CN206294286U - A kind of remote dummy reality realizes system - Google Patents
A kind of remote dummy reality realizes system Download PDFInfo
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- CN206294286U CN206294286U CN201720016450.9U CN201720016450U CN206294286U CN 206294286 U CN206294286 U CN 206294286U CN 201720016450 U CN201720016450 U CN 201720016450U CN 206294286 U CN206294286 U CN 206294286U
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Abstract
System is realized the utility model discloses a kind of remote dummy reality, including positioned at the virtual reality glasses end of Control Room and be arranged at scene automation equipment and video acquisition head, the video acquisition head includes head, video camera, head steering wheel and cradle head controllor, and miniscope is provided with virtual eye Reality glasses end；The automation equipment is used for the head pose data in collecting device main view direction and is transferred to the cradle head controllor of video acquisition head, and the information control head steering wheel that cradle head controllor gather according to automation equipment is acted and follow automation equipment main view direction to be changed adjusting video camera；The information transfer of camera acquisition carries out the displaying of remote scene to virtual reality glasses end.The utility model can realize the accurate perception of long-range true environment by the Virtual Realization technology of long-range actual environment, and realize long-range precise manipulation positioned at automation equipments such as long-range robots by control, so that operator is away from dangerous environment.
Description
Technical field
The utility model is related to remote control technology field, and particularly a kind of remote dummy reality realizes system.
Background technology
Many occasions in actual applications, such as the high temperature in enemy's situation investigation, industry on battlefield, the behaviour of toxic environment
Deal with, Aero-Space space exploration, nuclear pollution regional pollution treatment etc. occasion, due to high temperature, radiation poisonous, high, high-risk
Etc. reason, these occasions are not suitable for the mankind to going personal operation on the spot, and can only appoint robot or other automation equipments
Go to be operated.Therefore, a kind of demand virtually presented to a remote scene local operator is related to.
Virtual reality technology is a current multidisciplinary synthesis technology with fastest developing speed in computer realm, wide
Many fields are applied to generally.Virtual reality technology be widely used in military affairs, building, industrial simulation, archaeology, medical science,
The aspects such as culture and education, agricultural and computer technology, change traditional human-computer exchange pattern.
Virtual reality technology is that an important directions of emulation technology are emulation technology and computer graphics man-machine interface
Before the set of the multiple technologies such as technology, multimedia technology, sensing technology, network technology is a challenging interleaving techniques
Along subject and research field.Virtual reality technology (VR) is mainly including simulated environment, perception, natural technical ability and side etc. sensing equipment
Face.Simulated environment is by computer generation, in real time dynamic 3 D stereo photorealism.
The characteristics of realizing that the real method of remote dummy has following several at present, but all there is itself.
1）Virtual reality processing system based on imageing sensor, this system can realize virtual reality with relatively good
Scape, and can make in the virtual scene and produce non-existent object in some actual scenes, and by computer disposal, realize
Operator and the interaction of virtual scene.It is exactly manufacturing cost higher but this system there is also a larger problem, it is unfavorable
In realization miniaturization etc..
2）Based on the visual distant in device of video camera real-time calibration, its basic methods is taken the photograph by Helmet Mounted Display
As head carries out camera calibration, the direction and movement locus of operator's head are calculated；By the camera calibration to binocular camera
Mark, calculates head exact position and direction, and both combine generation cloud platform rotation control instruction, has head and operator's head
There is identical movement locus, and pass the right and left eyes image that binocular camera is obtained back local computer in real time, on the helmet in real time
It has been shown that, realizes locally seeing the long-range stereo scene that meets human body head athletic posture.The system can be relatively good realization
All carried out by pc machines with the reproduction of reality scene, but control due to its head and positioning, there is also cost and compare
Height, the problem of system complex.
3）Further, Multifunctional shooting spherical tripod head can be realized and different cameral video camera to interconnection matching problem；
The control method of overall view monitoring monopod video camera and annular and hemispherical overall view monitoring can be realized remote image and comprehensive
The problem of image taking is carried out, the control device for auto overturning of monitoring camera can realize CCTV camera automatic turning
Control, head-mounted stereoscopic visual slide viewer can be realized producing 3-D effect during video playback, and positioning Laser target image is transmitted
Device can realize that measure power plant's water cooling tower etc. rises place's center radius without the tall and big concrete structures of integrated operation platform
Positioning, but the Virtual Realization of long-range actual environment cannot be all realized, operator is produced sensation on the spot in person.
The content of the invention
What the utility model technical issues that need to address were to provide a kind of remote dummy reality realizes system, can pass through
The Virtual Realization technology of long-range actual environment realizes the accurate perception of long-range true environment, so as to be located at long-range machine by control
The automation equipments such as device people realize long-range precise manipulation.
In order to solve the above technical problems, technical solution adopted in the utility model is as follows.
A kind of remote dummy reality realizes system, including positioned at the virtual reality glasses end of Control Room and is arranged at existing
Automation equipment and video acquisition head, the video acquisition head include head, the video camera above head with
And head steering wheel and cradle head controllor below head, it is provided with miniscope in virtual eye Reality glasses end；It is described
Automation equipment is used for the head pose data in collecting device main view direction and is transferred to the cradle head controllor of video acquisition head,
The control head steering wheel action of information that cradle head controllor is gathered according to automation equipment follows automation equipment adjusting video camera
Main view direction is changed；The information transfer of camera acquisition carries out remote field to virtual reality glasses end by miniscope
The displaying of scape.
A kind of above-mentioned remote dummy reality realizes system, and Posture acquisition module and indigo plant are provided with the automation equipment
Tooth sending module, the signal end of the Posture acquisition module connects the input of bluetooth sending module, bluetooth sending module with regard
Carried out data transmission by wireless signal between frequency collection head.
A kind of above-mentioned remote dummy reality realizes system, and Bluetooth receptions module is additionally provided with the video acquisition head
With video sending module, the bluetooth sending module of Bluetooth receptions module and automation equipment carries out data biography by wireless signal
Defeated, the output end of Bluetooth receptions module connects the input of cradle head controllor, the output end connection head steering wheel of cradle head controllor
Controlled end；The data output end of the video camera connects the input of video sending module, and video sending module is existing with virtual
Real glasses end is carried out data transmission by wireless signal.
A kind of above-mentioned remote dummy reality realizes system, and video reception mould is provided with the virtual reality glasses end
Block, video reception module is carried out data transmission with video acquisition head video sending module by wireless signal, video reception mould
The output end of block connects the signal end of miniscope.
As a result of above technical scheme, technological progress acquired by the utility model is as follows.
The utility model can realize the accurate sense of long-range true environment by the Virtual Realization technology of long-range actual environment
Know, and long-range precise manipulation is realized positioned at automation equipments such as long-range robots by control, so that operator is remote
From dangerous environment, safe operation degree can not only be increased, and operating efficiency can also be improved.
Brief description of the drawings
Fig. 1 is structured flowchart of the present utility model；
Fig. 2 is that control signal described in specific embodiment is produced and the electrical schematic diagram for performing；
Fig. 3 is the electrical schematic diagram that vision signal sends with display described in specific embodiment.
Specific embodiment
The utility model is further elaborated below in conjunction with specific embodiment.
A kind of remote dummy reality realizes system, and its structure is as shown in figure 1, including automation equipment, video acquisition cloud
Platform and virtual reality glasses end；Between automation equipment and video acquisition head and video acquisition head and virtual reality glasses
Output transmission is carried out by wireless signal between end.Automation equipment and video acquisition head are arranged at scene, remote for gathering
The actual scene of journey, virtual reality glasses end is located in Control Room, for showing long-range actual scene to user.
Automation equipment is used for the head pose data in collecting device main view direction and is transferred to the cloud of video acquisition head
Platform controller.Posture acquisition module and bluetooth sending module are provided with automation equipment, the signal end of Posture acquisition module connects
The input of bluetooth sending module is connect, data biography is carried out by wireless signal between bluetooth sending module and video acquisition head
It is defeated.In the utility model, automation equipment can be robot or other automation equipments.
Posture acquisition module in automation equipment uses high accuracy inertial navigation module JY-901, the integrated high accuracy of module
Gyroscope, accelerometer and geomagnetic field sensors be capable of the attitude data in accurate Automatic survey equipment main view direction.Module
Be internally integrated attitude algorithm device, coordinated Dynamic Kalman Filtering algorithm, can under dynamic environment accurate output module ought
Preceding attitude, 0.01 degree of attitude measurement accuracy, stability is high；Inside modules carry voltage stable circuit, operating voltage 3V ~ 6V,
The embedded system of pin level compatibility 3.3V/5V, it is easy to connect；Module supports two kinds of digital interfaces of serial ports and IIC, serial ports speed
Rate 2400bps ~ 921600bps is adjustable, and IIC interfaces support full speed 400K speed, facilitates user to select optimal connected mode.
Bluetooth sending module uses HC-05A bluetooth serial ports modules, and the topmost function of bluetooth serial ports module is substitution serial ports
Line carries out being wirelessly transferred for data.
Video acquisition head include head, the video camera above head and the head steering wheel below head,
Cradle head controllor, Bluetooth receptions module and video sending module；The bluetooth sending module of Bluetooth receptions module and automation equipment
Carried out data transmission by wireless signal, the output end of Bluetooth receptions module connects the input of cradle head controllor, cradle head control
The output end of device connects the controlled end of head steering wheel；The data output end of video camera connects the input of video sending module, depending on
Frequency sending module is carried out data transmission with virtual reality glasses end by wireless signal.
Bluetooth receptions module uses HC-03A bluetooth serial ports modules, and the topmost function of bluetooth serial ports module is sent out with bluetooth
Being wirelessly transferred for data is completed after sending module to be mutually paired.
Cradle head controllor is resolved and Kalman's dynamic filter algorithm using high performance microprocessor and advanced dynamics,
Can rapid solving go out the current real time kinematics attitude of module, itself attitude data transmitted with reference to automation equipment is controlled
Head steering wheel is acted.In the present embodiment, the simulation that cradle head controllor reads automation equipment output using 8255 single-chip microcomputers is inclined
Shifting amount, and the motion that this amount is mapped onto into head steering wheel 0 to 180 degree is interval, with reference to the attitude number of video camera on head itself
According to controlling head steering wheel M in two-dimensional space motion.
Video camera be used for Real-time Collection remote scene, used in the present embodiment its parameter of video camera for：Horizontal resolution:
700 lines；System type:PAL/NTSC PAL（H X V）:512*582 NTSC （H X V）542 * 492；Electronic shutter:
PAL=1/50 ~ 1/100,000 second；NTSCL=1/60 ~ 1/120,000 second；Minimal illumination:0.1Lux（F: 1.2）；Letter
Make an uproar ratio:> 48dB （Automatic gain is closed）；Gamma:0.45；BLC:On/off switch；Camera lens:3.6MM；Automatic gain:
ON/OFF；AWB:ON/OFF；Camera lens mounting means:C/CS；Video frequency output:1Vp-p, 75Ω；Power input:DC12V；
Operating temperature range:-10℃~50℃（Maximal humidity 95%）；Reserve temperature range:- 20℃~ 60℃ （Maximal humidity
95%）.
Video sending module uses TS832 modules, for the remote scene of camera acquisition to be sent into virtual reality eye
Mirror end.The parameter of TS832 modules is：Tranmitting frequency: 5.8G；Transmission power: 600mw；Launching frequency:40 points；Input electricity
Pressure: 7-30V；Antenna terminal:Transmitting terminal RP-SMA jack antenna end RP-SMA plus；Antenna gain: 2db；Work electricity
Stream:220mA /12V；Operating temperature: -10-85 ℃；Video formats:NTSC/PAL is automatic；Video bandwidth: 8M；Voiced band
It is wide: 6.5M；Transmitting net weight: 22g；Appearance and size: 54*32*10mm.
Miniscope and video reception module, video reception module and video acquisition are provided with virtual reality glasses end
Head video sending module is carried out data transmission by wireless signal, the output end connection miniscope of video reception module
Signal end.
Video reception module uses RC832 modules, for receiving the long-range of the camera acquisition that video sending module sends
Scene.The parameter of RC832 modules is：Working frequency: 5.8GHz；Launching frequency:40 points；Control source: 12V；Work electricity
Stream:200mA is maximum；Antenna impedance: 50Ω；Antenna terminal:Receiving terminal RP-SMA jack antenna end RP-SMA plus；
Antenna gain: 2db；Video impedance: 75Ω；Video formats:NTSC/PAL is automatic；Appearance and size: 80*65*15mm；Connect
Receive net weight: 85g.
Miniscope uses LDM201, the display module compact, is shown using FLCOS ferroelectric liquid crystals, can subtract
In few client development cycle, client development cost is reduced, can be advantageously applied in the product development and design of client.It is specifically joined
Number is：Resolution ratio：800*480*RBG 16:9；Screen size：154mm（It is wide）*87mm（It is high）；Length-width ratio：4:3 / 16:9（Can
Oneself selection switching）；Brightness：450cd/㎡；Contrast：400:1；Power supply：Direct current 12V；Consumption power：About 6W（In homology machine
Category super low-power consumption）；Size：174mm（It is long）*114mm（It is wide）* 23mm（It is thick）；OSD language：Chinese/English/other；Work temperature
Degree：- 10 DEG C~70 DEG C；Storage temperature：- 30 DEG C~83 DEG C.
Operation principle of the present utility model is as described below.
Job element of the present utility model is two parts, and control signal is produced with the circuit for performing as shown in Fig. 2 specific
For：The data of gesture module collection are sent to Bluetooth receptions module by bluetooth sending module, and Bluetooth receptions module is sent out after receiving
Give cradle head controllor, the data conversion that cradle head controllor gathers gesture module into head steering wheel rotational angle signal so that
Control head steering wheel turns over corresponding angle.Head steering wheel drives head and video camera thereon to rotate, and video camera will be long-range
In miniscope of the picture signal by video sending module and the video reception module real-time Transmission end of falling virtual reality glasses,
It is achieved thereby that remote camera follows the servo antrol of automation equipment head pose, user is allowed locally just can be real-time
The long-range ambient conditions of comprehensive observation；Certainly, user can also be located at long-range automation equipment to realize far by control
The precise manipulation of journey, so that operator is away from dangerous environment.
Claims (4)
1. what a kind of remote dummy was real realizes system, it is characterised in that：Including positioned at the virtual reality glasses end of Control Room with
And live automation equipment and video acquisition head is arranged at, the video acquisition head is including head, positioned at head top
Video camera and head steering wheel and cradle head controllor below head, be provided with virtual eye Reality glasses end miniature aobvious
Show device；
The automation equipment is used for the head pose data in collecting device main view direction and is transferred to the cloud of video acquisition head
Platform controller, the control head steering wheel action of information that cradle head controllor is gathered according to automation equipment come adjust video camera follow from
Dynamicization equipment main view direction is changed；The information transfer of camera acquisition is entered to virtual reality glasses end by miniscope
The displaying of row remote scene.
2. what a kind of remote dummy according to claim 1 was real realizes system, it is characterised in that：The automation equipment
In be provided with Posture acquisition module and bluetooth sending module, the signal end connection bluetooth sending module of the Posture acquisition module
Input, is carried out data transmission between bluetooth sending module and video acquisition head by wireless signal.
3. what a kind of remote dummy according to claim 2 was real realizes system, it is characterised in that：The video acquisition cloud
The bluetooth sending module of Bluetooth receptions module and video sending module, Bluetooth receptions module and automation equipment is additionally provided with platform
Carried out data transmission by wireless signal, the output end of Bluetooth receptions module connects the input of cradle head controllor, cradle head control
The output end of device connects the controlled end of head steering wheel；The data output end of the video camera connects the input of video sending module
End, video sending module is carried out data transmission with virtual reality glasses end by wireless signal.
4. what a kind of remote dummy according to claim 3 was real realizes system, it is characterised in that：The virtual reality eye
Video reception module is provided with mirror end, video reception module is entered with video acquisition head video sending module by wireless signal
Row data transfer, the output end of video reception module connects the signal end of miniscope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720016450.9U CN206294286U (en) | 2017-01-07 | 2017-01-07 | A kind of remote dummy reality realizes system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720016450.9U CN206294286U (en) | 2017-01-07 | 2017-01-07 | A kind of remote dummy reality realizes system |
Publications (1)
| Publication Number | Publication Date |
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| CN206294286U true CN206294286U (en) | 2017-06-30 |
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ID=59097318
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| CN201720016450.9U Expired - Fee Related CN206294286U (en) | 2017-01-07 | 2017-01-07 | A kind of remote dummy reality realizes system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107491127A (en) * | 2017-09-15 | 2017-12-19 | 中国农业大学 | A kind of planting environment control system and method based on virtual reality |
| CN108008818A (en) * | 2017-12-04 | 2018-05-08 | 中国人民解放军陆军工程大学 | A kind of helmet-type man-machine interactive system and method based on virtual reality |
| CN112000034A (en) * | 2020-07-31 | 2020-11-27 | 南京理工大学 | Network monitoring terminal with closed space environment monitoring function |
| WO2022175710A1 (en) * | 2021-02-17 | 2022-08-25 | Nourdidehgharehbagh Hamid | Virtual tour mechanism |
| CN115190287A (en) * | 2022-06-22 | 2022-10-14 | 秦皇岛希睿智能科技有限公司 | Stereoscopic vision follow-up system applied to remote teaching |
-
2017
- 2017-01-07 CN CN201720016450.9U patent/CN206294286U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107491127A (en) * | 2017-09-15 | 2017-12-19 | 中国农业大学 | A kind of planting environment control system and method based on virtual reality |
| CN107491127B (en) * | 2017-09-15 | 2019-08-02 | 中国农业大学 | A kind of planting environment control system and method based on virtual reality |
| CN108008818A (en) * | 2017-12-04 | 2018-05-08 | 中国人民解放军陆军工程大学 | A kind of helmet-type man-machine interactive system and method based on virtual reality |
| CN112000034A (en) * | 2020-07-31 | 2020-11-27 | 南京理工大学 | Network monitoring terminal with closed space environment monitoring function |
| WO2022175710A1 (en) * | 2021-02-17 | 2022-08-25 | Nourdidehgharehbagh Hamid | Virtual tour mechanism |
| CN115190287A (en) * | 2022-06-22 | 2022-10-14 | 秦皇岛希睿智能科技有限公司 | Stereoscopic vision follow-up system applied to remote teaching |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170630 Termination date: 20220107 |