angle sensor, the lengths of the first rotating arm and the fourth rotating arm, the length of the handle body and the position information of the datum point on the handle body, and mapping the coordinate information and the posture information of the datum point on the handle body into a virtual scene.

In this embodiment, the control handle is formed to have a structure of six rotation axes, specifically:

the base is fixed, and the head end of the first rotating arm 1 is vertically arranged on the base and rotates around a vertical first shaft;

the head end of the second rotating arm 2 is rotationally connected with the tail end of the first rotating arm 1, and the second rotating arm 2 rotates around a second shaft which is horizontally arranged;

the head end of the third rotating arm 3 is rotationally connected with the tail end of the second rotating arm 2, the third rotating arm 3 rotates around a third shaft which is horizontally arranged, and the third shaft is arranged in parallel with the second shaft;

the head end of the fourth rotating arm 4 is rotationally connected with the tail end of the third rotating arm 3, the head and tail end connecting line of the fourth rotating arm 4 is collinear with the axis where the third rotating arm 3 is positioned, the fourth rotating arm 4 rotates around the axis where the third rotating arm 3 is positioned, the axis is a fourth shaft, and the fourth shaft is perpendicular to the third shaft;

the tail end of the fourth rotating arm 4 is rotationally connected with the handle body 6, the handle body 6 is provided with a datum point 5, the axis passing through the datum point 5 is a fifth axis, the handle body 6 rotates around the fifth axis, and the fifth axis is perpendicular to the fourth axis;

the handle body 6 is a cylinder with a tip, and is capable of rotating around the axial direction of the cylinder, and the rotation shaft is a sixth shaft.

Above, a structure having six rotation axes is formed, in which:

the handle body 6 is provided with at least two keys, namely a first key 7 and a second key 8, which are respectively used for simulating the left key function and the right key function of the mouse.

The fourth rotating arm 4 is arc-shaped or semicircular, and is used for providing space for holding and operating keys when the handle body 6 is held, and the connecting line of the head and tail ends of the fourth rotating arm 4 is collinear with the axis of the third rotating arm 3, so that the fourth rotating arm 4 can be considered as a part of extension of the third rotating arm 3.

Each rotating shaft is provided with an angle sensor (can be any existing mode such as a potentiometer, photoelectricity and Hall) for acquiring an angle between two rotating arms related to the rotating shaft and an angle of rotation of the handle body 6, and meanwhile, the length of each group of rotating arms is known, when the whole control handle is held to move, the processor can be utilized to obtain the coordinates of the datum point 5 according to the principle of a trigonometric function, and the length of the handle body 6 and the position of the datum point 5 on the handle body 6 are also known, so that the coordinates of the datum point 5 can be converted into the coordinates of the tip of the handle body 6 and the posture information of the handle body 6, and when the coordinates are mapped into a virtual scene, the whole control handle can replace a mouse, the defect that the mouse only has planar two-dimensional position information when the traditional virtual scene is operated is overcome, and actions such as posture, rotation and the like when an operator holds the handle body 6 can be correctly mapped into the virtual scene, so that real operation is simulated.

Specific:

each rotating arm rotates with the following way, and the handle body also rotates with the following way.

The three-axis rotation angle of the handle body 6 includes an angle at which the handle body 6 rotates about the sixth axis (i.e., a rotation angle), an angle at which the handle body 6 rotates about the fifth axis (the axis on which the reference point 5 is located), and an angle at which the handle body 6 rotates about the fourth axis together with the fourth rotation arm 4 (an angle about the axis on which the third rotation arm 3 is located).

As shown in fig. 2, a connection point of the first rotating arm 1 and the second rotating arm 2 is defined as an origin of a coordinate system, a height direction is defined as a y-axis of the coordinate system, and an upward direction is positive; defining the left-right direction as the x axis of the coordinate system and the right direction as positive; the far and near directions are defined as the z-axis and the far direction is positive. Then:

the coordinates (0, 0) of the connection point of the first rotating arm 1 and the second rotating arm 2 are as follows:

the relative rotation angle of the base and the first rotating arm 1 is an angle a, i.e. the rotation angle of the first rotating arm 1 around the first axis.

Since the first rotating arm 1 is vertically arranged, the relative rotation angle of the first rotating arm 1 and the second rotating arm 2 needs to be subtracted by 90 in the subsequent calculation, that is, the included angle of the second rotating arm 2 relative to the horizontal plane is an angle b, and the angle b is equal to the relative rotation angle of the first rotating arm 1 and the second rotating arm 2 minus 90 in value.

The relative rotation angle of the second rotating arm 2 and the third rotating arm 3 is an angle c, i.e. the rotation angle of the third rotating arm 3 around the third axis.

The coordinates of the connection point of the second rotating arm 2 and the third rotating arm 3 are as follows:

x=l2×cos (angle b) ×cos (angle a)

Y=l2×sin (angle b)

Z=l2×cos (angle b) ×sin (angle a)

Where L2 is the length of the second rotating arm 2.

Since the leading and trailing links of the fourth rotating arm 4 are collinear with the axis of the third rotating arm 3, the fourth rotating arm 4 can be regarded as a part of the extension of the third rotating arm 3, and thus L3 is expressed as the length of the third rotating arm 3 plus the effective length of the fourth rotating arm 4 (the distance between the leading and trailing links) when calculated by the following equation, the coordinates of the reference point 5 are as follows:

x=l2×cos (angle b) ×cos (angle a) +l3×sin (angle c- (90-angle b))×cos (angle a)

Y=l2×sin (angle b) -L3×cos (angle a- (90-angle a))

Z=l2×cos (angle b) ×sin (angle a) +l3×sin (angle c- (90-angle b))×sin (angle a)

Where L2 is the length of the second rotating arm 2, and L3 is the sum of the length of the third rotating arm 3 and the effective length of the fourth rotating arm 4.

Since the length of each of the rotating arms is known, in which the effective length of the fourth rotating arm 4 is the distance between the two end points of the arc on the axis on which the third rotating arm 3 is located, the coordinate value of the reference point 5 can be obtained based on the above equation.

The length of the handle body 6 is known, the position of the reference point 5 on the handle body 6 is also known, and the three-axis rotation angle reflects the posture of the handle body 6, that is, the angle at which the handle body 6 rotates about the sixth axis (i.e., the rotation angle), the angle at which the handle body 6 rotates about the fifth axis (the axis on which the reference point 5 is located) and the angle at which the handle body 6 rotates together with the fourth rotating arm 4 about the fourth axis (the angle about which the third rotating arm 3 is located).

According to the triaxial rotation angle of the handle body 6, the coordinates of the reference point 5 and the position of the reference point on the handle body 6, the coordinate value of the tip of the handle body 6 can be obtained by adopting the same trigonometric function principle.

The data sets formed by the angle values and the coordinate values obtained in the process are mapped into the virtual scene in the computer, so that the whole control handle can replace a mouse, the defect that the mouse only has planar two-dimensional position information when the traditional virtual scene is operated is overcome, and actions such as gesture, rotation and the like when an operator holds the handle body 6 can be correctly mapped into the virtual scene, thereby simulating real operation.

The handle body 6 may be replaced with an object of another shape, such as an object of a shape simulating a scalpel, a puncture needle, a measuring cup, etc., so as to perform an operation closer to a real scene in a virtual scene.

The virtual simulation experiment can reduce the risk of the physical experiment, for example, in some scenes which can cause human body injury, toxic substance pollution, combustibility or explosiveness, the operation can be completed in the virtual scene through the control handle of the embodiment, and the remote control operation is realized through the linkage of the virtual scene and the manipulator.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The virtual simulation control handle is characterized by comprising a first rotating arm which is vertically arranged on a base and is rotationally connected with the base, wherein the first rotating arm is sequentially rotationally connected with second to fourth rotating arms, and the tail end of the fourth rotating arm is movably connected with a datum point of a handle body;

the angle sensor is used for acquiring the angle of the rotating arm when rotating and the rotation angle of the handle body;

also provided is a processor configured to: and obtaining coordinate information of the datum point on the handle body and posture information of the handle body according to the angle data acquired by the angle sensor, the lengths of the first rotating arm and the fourth rotating arm, the length of the handle body and the position information of the datum point on the handle body, and mapping the coordinate information and the posture information of the datum point on the handle body into a virtual scene.

2. A virtual simulation control handle according to claim 1, wherein the base is fixed, and the first pivoting arm head is vertically arranged on the base and pivots about a vertical first axis.

3. The virtual simulation control handle according to claim 2, wherein the head end of the second rotating arm is rotatably connected to the tail end of the first rotating arm, and the second rotating arm rotates around a second axis which is horizontally arranged.

4. A virtual simulation control handle according to claim 3, wherein the head end of the third rotating arm is rotatably connected to the tail end of the second rotating arm, the third rotating arm rotates around a third axis which is horizontally arranged and is arranged in parallel with the second axis.

5. The virtual simulation control handle according to claim 4, wherein the head end of the fourth rotating arm is rotatably connected to the tail end of the third rotating arm, and the connecting line of the head end and the tail end of the fourth rotating arm is collinear with the axis of the third rotating arm, the fourth rotating arm rotates around the axis of the third rotating arm, the axis is a fourth axis, and the fourth axis is perpendicular to the third axis.

6. The virtual simulation control handle according to claim 5, wherein the tail end of the fourth rotating arm is rotatably connected with the handle body, a reference point is arranged on the handle body, an axis passing through the reference point is a fifth axis, the handle body rotates around the fifth axis, and the fifth axis is perpendicular to the fourth axis.

7. The virtual simulation control handle according to claim 6, wherein the fourth rotating arm is arc-shaped or semicircular.

8. The virtual simulation control handle according to claim 1, wherein the handle body is a cylinder with a tip, and is capable of rotating around the axial direction of the cylinder, and the rotation axis is a sixth axis.

9. The virtual simulation control handle according to claim 1, wherein the posture information of the handle body is a three-axis rotation angle including an angle of rotation of the handle body about a sixth axis, an angle of rotation of the handle body about a fifth axis, and an angle of rotation of the handle body along with the fourth rotating arm about a fourth axis.

10. The virtual simulation control handle according to claim 1, wherein coordinate information of a reference point on the handle body is obtained, specifically:

defining a connecting point of the first rotating arm and the second rotating arm as an origin of a coordinate system, defining a height direction as a y-axis of the coordinate system, and making the height direction positive upwards; defining the left-right direction as the x axis of the coordinate system and the right direction as positive; defining the far and near directions as z-axis and the far direction as positive;

the relative rotation angle of the base and the first rotating arm is an angle a, the included angle of the second rotating arm relative to the horizontal plane is an angle b, and the relative rotation angle of the second rotating arm and the third rotating arm is an angle c;

coordinates of the reference point are as follows:

x=l2×cos (angle b) ×cos (angle a) +l3×sin (angle c- (90-angle b))×cos (angle a)

Y=l2×sin (angle b) -L3×cos (angle a- (90-angle a))

Z=l2×cos (angle b) ×sin (angle a) +l3×sin (angle c- (90-angle b))×sin (angle a)

Wherein L2 is the length of the second rotating arm, and L3 is the sum of the length of the third rotating arm and the effective length of the fourth rotating arm.

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