CN211742053U - Novel force feedback device based on magnetorheological fluid and binocular camera - Google Patents
Novel force feedback device based on magnetorheological fluid and binocular camera Download PDFInfo
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- CN211742053U CN211742053U CN202020085061.3U CN202020085061U CN211742053U CN 211742053 U CN211742053 U CN 211742053U CN 202020085061 U CN202020085061 U CN 202020085061U CN 211742053 U CN211742053 U CN 211742053U
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- 239000000463 material Substances 0.000 claims description 3
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Abstract
The invention provides a novel force feedback device and a novel force feedback method based on magnetorheological fluid and a binocular camera. The force feedback information processing module has the function of generating a force feedback analog signal in real time according to an interactive scene in a virtual reality environment. The magnetic field generating device has the function of generating a magnetic field with corresponding direction and strength according to the force feedback analog signal given by the force feedback information processing module. The binocular camera has the function of capturing gesture information and transmitting the gesture information to the force feedback information processing module in real time. The force feedback sensing device is used for transmitting force to a user according to the change of the direction and the strength of the magnetic field. The force feedback sensing device is good in universality and interchangeability, simple and light in design structure, and beneficial for users to obtain the telepresence experience closer to a real scene. Preferably, the device structure of the invention can be finely adjusted according to specific task scenes, and is suitable for various virtual reality scenes.
Description
Technical Field
The invention belongs to the field of virtual reality application, and particularly relates to magnetorheological fluid, a binocular camera force feedback device and a method.
Background
The virtual reality technology is that a virtual reality environment similar to real environment experience is constructed through equipment such as an immersive stereoscopic display and a somatosensory feedback device and through designed human-computer interaction experience.
Along with the development of the virtual reality technology, the force feedback is more important in the field, the introduction of the force feedback device enables an operator to obtain better telepresence experience, the operation experience of the operator in the virtual reality environment is optimized, the force feedback device can transmit force information in the virtual environment to the operator, and the accuracy and the sensitivity of operation are further improved. Meanwhile, the force feedback device can also collect the action information of an operator in real time, and then a more vivid force feedback effect is simulated through a computer.
At present, most of the existing force feedback devices have the problems that the device mechanism is complex, the precision of simulating force feedback is not high, the contact body feeling in a virtual reality environment cannot be truly restored, and the like.
Chinese patent No.: 201810033753.0, name: the invention discloses a magneto-rheological force feedback data glove based on wire tube and wire rope transmission, which comprises the following steps: the linear displacement sensor and the linear displacement sensor are arranged on the top surface of the glove body, and the pressure sensors are arranged on the inner walls of the finger supports respectively in combination with the magneto-rheological damper, so that the operation control in a virtual reality system and the better telepresence are realized. The design of the invention is simple, but the structural design of the invention can not completely capture the hand movement of a user, even limits the flexible operation of an operator.
Chinese patent No.: 201810130765.5, name: the invention discloses a force feedback man-machine interaction system and a method based on an electromagnetic theory and movement tracking, which are used for allowing an operator to operate a robot by using gesture actions and simultaneously feel the force feedback effect in the operation process. The method specifically comprises the following steps: an infrared sensor based on binocular vision is used as a gesture recognition sensor and used for detecting and recognizing gesture pose data, a local control calculator converts the gesture data into an operation command, the operation command is sent to a remote robot control cabinet to control the robot to work, a mechanical arm with the freedom degree used by a mobile tracking platform and receiving return information is received, a magnetic force generating device is fixed at the tail end of the mechanical arm, the magnetic force generating device keeps the relative position invariance with the hand, the calculated amount of magnetic field attenuation is converted into the pose variation of the mobile tracking platform for calculation, an electromagnet with adjustable current is used as a source for generating magnetic force by the magnetic force generating device, and the current is introduced according to the feedback information of the robot to generate proper magnetic force. The information magnetic force sensing device is composed of gloves worn on human hands and permanent magnet materials on the gloves and used for feeding back generated magnetic force to an operator, and the operator controls the robot through a non-contact gesture posture. Although the force feedback device can achieve a force feedback effect to a certain degree, in practical application, the force feedback device is heavy in design, complex in mechanism and large in occupied space, so that the presence feeling is greatly weakened, and meanwhile, the efficiency of some work is reduced.
As the application scenarios of the virtual reality technology become wider, an accurate and portable force feedback device is urgently needed in order to pursue a realistic experience closer to reality. In recent years, magnetorheological fluid materials and corresponding technologies thereof are rapidly developed, and a new idea is provided for realizing a force feedback device.
The generation of the action track of the robot by the computer has the problems of complex calculation, avoidance of singularities and the like, which prolongs the teaching time of the robot and reduces the teaching efficiency, so an efficient teaching programming method is urgently needed. In recent years, a mixed reality technology capable of connecting a real scene and a virtual scene has been rapidly developed. The magnetic rheological liquid is a controllable fluid, and is a suspension formed by mixing fine soft magnetic particles with high magnetic conductivity and low magnetic hysteresis and non-magnetic conductive liquid. The suspension has the characteristics of low viscosity Newtonian fluid under the condition of zero magnetic field; and under the action of a strong magnetic field, the Bingham body has the characteristics of high viscosity and low fluidity. By utilizing the technical characteristics, the force information in the virtual scene can be accurately transmitted to the real world through the change of the magnetic field intensity, so that the possibility is provided for designing a force feedback device. The invention provides a novel and effective force feedback device and method by combining the advantages of magnetorheological fluid and binocular camera capturing gestures.
Disclosure of Invention
The invention provides a novel force feedback device and method based on magnetorheological fluid and a binocular camera, which are used for realizing accurate force feedback experience in a virtual reality environment. The purpose is as follows: under virtual reality's environment, adopt two mesh camera equipment to gather operator's gesture, combine the virtual reality scene, provide timely accurate force feedback signal for the operator, strengthen operator's telepresence.
The method is combined with an augmented reality technology, and on one hand, gesture information of an operator is collected through binocular camera equipment (such as leapfunction) arranged at the bottom end; on the other hand, the gesture action of the operator is transmitted to the computer in real time, and the magnitude of the magnetic field intensity is changed by combining the current virtual reality environment, so that the viscosity of the magnetorheological fluid in the gloves is changed, and an accurate force feedback effect is further provided.
2, the invention provides a force feedback mechanism, enhances the telepresence of the teaching process, and improves the operation speed and precision of a user.
3, the information transmission process of the invention: the gesture information of an operator is collected through binocular camera equipment, after the gesture information is compared with objects constructed in a virtual environment, the size of the magnetic field intensity is adjusted in real time, the viscosity of magnetorheological fluid stored in the force feedback gloves is changed, and force feedback operation is completed.
The invention has the advantages that:
the invention combines a binocular camera, is independent of a force feedback sensing device, and is used for acquiring gesture information of a user, thereby reducing the complexity of the force feedback device and enabling the overall design of the device to be simpler and more convenient.
2, the force feedback sensing device adopted by the invention is a double-layer rubber glove which is partially filled with magnetorheological fluid, does not contain other mechanical devices, has lighter weight, and enables a user to obtain more flexible use feeling.
3, the magnetic field generating range of the invention is wide, and the user can operate in a larger range.
4, the magnetic field generating device of the invention is composed of a plurality of electromagnets and can generate precise and dense magnetic fields so as to realize precise control of the intensity and direction of the magnetic fields.
5, in the force feedback sensing device adopted in the invention, the force feedback sensing device is divided into a plurality of small compartments for storing the magnetorheological fluid, and the distribution of the magnetorheological fluid corresponds to the distribution of the touch sensitive part of the palm of the human body, so that force feedback information can be accurately restored.
Drawings
FIG. 1 is a flow chart of the operation of the present invention
FIG. 2a is a schematic view of a force feedback sensing device according to the present invention
FIG. 2b is a top view of the force feedback sensing device of the present invention
FIG. 3 is a schematic view of a magnetic field generating device according to the present invention
Wherein, 1 is a binocular camera, 2 is an electromagnet, 3 is an external frame, and 4 is a compartment for sealing the magnetorheological fluid.
Detailed Description
The embodiment of the invention provides a force feedback device and method based on a binocular camera and magnetorheological fluid, and the force feedback precision is improved.
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the embodiment, a force feedback device and method based on a binocular camera (Leap Motion) and magnetorheological fluid are realized.
FIG. 1 is a flow chart of the operation of the present invention, first, the gesture information of the operator is captured by the Leap Motion binocular camera (component 1), and transmitted to the computer to match the virtual reality environment, and the computer outputs the force feedback signal to the force feedback generating device (as shown in FIG. 3) by the physical simulation property of the object touched in the virtual reality environment, so as to generate the magnetic field with corresponding strength and direction. Meanwhile, the magnetorheological fluid sealed in the force feedback device (magnetorheological gloves, as shown in fig. 2a and 2 b) changes the viscosity thereof according to the change of the magnetic field, so that the real force feedback feeling is simulated.
Fig. 2a and 2b are top and bottom schematic views of a force feedback sensing device according to the present invention. In the invention, the force feedback sensing device is a rubber glove which is sealed with a certain amount of magnetorheological fluid, and the magnetorheological fluid can be sealed at different parts of the glove according to the use requirement, so that the force feedback effect which is closer to the use environment can be given.
Fig. 3 is a schematic view of a magnetic field generating device. In the invention, the magnetic field generating device is composed of a series of electromagnet arrays, and the number and the arrangement rule of the electromagnets (components 2) can be optimized and changed according to specific tasks. In this embodiment, a box-type arrangement is used, and electromagnets are uniformly arranged on the inner surface of the box body for generating a magnetic field with precisely controllable strength.
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings.
The part 1 is a binocular camera, the number of the parts can be multiple, and the part is used for capturing gesture information of a user in real time and transmitting the gesture information to the force feedback information processing module in real time.
The components 2 are electromagnets, and the number of the components is a plurality of the components and is used for generating magnetic fields with variable directions and intensities.
The component 3 is an external frame of the magnetic field generating device, and the specific shape and size of the component can be changed according to the requirements of the task.
The component 4 is a compartment for storing the magnetorheological fluid in the force feedback sensing device, and the size and the shape of the compartment are approximately the same as those of a part which is sensitive to touch in a human hand, so that a vivid force feedback effect is provided.
In the invention, the gesture information of the user is input quantity for magnetic field feedback, and in the process, the system recognizes the gesture of the user in real time and compares the gesture with the surface of an object in the virtual reality environment at the same time so as to determine the direction and the strength of the generated magnetic field.
Preferably, the force feedback sensing device is a rubber glove which is packaged with magnetorheological fluid, and the magnetorheological fluid can be packaged in a corresponding compartment according to a specific task environment, so that the force feedback sensing device can obtain the optimal balance between weight and performance. In this case, the user can not only obtain a good force feedback feeling, but also further improve the presence of the user because the weight of the force feedback feeling device is light.
Claims (7)
1. A novel force feedback device based on magnetorheological fluid and a binocular camera is characterized in that: the force feedback device includes: the force feedback sensing device comprises a force feedback information processing module, a magnetic field generating device, a binocular camera (1) and a force feedback sensing device; the four parts can realize signal transmission and have signal connection relation.
2. The force feedback device of claim 1, wherein: the binocular camera (1) is located below the magnetic field generating device, the number of the binocular camera is one or more, the binocular camera can be respectively arranged above and below the magnetic field generating device according to specific problem situations, gesture information of a user can be accurately captured, corresponding force feedback signals are generated in real time, and the force feedback signals are transmitted to the force feedback information processing module.
3. The force feedback device of claim 1, wherein: the magnetic field generating device is composed of electromagnets (2) and an external frame (3), and the number of the electromagnets (2) and the shape of the external frame of the magnetic field generating device can be changed according to specific task scenes.
4. The force feedback device of claim 1, wherein: the force feedback sensing device is a glove made of rubber materials, particularly, compartments (4) with different sizes and shapes are arranged on the surface of the rubber glove and used for storing magnetorheological fluid, and the shape and the size of each compartment (4) are similar to those of a touch sensitive area of a human hand so as to provide a vivid force feedback effect.
5. The force feedback device of claim 1, wherein: the magnetic field generating device can generate a magnetic field with corresponding direction and strength in real time according to the action of a user in the interaction process.
6. The force feedback device of claim 1, wherein: the force feedback sensing device can provide force feedback in the interaction process for a user, so that the user can obtain more vivid interaction experience.
7. The force feedback device of claim 1, wherein: the force feedback information processing module can comprehensively judge the gesture signal of the user and the contact condition in the current virtual reality environment, and then provides a corresponding force feedback signal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020085061.3U CN211742053U (en) | 2020-01-15 | 2020-01-15 | Novel force feedback device based on magnetorheological fluid and binocular camera |
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| CN202020085061.3U CN211742053U (en) | 2020-01-15 | 2020-01-15 | Novel force feedback device based on magnetorheological fluid and binocular camera |
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| CN211742053U true CN211742053U (en) | 2020-10-23 |
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| CN202020085061.3U Expired - Fee Related CN211742053U (en) | 2020-01-15 | 2020-01-15 | Novel force feedback device based on magnetorheological fluid and binocular camera |
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Granted publication date: 20201023 |