CN201220098Y - Head type controller for capturing and following virtual or remote target - Google Patents
Head type controller for capturing and following virtual or remote target Download PDFInfo
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- CN201220098Y CN201220098Y CN 200820050747 CN200820050747U CN201220098Y CN 201220098 Y CN201220098 Y CN 201220098Y CN 200820050747 CN200820050747 CN 200820050747 CN 200820050747 U CN200820050747 U CN 200820050747U CN 201220098 Y CN201220098 Y CN 201220098Y
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Abstract
The utility model discloses a head-wearing virtual or remote target catching and tracking controller. The controller comprises a control circuit and is characterized in that the control circuit comprises a low-degree acceleration sensor with three shafts, a standard RS-232 serial interface, and an origin calibration unit of a system space coordinate system which is composed of a minimum control unit formed by a single chip microcomputer, an infrared ray launcher and an infrared receiver, , wherein the output end of the infrared receiver, the output ends of acceleration signals in the X direction, the Y direction and the Z direction of the low-degree acceleration sensor with three shafts as well as a sensitivity selection input end are respectively connected with an I/O port of the single chip microcomputer; and the RS-232 serial interface is connected in series with a reading and writing interface of the single chip microcomputer. The utility model realizes the purpose that when the self face of an operator turns to a direction, visual lines of the first person can turn to the identical direction, thereby the success rate of catching, tracking and monitoring a target in a virtual environment or an environment located by a remote robot is greatly enhanced.
Description
Technical field
The utility model relates to a kind of control device, is specifically related to the following controller that a kind of human body other parts that are suitable for specially except that hand, pin are handled, and it is applicable to the seizure of object and robot vision scope internal object thing in the game picture and traces and monitors.
Background technology
In actual life, the object that people catch in the surrounding environment all cooperates vision system to finish by head, but the object in virtual environment will hand or other limbs cooperate vision system to finish.As, the moving of existing computer game picture all operated and controlled by input equipments such as mouse, keyboard or handles basically, even the target acquisition work that cooperates vision system to finish by head in the real life also gets and must cooperate vision system to finish by hand, this should expend the quite long training time, also is unfavorable for training the coordination ability of desired partes corporis humani position in the real life.Remote control robot for another example, the effector has caught the target of motion from the picture that remote camera is passed back, but allowing the robotic tracking monitor that this moving target just must be handled as input equipments such as control stick or dials with hand just can finish, at this moment the effector has just lost other action of control robot or robot entrained other equipment opportunity, tends to cause the failure of whole task.Arrest and the robot of the task of grappling if the robot that is controlled is an execution, even also can suffer from enemy's attack.
By two above-mentioned examples as seen, trace and monitor the object in virtual environment or the remote environment, especially trace and monitor the moving target in virtual environment or the remote environment, just must allow object appear in " owner " in virtual environment or the remote environment visual range of (as the player in the first person recreation and the robot of Long-distance Control).Accomplish this point, except that the distance that keeps " owner " and object, must allow the sight line pinpoint thing all the time of " owner ".Allow " owner " sight line all the time the pinpoint thing optimal method beyond doubt, the motion that allows the sight line of " owner " follow effector's head changes direction, and realize that the technical problem that this purpose at first will solve is, the detection of the space motion path of effector's head.
In the prior art, medical domain is more common in the detection of human body or people's limb motion track.State knows that office disclosed " a kind of human body motion track detection method " (publication number is CN 1582851A) on February 23rd, 2005, this method is: will " index point sticks on surface, detected person position to be detected; little or have the position of crisscross motion to paste the different colours index point in spacing, and the color on the color of described index point and surface, position to be detected is inequality; With the image of colour TV camera picked-up detected person walking process on pavement, and in real time computer is sent in Information Monitoring by the Color Image Acquisition card; The program in the computer of being stored in is carried out the recognition and tracking of index point, and data analysis." the described method of visible above-mentioned patent application can only obtain the data for medical research; still have following problems but resulting data will be used for follow control in real time: it is slow that first gamma camera is caught the speed of photographic subjects object image; the data that obtain after handling with it be carried out the control of following that object is traced and monitored in the virtual environment, obviously can cause " owner " vision system in the virtual environment to follow the time-delay significantly of time; It two is that image is handled, data quantity transmitted is very huge, has further increased the amplitude that " owner " vision system is followed time delays again; It three is to use a video camera to be difficult to obtain the three-dimensional track of accurate people's limb motion.
" U.S. releases the BFR that " first person " handled " literary composition of China Daily publication on February 28th, 1, say in the literary composition that the operator puts on a kind of helmet of loading onto this system that is called as " Head-Aimed Remote Viewer (HARV) ", will see the thing that robot is seen from the eyepiece of putting on, and when the face of oneself turned to a direction, the video camera that is contained in the robot will turn to same direction.But Wen Zhongwei carries out any description to " Head-Aimed Remote Viewer (HARV) ", and its control scheme has no way of investigating.
Summary of the invention
In view of there is above-mentioned deficiency in prior art, technical problem to be solved in the utility model is that " first person " sight line is followed the control device that the human body head movement locus changes.Above-mentioned " first person " can be the player of first person recreation, also can be the robot of Long-distance Control.
The technical scheme that the utility model addresses the above problem is:
Virtual or the remote object seizure following controller of a kind of wear-type, this controller comprises control circuit, the RS-232 serial line interface that it is characterized in that the origin calibration unit of the system space coordinate system that minimum control module, RF transmitter and infrared receiver that described control circuit is made of a single-chip microcomputer are formed, three low magnitude acceleration transducers and standard connects and composes, wherein
The output of X, the Y of the output of described infrared receiver and three low magnitude acceleration transducers, three directional acceleration signals of Z and sensitivity select input to be connected with the I/O mouth of described single-chip microcomputer respectively;
Described RS-232 serial line interface is serially connected with on the reading-writing port of described single-chip microcomputer.
Following controller described in the utility model, wherein said serial line interface can be connected with the game server of network other end, other player's PC or robot by PC in the machine room, with realization " first person " sight line follow the change of effector's human body head movement locus purpose.
Following controller described in the utility model, wherein said RF transmitter can be served as by a common infrared light-emitting diode, also can be connected in series an electronic switch by a common infrared light-emitting diode constitutes, as adopt the back during one scheme, the control end of wherein said electronic switch is connected with an I/O mouth of described single-chip microcomputer, utilize single-chip microcomputer to add some special coded messages like this, to improve antijamming capability.
Following controller described in the utility model, it can be made up of the data helmet that emitter and being fit to is worn on the head part, also can be made up of emitter and the data glasses that are fit to be worn on the human face.RF transmitter in the above-mentioned control circuit is arranged in the described emitter, other circuit except that RF transmitter is arranged in the picture frame of data glasses or in the helmet body of the data helmet, it is external that the sensitive surface of the infrared receiver in the described control circuit exposes the helmet of the picture frame of data glasses or the data helmet, the dead ahead of preferably exposing picture frame or helmet body.So design, described emitter can be installed in the top of computer monitor panel so that system when human body is faced the dead ahead focus point of two eyes be defined as the initial point of system coordinates, the motion of human body head is more near reality when making the back tracking target.Also can be embedded a LCD in the picture frame of described data glasses, immerse on-the-spot experience fully so that player or ROBOT CONTROL person have.
Following controller described in the utility model, head part's a certain attitude is transformed into the initial point of calibration system space coordinates by RF transmitter and infrared receiver, and adopt the rotation of three low magnitude acceleration transducer perception human body heads, tilt, with bow, face upward motion, and be converted into X, Y, three directional acceleration signals of Z are controlled moving or the tele-robotic direction of visual lines of game picture, when the face of having realized operator oneself turns to a direction, the sight line of " first person " will turn to the purpose of same direction, not only the hand with the people frees, and meet people's visual custom, thereby greatly improved in virtual environment or the residing environment of tele-robotic in catch, follow the tracks of, the success rate of monitored object.The described following controller of utility model also has the advantage of simple in structure and low in cost in addition, both can be used for civilian electronic game field, also can be used for public security and military field.
Description of drawings:
Fig. 1 is a kind of schematic block circuit diagram of specific embodiment of the control circuit of following controller described in the utility model;
Fig. 2 is a kind of electrical schematic diagram of specific embodiment of the control circuit of following controller described in the utility model;
Fig. 3 is the structural representation of a kind of specific embodiment of following controller described in the utility model, and dotted arrow is represented ultrared transmission direction among the figure;
Fig. 4 is the structural representation of the another kind of specific embodiment of following controller described in the utility model, and dotted arrow is represented ultrared transmission direction among the figure;
Fig. 5 is the structural representation of data eyes 2 among Fig. 3;
Fig. 6 is the structural representation of the data helmet 3 among Fig. 4.
The specific embodiment:
Referring to Fig. 1, the control circuit of following controller described in the utility model is that the peripheral cell circuit such as RS-232 serial line interface of the origin calibration unit of core configuration system space coordinate system, three low magnitude acceleration transducers and standard are formed with the control module.
Referring to Fig. 2, the MEGA8 type embedded scm U1 that described control module is produced by atmel corp is equipped with the conventional oscillator of being made up of 16M crystal oscillator and electric capacity and constitutes; RF transmitter in the origin calibration unit of system space coordinate system is commercially available is connected in series the formed electronic switch of a NPN type triode by infrared light-emitting diode IR-LED and constitutes, infrared receiver in the origin calibration unit of system space coordinate system receives amplification integral type infrared receiving tube SFH506-38 by one and serves as, wherein, the signal output part of infrared receiving tube SFH506-38 is connected with the PB0 mouth of embedded scm U1, and the base stage of NPN type triode is connected with the PB1 mouth of single-chip microcomputer U1; Three low magnitude acceleration transducer U2 select the MMA7260Q chip of Freescale for use, the X of U2, Y, three outputs of Z respectively with the ADC mouth (PC0～PC2) be connected of single-chip microcomputer U1, the sensitivity of U2 selects input Select1 to be connected with the PB3 mouth with the PB2 of single-chip microcomputer U1 respectively with Select2, and the sleep pattern control end is connected with the PD7 mouth of single-chip microcomputer U1; RS-232 serial line interface U3 is served as by MAX232 commonly used, and one group of transmitting-receiving mouthful T1IN, T1OUT of U3 are connected with access hole RXD, the TXD of single-chip microcomputer U1 respectively.
Referring to Fig. 3 and Fig. 5, in this example, described following controller by emitter 1 and the data glasses 2 that are fit to be worn on the human face form, RF transmitter in the above-mentioned control circuit is located in the emitter 1, in the RS-232 serial line interface of control module, three low magnitude acceleration transducers, standard and the picture frame 2-1 that infrared receiver is located at data glasses 2, expose among the wicket 2-2 of the sensitive surface of infrared receiver by middle part, picture frame 2-1 top; Also be embedded a LCD 2-3 among the picture frame 2-1, the display panel of this LCD 2-3 is towards the side of mirror pin 2-4, and the wearer can take the scene that transmits by LCD 2-2 direct viewing game picture or tele-robotic.
Referring to Fig. 4 and Fig. 6, in this example, described following controller by emitter 1 and the data helmet 3 that is fit to be worn on the head part form, RF transmitter in the described control circuit is located in the emitter 1, in the RS-232 serial line interface of control module, three low magnitude acceleration transducers, standard and the helmet body 3-1 that infrared receiver is located at the data helmet 3, the sensitive surface of infrared receiver is exposed by the wicket 3-2 of helmet body 3-1 anteriomedial.
Below be example and briefly describe in conjunction with Fig. 2 and to use following controller described in the utility model to catch the course of work of object and the system of elimination accumulated error in the remote environment by the robotic vision system with Fig. 3 and following controller shown in Figure 5.
During use, data glasses 2 shown in Figure 3 are worn on the facial of people and are connected, then infrared launcher 1 can be positioned over before the wearer of data glasses 2 on arbitrary fixed object, as the top of computer monitor panel with computer network system.After being ready to, power up initialization, single-chip microcomputer U1 constantly scans the ICP mouth that is connected with infrared receiving tube SFH506-38 output in the mode of inquiry, in case the wicket 2-2 on the data eyes aims at infrared launcher 1, output system space coordinate origin demarcation signal the time, single-chip microcomputer U1 just writes down the magnitude of voltage of three output outputs of X, Y, Z of U2 this moment, and this value is coordinate origin constructing system space coordinates; Next, the wearer of data glasses is when catching LCD 2-3 institute object appearing thing, motion can be done, be turned right and bow, face upward to its head habitually, motion with wearer's head of data glasses 2, the X of U2, Y, three outputs of Z are just exported the correspondent voltage value synchronously, this magnitude of voltage is transformed to relative variation in the described system space coordinate system by single-chip microcomputer U1, and this relative variation can be controlled the head that the vision system of tele-robotic makes its sight line follow the wearer of data glasses 2 after by computer and network system and be synchronized with the movement.
Because above-mentioned following in the control procedure, whole system will inevitably produce accumulated error system's control accuracy is descended.Another important function of the origin calibration unit of the system space coordinate system in the following controller described in the utility model is eliminated above-mentioned accumulated error exactly, its process is as described below: behind the origin calibration of system space coordinate system, head in the data eyeglass wearer turns left, turn right and bow, when facing upward motion, must have an opportunity to make the wicket 2-2 on the described data eyes to aim at infrared launcher 1, whenever the two on time, be that single-chip microcomputer U1 is when detecting system coordinates origin calibration signal, just the relative variation in the described system space coordinate system is made zero, promptly get back to the state of system space coordinate origin timing signal.Such as system space coordinate origin timing signal, at the face of data eyeglass wearer under the situation in dead ahead, wicket 2-2 on the data eyes just aims at infrared launcher 2, the sight line of the vision system of tele-robotic is also towards the dead ahead of robot, so after this, whenever the wearer's of data glasses 2 face during towards the dead ahead, this moment tele-robotic all the getting back to automatically of sight line of vision system towards the state in the dead ahead of robot towards how.
Following controller described in the utility model is caught the course of work of object in the virtual environment, and the public can analyze with reference to top description.
Claims (4)
1, the virtual or remote object seizure following controller of a kind of wear-type, this controller comprises control circuit, the RS-232 serial line interface that it is characterized in that the origin calibration unit of the system space coordinate system that minimum control module, RF transmitter and infrared receiver that described control circuit is made of a single-chip microcomputer are formed, three low magnitude acceleration transducers and standard connects and composes, wherein
The output of X, the Y of the output of described infrared receiver and three low magnitude acceleration transducers, three directional acceleration signals of Z and sensitivity select input to be connected with the I/O mouth of described single-chip microcomputer respectively;
Described RS-232 serial line interface is serially connected with on the reading-writing port of described single-chip microcomputer.
2, the virtual or remote object seizure following controller of a kind of wear-type as claimed in claim 1, it is characterized in that described RF transmitter is made of infrared light-emitting diode and electronic switch series connection, the control end of wherein said electronic switch is connected with an I/O mouth of described single-chip microcomputer.
3, the virtual or remote object seizure following controller of a kind of wear-type as claimed in claim 1 or 2, it is characterized in that this controller by emitter (1) and the data glasses (2) that are fit to be worn on the human face form, RF transmitter in the described control circuit is located in the emitter (1), in the RS-232 serial line interface of control module, three low magnitude acceleration transducers, standard and the picture frame (2-1) that infrared receiver is located at data glasses 2, the sensitive surface of infrared receiver is exposed by middle part, picture frame (2-1) top; Also be embedded a LCD (2-3) in the picture frame (1), the display panel of this LCD (2-3) is towards a side of mirror pin (2-4).
4, the virtual or remote object seizure following controller of a kind of wear-type as claimed in claim 1 or 2, it is characterized in that this controller by emitter (1) and the data helmet (3) that is fit to be worn on the head part form, RF transmitter in the described control circuit is located in the emitter (1), in the RS-232 serial line interface of control module, three low magnitude acceleration transducers, standard and the helmet body (3-1) that infrared receiver is located at the data helmet (3), the sensitive surface of infrared receiver is exposed by the anterior centre of helmet body (3-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200820050747 CN201220098Y (en) | 2008-07-16 | 2008-07-16 | Head type controller for capturing and following virtual or remote target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200820050747 CN201220098Y (en) | 2008-07-16 | 2008-07-16 | Head type controller for capturing and following virtual or remote target |
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| CN201220098Y true CN201220098Y (en) | 2009-04-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200820050747 Expired - Fee Related CN201220098Y (en) | 2008-07-16 | 2008-07-16 | Head type controller for capturing and following virtual or remote target |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890719A (en) * | 2010-07-09 | 2010-11-24 | 中国科学院深圳先进技术研究院 | Robot remote control device and robot system |
| CN102043410A (en) * | 2010-09-30 | 2011-05-04 | 清华大学 | Servo system for instructing pan-tilt system of unmanned aerial vehicle (UAV) by adopting head movement of operator |
| CN102358369A (en) * | 2011-07-22 | 2012-02-22 | 路海燕 | Intelligent tracking type electric remote-control wheelbarrow |
| WO2014121657A1 (en) * | 2013-02-07 | 2014-08-14 | Ma Kali | Prop for shooting game |
| CN104750220A (en) * | 2011-07-20 | 2015-07-01 | 谷歌公司 | Determining Whether A Wearable Device Is Used |
| CN107209009A (en) * | 2015-01-26 | 2017-09-26 | 普乐福尼克·迪特·布什股份公司 | Two main bodys are positioned by the calibration system with data glasses |
| WO2018058882A1 (en) * | 2016-09-30 | 2018-04-05 | 深圳市虚拟现实科技有限公司 | Method and system for automatic correction of attitude measurement device |
| WO2018058881A1 (en) * | 2016-09-30 | 2018-04-05 | 深圳市虚拟现实科技有限公司 | Method and system for automatic correction of attitude measurement device |
-
2008
- 2008-07-16 CN CN 200820050747 patent/CN201220098Y/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890719A (en) * | 2010-07-09 | 2010-11-24 | 中国科学院深圳先进技术研究院 | Robot remote control device and robot system |
| CN101890719B (en) * | 2010-07-09 | 2015-06-03 | 中国科学院深圳先进技术研究院 | Robot remote control device and robot system |
| CN102043410A (en) * | 2010-09-30 | 2011-05-04 | 清华大学 | Servo system for instructing pan-tilt system of unmanned aerial vehicle (UAV) by adopting head movement of operator |
| CN104750220A (en) * | 2011-07-20 | 2015-07-01 | 谷歌公司 | Determining Whether A Wearable Device Is Used |
| CN102358369A (en) * | 2011-07-22 | 2012-02-22 | 路海燕 | Intelligent tracking type electric remote-control wheelbarrow |
| WO2014121657A1 (en) * | 2013-02-07 | 2014-08-14 | Ma Kali | Prop for shooting game |
| CN107209009A (en) * | 2015-01-26 | 2017-09-26 | 普乐福尼克·迪特·布什股份公司 | Two main bodys are positioned by the calibration system with data glasses |
| WO2018058882A1 (en) * | 2016-09-30 | 2018-04-05 | 深圳市虚拟现实科技有限公司 | Method and system for automatic correction of attitude measurement device |
| WO2018058881A1 (en) * | 2016-09-30 | 2018-04-05 | 深圳市虚拟现实科技有限公司 | Method and system for automatic correction of attitude measurement device |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090415 Termination date: 20110716 |