CN206282241U - A kind of attitude sensing device and a kind of virtual reality system - Google Patents
A kind of attitude sensing device and a kind of virtual reality system Download PDFInfo
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- CN206282241U CN206282241U CN201621126238.XU CN201621126238U CN206282241U CN 206282241 U CN206282241 U CN 206282241U CN 201621126238 U CN201621126238 U CN 201621126238U CN 206282241 U CN206282241 U CN 206282241U
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- pose data
- sensing device
- implementing helmet
- main frame
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Abstract
The utility model discloses a kind of attitude sensing device and a kind of virtual reality system, the attitude sensing device includes the sensor module, sensor center, microcontroller and the connector that are integrated on one piece of circuit board；Attitude sensing device is connected to the mainboard of Devices to test by connector；The raw pose data of sensor module Real-time Collection Devices to test, raw pose data is transformed to 3 d pose data by sensor center, microcontroller is by connector by raw pose data and 3 d pose data is activation to Devices to test, so as to alleviate the burden of the processor on Devices to test mainboard, process resource is saved, and modular attitude sensing device also allows for being adjusted at any time as needed and changing.
Description
Technical field
The utility model is related to technical field of virtual reality, and in particular to a kind of attitude sensing device and a kind of virtual reality
System.
Background technology
With the fast development of virtual reality technology, various virtual reality products are occurred in that.Using virtual implementing helmet
During etc. equipment, it usually needs know its orientation mode, to meet the application demands such as head movement tracking.
In order to realize above-mentioned functions, existing solution is：Various sensors (Sensor) are integrated in virtual reality
On the mainboard of the helmet, and all of sensor is connected respectively to the microcontroller (MCU) of virtual implementing helmet.Using various biographies
Sensor gathers initial data, then inquires about each sensor by microcontroller and carry out algorithm process.
The microcontroller of all of sensor and correlation is integrated in existing solution the master of virtual implementing helmet
On plate, the species of sensor is more, and each sensor is required for microcontroller to be targetedly programmed treatment, and control is multiple
It is miscellaneous；Microprocessor needs mass data of the treatment from various sensors, occupies the more process resource of microprocessor, makes original
The nervous microprocessor of this resource reduce further treatment effeciency；It is limited to the performance of controller simultaneously, sensor is in itself
Characteristic can not be fully played.If the cost of product can then be greatly increased using the microcontroller of higher performance, and
And caloric value also can accordingly increase with power consumption, be unfavorable for Consumer's Experience.
On the other hand, the microcontroller of sensor and correlation is integrated on the mainboard of virtual implementing helmet, works as sensor
When the Attitude Algorithm of the degree of accuracy or the use of gathered data can not meet the demand of user, it is difficult to be adjusted or change；It is right
Some in no built-in sensors originally wear display device, are also not easy to carry out functions expanding, limit making for sensor
With.
Utility model content
The utility model provides a kind of attitude sensing device and a kind of virtual reality system, so that solve at present will be all of
The microcontroller of sensor and correlation is integrated on the mainboard of virtual implementing helmet, can increase the place on virtual implementing helmet mainboard
The burden of device is managed, and is unfavorable for adjusting the sensor and related algorithm in virtual implementing helmet according to user's request, limited
The problem that sensor is used.
According to one side of the present utility model, the utility model provides a kind of attitude sensing device, including is integrated in
On one piece of circuit board, the sensor module, sensor center, microcontroller and the connector that are sequentially connected；The attitude sensing
Device is connected to the mainboard of Devices to test by the connector；
The sensor module, for the raw pose data of Devices to test described in Real-time Collection, and by original attitude number
According to being sent to the sensor center；
The sensor center, the raw pose data for that will receive is transformed to 3 d pose data, and will be described
3 d pose data and the raw pose data send jointly to the microcontroller；
The microcontroller, for by the connector by the raw pose data and the 3 d pose data
It is sent to the Devices to test.
According to other side of the present utility model, the utility model provides a kind of virtual reality system, including main frame,
Virtual implementing helmet and above-mentioned attitude sensing device；
The attitude sensing device is fixed on the virtual implementing helmet, is moved with the virtual implementing helmet,
And the main frame is connected to by connector thereon；The main frame connects the virtual implementing helmet；
The attitude sensing device measures the original attitude number of the virtual implementing helmet using sensor module thereon
According to, the raw pose data is transformed to 3 d pose data using sensor center thereon, and using micro-control thereon
The 3 d pose data and the raw pose data are sent jointly to the main frame by device processed by the connector；
The main frame does to associated picture and deforms according to the 3 d pose data and the raw pose data that receive
Treatment, and the image after deformation process is sent to the virtual implementing helmet, by the display device of the virtual implementing helmet
Shown.
The beneficial effects of the utility model are：The attitude sensing device that the utility model embodiment is provided is by sensor die
Group, sensor center, microcontroller and connector are sequentially connected and are integrated on one piece of circuit board, by connector with it is to be measured
The mainboard of equipment is connected, and be transformed to for raw pose data by sensor module Real-time Collection raw pose data, sensor center
3 d pose data, microcontroller passes through connector by raw pose data and 3 d pose data is activation to Devices to test,
The burden of the processor of the mainboard of Devices to test is alleviated, process resource is saved, modular attitude sensing device is also allowed for
It is adjusted at any time as needed and changes.
In the virtual reality system that the utility model embodiment is provided, the attitude sensing that the utility model embodiment is provided
Device is fixed in virtual implementing helmet, is obtained attitude data using the attitude sensing device and is sent to main frame, by leading
Machine does deformation process to associated picture according to the attitude data for receiving, and the image after deformation process is sent to described virtual existing
The display device of the real helmet shown, alleviates the burden of the processor of virtual implementing helmet, saves process resource, and
Also reduce power consumption；Meanwhile, the process that Attitude Algorithm is done on the processor of virtual implementing helmet is eliminated, make acquisition attitude number
According to process need not rely on virtual implementing helmet, reduce virtual reality products exploitation difficulty, accelerate the step of launch
Cut down.
Brief description of the drawings
Fig. 1 is a kind of functional block diagram of attitude sensing device that the utility model one embodiment is provided；
Fig. 2 is a kind of main circuit theory diagrams of attitude sensing device that the utility model one embodiment is provided；
Fig. 3 is a kind of structured flowchart of virtual reality system that the utility model one embodiment is provided.
Specific embodiment
Design concept of the present utility model is：Current virtual implementing helmet is all in mainboard by various sensor integrations
On, each sensor is controlled using the processor on mainboard, data are obtained from sensor and 3 d pose data are transformed to, it is main
Processor on plate needs to process substantial amounts of data, occupies substantial amounts of process resource, is also not easy to kind of sensor sum
The adjustment of amount.For such case, the utility model, can be by connecting by various sensor integrations to one piece of independent circuit board
Device is connect to be connected with the mainboard of virtual implementing helmet, and integrated sensor maincenter on the board, it is responsible for the control of sensor
With the conversion of attitude data, the burden of the processor on virtual implementing helmet mainboard is alleviated, save process resource, modularization
Attitude sensing device also allow for being adjusted at any time as needed and changing.
Embodiment one
Fig. 1 is a kind of functional block diagram of attitude sensing device that the utility model one embodiment is provided, referring to Fig. 1, this
The attitude sensing device that embodiment is provided includes the sensor module 110, sensor center (Sensor Hub) being sequentially connected
120th, microcontroller 130 and connector 140.
Sensor module 110, sensor center 120, microcontroller 130 and connector 140 are integrated in one piece of circuit board
On, the mainboard of Devices to test is may be coupled to by connector 140, extend the function of Devices to test.
After the raw pose data of the Real-time Collection Devices to test of sensor module 110, sensor center 120 is using built-in
Original attitude data is transformed to 3 d pose data by quick nine axles Attitude Algorithm, and microcontroller 130 will by connector 140
Raw pose data and 3 d pose data is activation are to Devices to test.For Devices to test, when the attitude of the present embodiment is sensed
After device is connected on its mainboard, it is functionally equivalent to be directly integrated on mainboard, therefore attitude sensing device need not
Additionally set up with Devices to test or its host computer and be connected, it is not required that complicated control program；It is integrated with attitude sensing device
Sensor center 120, can complete the treatment to raw pose data, directly generate 3 d pose data, save Devices to test
The process resource of the processor on mainboard, and the power consumption of sensor center is relatively low, caloric value is also small, can provide preferably use
Experience at family.
Preferably, the sensor module 110 in the present embodiment includes three-axis gyroscope 111, three axis accelerometer 112, three
Axle magnetometer 113.Three-axis gyroscope 111 is used to measure rotational angular velocity, and three axis accelerometer 112 is used to measure acceleration, three
Axle magnetometer 113 is used to measure 3 components of orthogonal direction of current spatial magnetic direction, and the data for measuring are used as original attitude
Data.
It is further preferred that the sensor module 110 in the present embodiment also includes the thermometer for gathering environment temperature
114, the raw sensory number that the temperature value correction sensor module 110 that sensor center 120 is gathered according to thermometer 114 is gathered
According to for example the angular speed to the collection of three-axis gyroscope therein 113 is corrected, so as to realize the temperature to 3 d pose data
Compensation, it is to avoid environment temperature produces interference to attitude data.
Fig. 2 is a kind of main circuit theory diagrams of attitude sensing device that the utility model one embodiment is provided, referring to
Fig. 2, triaxial magnetometer U3, three-axis gyroscope U4 and three axis accelerometer U5 are connected to sensing by way of iic bus respectively
The input port of device maincenter U2, sensor center U2 is added by iic bus from triaxial magnetometer U3, three-axis gyroscope U4 and three axles
After speedometer U5 obtains magnetic direction, angular speed, the raw pose data of acceleration, using built-in quick nine axles Attitude Algorithm
Raw pose data is transformed to represent 3 d pose data with quaternary number, Eulerian angles.
The output port of sensor center U2 is connected to microcontroller U1, microcontroller again by the mode of iic bus
After U1 obtains raw pose data and 3 d pose data by iic bus from sensor center U2, by connector J2 to
Processor on Devices to test mainboard sends interrupt requests, and pause is current just after the processor on mainboard receives interrupt requests
In the program for performing, raw pose data and 3 d pose data that microcontroller U1 is sent by connector J2, data are received
Processor after finishing receiving on mainboard continues executing with the original program being suspended.Processor on mainboard need not simultaneously be inquired about
The state of attitude sensing device, when attitude data is not yet ready for, the processor on mainboard can perform other programs without
It is circular wait, saves time and the process resource of processor.
Connector J2 can select Micro USB connectors, and Micro USB are easy-to-use, and size is small, be easy to attitude to sense dress
Put and be connected with Devices to test.
Embodiment two
Fig. 3 is a kind of structured flowchart of virtual reality system that the utility model one embodiment is provided, referring to Fig. 3, this
The virtual reality system that embodiment is provided includes：Including the attitude in main frame 310, virtual implementing helmet 320 and embodiment one
Sensing device 330.Attitude sensing device 330 is fixed on virtual implementing helmet 320, is moved with virtual implementing helmet 320,
And the mainboard of virtual implementing helmet 320 is connected to by connector thereon.
Attitude sensing device 330 gathers the raw pose data of virtual implementing helmet 320 using sensor module thereon,
Raw pose data is transformed to 3 d pose data using sensor center thereon, and is passed through using microcontroller thereon
3 d pose data and raw pose data are sent jointly to main frame 310 by connector.Main frame 310 is according to the 3 d pose for receiving
Data and raw pose data do deformation process to associated picture, and the image after deformation process is sent into virtual implementing helmet
320, shown by the screen of virtual implementing helmet 320.
Virtual reality system in the present embodiment can be the virtual reality system of integral type, will main frame 310 be integrated in
In virtual implementing helmet 320, such as the equipment of existing virtual reality all-in-one or " mobile phone+virtual reality glasses box ".At present
Most of smart mobile phone all possesses Micro USB interfaces, therefore the connector of attitude sensing device 330 can select Micro USB
Connector, size is small, is easy to connection.
The space of Installation posture sensing device 330 can be reserved in virtual implementing helmet 320, is needing to obtain virtual existing
During the attitude information of the real helmet 320, attitude sensing device 330 is installed to corresponding position, for script without monitoring appearance
The Simple head-worn display device of the function of state, it is also possible to easily carry out Function Extension.
Virtual reality system in the present embodiment can also be split type virtual reality system, and main frame 310 is by wired
Mode or wirelessly connect virtual implementing helmet 320.
Wired connection mode：A video signal cable and a control are connected between virtual implementing helmet 320 and main frame 310
Holding wire processed, virtual implementing helmet 320 sends anamorphose process instruction by control signal wire to main frame 310, and main frame 310 leads to
Cross video signal cable and the image after deformation process is sent to virtual implementing helmet 320.
Radio connection：Virtual implementing helmet 320 wirelessly sends anamorphose process instruction to main frame 310
And 3 d pose data, main frame 310 wirelessly reception processing instruction and 3 d pose data, after deformation process
Image be sent to virtual implementing helmet 320.
Integrated sensor center is completed instead of the processor in virtual implementing helmet 320 in attitude sensing device 330
Control to various sensors and the task of 3 d pose data conversion, alleviate virtual implementing helmet 320 processor it is negative
Load, saves process resource, and also reduces power consumption, while also eliminate being done on the processor of virtual implementing helmet 320
The process of Attitude Algorithm, making the process of acquisition attitude data need not rely on virtual implementing helmet 320, reduce the difficulty of exploitation,
Accelerate the paces of launch.
The above, specific embodiment only of the present utility model, under above-mentioned teaching of the present utility model, this area
Technical staff can carry out other improvement or deformation on the basis of above-described embodiment.It will be understood by those skilled in the art that
Above-mentioned specific descriptions are preferably to explain the purpose of this utility model, and protection domain of the present utility model should be with claim
Protection domain be defined.
Claims (10)
1. a kind of attitude sensing device, it is characterised in that including the sensor die for being integrated on one piece of circuit board, being sequentially connected
Group, sensor center, microcontroller and connector；The attitude sensing device is connected to Devices to test by the connector
Mainboard；
The sensor module, for the raw pose data of Devices to test described in Real-time Collection, and raw pose data is sent out
Give the sensor center；
The sensor center, the raw pose data for that will receive is transformed to 3 d pose data, and by the three-dimensional
Attitude data and the raw pose data send jointly to the microcontroller；
The microcontroller, for by the connector by the raw pose data and the 3 d pose data is activation
To the Devices to test.
2. attitude sensing device as claimed in claim 1, it is characterised in that the sensor module include three-axis gyroscope,
Three axis accelerometer, triaxial magnetometer；
The three-axis gyroscope, for measuring rotational angular velocity；
The three axis accelerometer, for measuring acceleration；
The triaxial magnetometer, 3 components of orthogonal direction for measuring current spatial magnetic direction.
3. attitude sensing device as claimed in claim 2, it is characterised in that
The three-axis gyroscope, three axis accelerometer and triaxial magnetometer are connected to the biography by way of iic bus respectively
The input port of sensor maincenter；
The sensor center obtains angle by iic bus from the three-axis gyroscope, three axis accelerometer and triaxial magnetometer
After speed, acceleration, the raw pose data of magnetic direction, using built-in quick nine axles Attitude Algorithm by the original attitude
Data are transformed to 3 d pose data.
4. attitude sensing device as claimed in claim 3, it is characterised in that the sensor module is also included for gathering ring
The thermometer of border temperature；The sensor center is additionally operable to the temperature value according to thermometer collection to the 3 d pose number
According to carrying out temperature drift compensation.
5. attitude sensing device as claimed in claim 4, it is characterised in that the output port of the sensor center passes through
The mode of iic bus is connected to the microcontroller；
The microcontroller obtains the raw pose data and the 3 d pose by iic bus from the sensor center
After data, the connector being sent to the Devices to test by way of interrupting.
6. attitude sensing device as claimed in claim 5, it is characterised in that the connector is MicroUSB connectors.
7. a kind of virtual reality system, including main frame, virtual implementing helmet and the appearance as described in claim any one of 1-6
State sensing device；
The attitude sensing device is fixed on the virtual implementing helmet, is moved with the virtual implementing helmet, and lead to
The connector crossed thereon is connected to the main frame；The main frame connects the virtual implementing helmet；
The attitude sensing device measures the raw pose data of the virtual implementing helmet, profit using sensor module thereon
The raw pose data is transformed to 3 d pose data with sensor center thereon, and is led to using microcontroller thereon
Cross the connector and the 3 d pose data and the raw pose data are sent jointly into the main frame；
The main frame does deformation process according to the 3 d pose data and the raw pose data that receive to associated picture,
And the image after deformation process is sent to the virtual implementing helmet, shown by the display device of the virtual implementing helmet
Show.
8. virtual reality system as claimed in claim 7, it is characterised in that the main frame is integrated in the virtual implementing helmet
In.
9. virtual reality system as claimed in claim 7, it is characterised in that between the virtual implementing helmet and the main frame
It is connected with a video signal cable and a control signal wire；
The virtual implementing helmet sends anamorphose process instruction by the control signal wire to the main frame；
Image after deformation process is sent to the virtual implementing helmet by the main frame by the video signal cable.
10. virtual reality system as claimed in claim 7, it is characterised in that described in the virtual implementing helmet wireless connection
Main frame；
The virtual implementing helmet wirelessly sends anamorphose process instruction and the 3 d pose to the main frame
Data, and wirelessly receive the image after the deformation process that the main frame sends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621126238.XU CN206282241U (en) | 2016-10-14 | 2016-10-14 | A kind of attitude sensing device and a kind of virtual reality system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621126238.XU CN206282241U (en) | 2016-10-14 | 2016-10-14 | A kind of attitude sensing device and a kind of virtual reality system |
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| Publication Number | Publication Date |
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| CN206282241U true CN206282241U (en) | 2017-06-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406540A (en) * | 2016-10-14 | 2017-02-15 | 北京小鸟看看科技有限公司 | Posture sensing device and virtual reality system |
-
2016
- 2016-10-14 CN CN201621126238.XU patent/CN206282241U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406540A (en) * | 2016-10-14 | 2017-02-15 | 北京小鸟看看科技有限公司 | Posture sensing device and virtual reality system |
| CN106406540B (en) * | 2016-10-14 | 2024-06-18 | 北京小鸟看看科技有限公司 | Gesture sensing device and virtual reality system |
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