CN110174949A - Virtual reality device and posture perception and tactile sense reproduction control method - Google Patents
Virtual reality device and posture perception and tactile sense reproduction control method Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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Abstract
The present invention relates to the technical fields of virtual reality, disclose virtual reality device and posture perception and tactile sense reproduction control method, wherein virtual reality device includes the gloves dressed for user, is equipped in the gloves: pressure sensor, for detecting each finger stress condition；Miniature electronic gyroscope, for acquiring the acceleration signal and angular velocity signal of the gloves；Oscillatory type stimulation control and drive module, for generating vibrating tactile；The glove location and posture is calculated according to the acceleration signal of the gloves and angular velocity signal in single-chip microcontroller, and output order controls the oscillatory type stimulation control and drive module.The present invention passes through the acceleration signal and angular velocity signal of real-time detection gloves, calculate the position for obtaining gloves and posture, to perceive the movement of user's hand, space measurement accuracy is high, real-time is good, and virtual reality device enhances touch feedback when user experience virtual reality by vibration simulation tactile.
Description
Technical field
The present invention relates to the technical field of virtual reality more particularly to tactile sense reproduction control methods.
Background technique
With the continuous development of virtual reality technology (VR:Virtual Reality), dimension of the people to VR Product Experience
Required with level higher and higher, single 3D vision has been difficult to meet user experience demand, the haptic feedback of VR equipment
The requirement of technology is higher and higher, and the requirement to space position solution real-time perception technology is also higher and higher.
In the patent of invention of 107941208 A of CN, a kind of virtual reality space localization method is mentioned, this method is main
Realize that spatial position is measured using binocular ranging localization principle using 3D imaging eyeglasses, drawback is to need to demarcate mesh in advance
Target initial position and it is necessary to have the cooperation of 3D glasses, the measurement accuracy and real-time of spatial position are not good enough.And
In the patent of invention of 206931051 U of CN, proposes that a kind of VR gloves power feels aware scheme, pass through the feedback force control of hydraulic system
Molding block controls the feedback force in glove bulk and generates unit in corresponding position output feedback force, and hand is allowed to sense feedback
The problem of power, the sets of plan, is that force feedback is inaccurate, only grasping resistance sense, can not generate true tactile experience.
Summary of the invention
The purpose of the present invention is to provide virtual reality device and posture perception and tactile sense reproduction control methods, it is intended to solve
Virtual reality device measures accuracy for spatial position in the prior art and real-time is poor, and tactile experience is poor asks
Topic.
The invention is realized in this way virtual reality device is provided, including the gloves dressed for user, in the gloves
It is equipped with: pressure sensor, for detecting each finger stress condition；Miniature electronic gyroscope, for acquiring the acceleration of the gloves
Spend signal and angular velocity signal；Oscillatory type stimulation control and drive module, for generating vibrating tactile；Single-chip microcontroller, according to described
The glove location and posture is calculated in the acceleration signal and angular velocity signal of gloves, and output order controls the oscillatory type
Stimulation control and drive module.
It further, further include Kalman filter, for being calculated after merging acceleration signal and angular velocity signal
The position of the gloves, posture.
It further, further include host computer, the single-chip microcontroller is communicated by wireless module with the host computer.
Further, the pressure sensor includes the miniature foil gauge being separately positioned on each finger inner wall.
It further, further include potentiometer for self-position signal to be converted into electric signal, the potentiometer installation
In each finger.
The present invention also provides posture perception and tactile sense reproduction control methods, include the following steps；Perception is worn on user
Three axis angular rates and three axial velocities of gloves on hand；By Kalman's fused filtering algorithm to three axis angular rates and three axis
Acceleration carries out data fusion, to export the real time position posture of the gloves；Judge whether finger catches object；If caught
The object detects the appearance information of the object；The amplitude and frequency of control and the oscillatory type stimulating module of user's finger contacts
Rate simulates tactilely-perceptible.
Further, judge whether finger is caught object and specifically included: detecting power on each finger and feel accumulated change situation.
Further, the appearance information for detecting the object specifically includes: by each finger gesture information, detecting the object
The appearance information of body.
Further, the posture perception of each finger adds translation filtering algorithm to realize using potentiometer, and the potentiometer is turned
Angle value and resistance value correspond, and position signal is converted into electric signal, perceive each finger by processes such as filtering, signal amplifications
Position and attitude information, and host computer is passed to by serial communication.
Further, further comprising the steps of: dummy object hardness is set by host computer；Touch point position capture；Please
Finger is asked to press force data；The hardness of object is mapped in driving voltage frequency；Finger active pressing force is mapped to driving
In the amplitude of voltage；WiFi emission control instruction；Finger perception.
Compared with prior art, the present invention passes through the acceleration signal and angular velocity signal of real-time detection gloves, and calculating obtains
Position and the posture of gloves are obtained, to perceive the movement of user's hand, space measurement accuracy is high, real-time is good, and virtually existing
Real equipment enhances touch feedback when user experience virtual reality by vibration simulation tactile.
Detailed description of the invention
Fig. 1 is glove location and posture real-time perception flow chart in the embodiment of the present invention
Fig. 2 is part hardware module block diagram representation in the embodiment of the present invention；
Fig. 3 is single chip circuit schematic diagram in the embodiment of the present invention
Fig. 4 is tactilely-perceptible control flow chart in the embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The realization of the present embodiment is described in detail below in conjunction with specific attached drawing.
Embodiment one:
As shown in Figure 1 to Figure 3, virtual reality device is provided in the present embodiment, including the gloves dressed for user, gloves
Inside it is equipped with:
Pressure sensing and conditioning module, including the pressure sensor for detecting each finger stress condition, electric signal passes through
It is exported outward after voltage amplification and low-pass filtering；
Miniature electronic gyroscope, for acquiring the acceleration signal and angular velocity signal of gloves；
Oscillatory type stimulation control and drive module, for generating vibrating tactile；
Gloves position is calculated according to the acceleration signal of gloves and angular velocity signal in single-chip microcontroller (principle is as shown in Figure 3)
It sets and posture, output order controls oscillatory type stimulation control and drive module.
Virtual reality device in the present embodiment passes through the acceleration signal and angular velocity signal of real-time detection gloves, meter
The position for obtaining gloves and posture are calculated, to perceive the movement of user's hand, space measurement accuracy is high, real-time is good, without borrowing
Help other auxiliary measuring equipment.In addition, and virtual reality device it is virtually existing to be enhanced by vibration simulation tactile for user experience
Real-time touch feedback.
Preferably, virtual reality device further includes Kalman filter, for merging acceleration signal and angular velocity signal
Position, the posture of gloves are calculated afterwards.
Preferably, virtual reality device further includes host computer, and single-chip microcontroller is communicated by wireless module with host computer.
Pressure sensor specifically includes the miniature foil gauge being separately positioned on each finger inner wall, and control panel, which is equipped with, answers
Become the filtering of piece dynamometry low pass signal and signal amplifying apparatus, 5 fingers are mounted on independent force checking device, passes through detection 5
The accumulative situation of change of a finger force sense, it is possible to determine that whether finger catches object, can be in conjunction with the position and attitude information of finger
Know the appearance information of object.
In view of the movable joint of finger is more, to reduce the consumption to MCU calculated performance, the posture perception of 5 fingers
The scheme for not using electronic gyroscope, is realized using potentiometer plus translation filtering algorithm, and 5 potentiometers are similar to sliding variable resistance
Potentiometer corner value and the resistance value of potentiometer are corresponded, the position signal of potentiometer can be converted into electric signal by device, are passed through
Crossing the processes such as filtering, signal amplification more can accurately perceive the position and attitude information of each finger, and be passed to by serial communication
Host computer.
Embodiment two
As shown in Figures 1 to 4, posture perception and tactile sense reproduction control method are provided in the present embodiment, included the following steps；
Obtain original acceleration: three axis angular rates and three axial velocities for the gloves that perception is worn in user hand, specifically
It is realized using a miniature electronic gyroscope.
Kalman's fused filtering: three axis angular rates and three axis accelerometers are counted by Kalman's fused filtering algorithm
According to fusion, to export the real time position posture of gloves；
Judge whether finger catches object；
If catching object, the appearance information of detection object；
The amplitude and frequency of control and the oscillatory type stimulating module of user's finger contacts simulate tactilely-perceptible.
The acceleration signal and angle of posture perception and tactile sense reproduction control method by real-time detection gloves in embodiment
Speed signal calculates the position for obtaining gloves and posture, to perceive the movement of user's hand, space measurement accuracy is high, real-time
Property is good, without other auxiliary measuring equipment.In addition, and virtual reality device use is enhanced by vibration simulation tactile
Family experiencing virtual shows real-time touch feedback.
Above-mentioned Kalman's fused filtering algorithm is as follows:
The state equation of linear discrete time dynamical system can be described with formula (1-1):
X (k)=AX (k-1)+BU (k-1)+W (k) (1-1)
X (k) is the state vector at system k moment in formula, and U (k) is the input signal at k moment, and B is the input control of system
Weighting matrix, W (k) are the process noise of system.
The general observational equation of system can be used following formula (1-2) to describe:
Z (k)=HX (k)+V (k) (1-2)
In formula, Z (k) is the observation vector of system t moment, and V (k) is the observation noise of system, and H is observing matrix.
State equation is calculated since original state X (t0), and initial value meets using it as one from this point in modeling
The random vector of cloth defines X (t0) using mean value x0 and variance P0, is represented by formula (1-3):
E [X (t0)]=x0
E{[X(t0)-x0][X(t0)-x0]T}=P0 (1-3)
In formula, P0 is that all elements are all positive integer diagonal matrix, and which show the sides between time of day and estimated state
Difference.
State renewal equation can shift to an earlier date the shape that pre-estimation goes out subsequent time system according to system current state and noise variance
State, as prior uncertainty；And measurement updaue equation is then responsible for feedback, by the way that new measured value is substituted into oneself through in state update side
The Posterior estimator of system mode can be calculated in prior estimation state obtained in journey.State renewal equation is state estimations
Equation is counted, measurement updaue equation is state revision equation.Kalman filtering process can be by following Kalman filtering more new state
Equation (1-4) and measurement amendment state equation (1-5) indicate:
X (k Shu k)=X (k Shu k-1)+Kg (k) [Z (k)-HX (k Shu k-1)]
P (k Shu k)=[I-Kg (k) H] P (k Shu k-1) (1-5)
X (k Shu k-1) is the result of laststate prediction, and X (k-1 Shu k-1) is the optimal result of laststate, and U (k) is existing
In the control amount of state, it is assumed that process is Gaussian noise with measurement noise, their covariance is Q, R, P (k Shu k-1) respectively
It is the corresponding covariance of X (k-1 Shu k-1), Kg is kalman gain, and X (k Shu k) is the optimum estimation of system testing, and P (k Shu k) is
The corresponding covariance of X (k Shu k).
It is pre- that this can be obtained using laststate optimal result X (k-1 Shu k-1) according to the formula 1 in formula (1-4) first
It surveys result X (k Shu k-1), completes the update to system results, it is corresponding then to obtain X (k Shu k-1) with the formula 2 in formula (1-4)
Covariance.The prediction result that system mode at this time is obtained by formula (1-4), at this time in conjunction with the system obtained by measurement
State, the optimum estimation value X (k Shu k) of system at this time is obtained by the formula 2 in formula (1-5), wherein Kalman filtering increase
Beneficial Kg is obtained by the formula 1 in formula (1-5).The optimum estimation X (k Shu k) under state is obtained by above-mentioned operation.For
Allow Kalman filter dimension reforwarding row to go down, need to be found out by the formula 3 in formula (1-5) X (k Shu k) state it is corresponding under association
Variance P (k Shu k).The operation of algorithm is gone down until systematic procedure terminates.
To make practical calculating process simpler convenient, the angle and sensor that selection is calculated by accelerometer are surveyed
The angular speed measured carries out writing for Kalman filter program, shown in algorithm flow Fig. 1 as input.For karr
The output of graceful filter result then stores nearest 10 output valves using the circulation single linked list with 10 nodes, rejects maximum
It averages after value and minimum value to remaining 8, and then achievees the purpose that filter out outlier and smoothed data.
The tactile contacted between manpower and object is mainly related with the factors such as power, the roughness of object, hardness that manpower applies,
The tactilely-perceptible for the simulation mankind that the amplitude of control oscillatory type stimulating module and vibration frequency can be more true to nature thus, with target
For the hardness number of object, haptic rendering process has as shown in figure 4, other tactile influence factors expression process is similar with its
Body is further comprising the steps of；
Dummy object hardness is set by host computer；
Touch point position capture；
Finger is requested to press force data；
The hardness of object is mapped in driving voltage frequency；
Finger active pressing force is mapped in the amplitude of driving voltage；
WiFi emission control instruction；
Finger perception.
The control algolithm building of above-mentioned oscillatory type tactilely-perceptible module is as follows:
External force is applied to body surface, and body surface can be equivalent to classical bullet Huang damper model, which can describe object
Deformation extent under external force, damping term and movement velocity are directly proportional, shown in mechanical equation such as formula (2-1).
F=k* Shu z-Z Shu+b* (- dz/dt) z≤Z (2-1)
In formula, k* Shu z-Z Shu is the deformatter of bullet Huang, and k is stiffness coefficient, indicates deformation journey when body surface is extruded
Degree, related with the attribute on object materials surface, b* (- dz/dt) is damping term, and (- dz/dt) is the instantaneous speed along forced direction
Degree.
When the power that finger W size changes acts on object, finger is under pressure the function done as shown in formula (2-2):
W is during t is arrived, and finger is under pressure work done.
U is the amplitude of oscillatory type tactilely-perceptible module sinusoidal drive voltage, and R (f) is oscillatory type tactilely-perceptible module in frequency
The impedance operator presented when the sinusoidal voltage effect of rate f, and then the expression formula that can obtain the amplitude U of tactilely-perceptible module is (2-
3)。
U is the amplitude of tactilely-perceptible module
Driving voltage frequency is bigger, and the vibration sense of tactile generator is stronger, and the expression formula of the frequency f of driving voltage is (2-
4)
F=k1 sin (2 π k1 (60k+25) t) (2-4)
F is the vibration frequency of driving voltage
By change tactilely-perceptible module amplitude U and vibration frequency f algorithm model can simulate different roughness and
The object tactile experience of different hardness.
Above-mentioned judges whether finger is caught object and specifically included:
It detects power on each finger and feels accumulated change situation, it is possible to determine that whether finger catches object.
The appearance information of above-mentioned detection object specifically includes:
Pass through each finger gesture information, the appearance information of detection object.
The posture perception of each finger adds translation filtering algorithm to realize using potentiometer, by potentiometer corner value and resistance value one
One is corresponding, and position signal is converted into electric signal, believes by the position and attitude that the processes such as filtering, signal amplification perceive each finger
Breath, and host computer is passed to by serial communication.
In conclusion virtual reality device provided in an embodiment of the present invention and posture perception and tactile sense reproduction control method tool
There is following technological progress:
1, the gloves spatial position and finger gesture real-time perception technology that minisize gyroscopes and 5 potentiometers form are proposed
Scheme, the position and attitude information that can accurately perceive gloves and finger can be reduced the bulking value of entire gloves, Yi Jidan again
The operand of piece improves the real-time and serious forgiveness of virtual reality control system.
2, it has write a whole set of virtual reality device position and attitude information Perception and has extracted control algolithm, from control plane solution
Virtual reality device posture position of having determined perceives the not high enough problem of not sensitive enough precision.
3, the circuit and control principle drawing that the power perception and touch feedback for devising a set of virtual reality device are realized, from original
Finger stress is realized in reason accurately to perceive and a set of implementation of touch feedback.
4, the haptic feedback technology scheme and algorithm that this patent proposes, can be realized the roughness to target crawl object, firmly
The feature extraction of degree, the simulation manpower for enabling oscillatory type tactilely-perceptible module very true to nature grab tactilely-perceptible when object
State grabs tactile experience to the better virtual reality of people.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. virtual reality device, which is characterized in that including the gloves dressed for user, be equipped in the gloves:
Pressure sensor, for detecting each finger stress condition；
Miniature electronic gyroscope, for acquiring the acceleration signal and angular velocity signal of the gloves；
Oscillatory type stimulation control and drive module, for generating vibrating tactile；
The glove location and posture is calculated according to the acceleration signal of the gloves and angular velocity signal in single-chip microcontroller, defeated
Instruction controls the oscillatory type stimulation control and drive module out.
2. virtual reality device as described in claim 1, which is characterized in that further include Kalman filter, add for merging
Position, the posture of the gloves are calculated after speed signal and angular velocity signal.
3. virtual reality device as described in claim 1, which is characterized in that further include host computer, the single-chip microcontroller passes through nothing
Wire module is communicated with the host computer.
4. virtual reality device as described in claim 1, which is characterized in that the pressure sensor includes being separately positioned on respectively
Miniature foil gauge on a finger inner wall.
5. virtual reality device as described in claim 1, which is characterized in that further include for self-position signal to be converted into
The potentiometer of electric signal, the potentiometer are installed on each finger.
6. posture perception and tactile sense reproduction control method, which is characterized in that include the following steps；
Perceive three axis angular rates and three axial velocities of the gloves being worn in user hand；
Data fusion is carried out to three axis angular rates and three axis accelerometers by Kalman's fused filtering algorithm, to export the hand
The real time position posture of set；
Judge whether finger catches object；
If catching the object, the appearance information of the object is detected；
The amplitude and frequency of control and the oscillatory type stimulating module of user's finger contacts simulate tactilely-perceptible.
7. posture perception as claimed in claim 6 and tactile sense reproduction control method, which is characterized in that judge whether finger is caught
Object specifically includes:
It detects power on each finger and feels accumulated change situation.
8. posture perception as claimed in claim 6 and tactile sense reproduction control method, which is characterized in that detect the outer of the object
Shape information specifically includes:
By each finger gesture information, the appearance information of the object is detected.
9. posture perception as claimed in claim 6 and tactile sense reproduction control method, which is characterized in that the posture perception of each finger
It is realized using potentiometer plus translation filtering algorithm, the potentiometer corner value and resistance value is corresponded, position signal is turned
It changes electric signal into, perceives the position and attitude information of each finger by processes such as filtering, signal amplifications, and pass to by serial communication
Host computer.
10. posture perception and tactile sense reproduction control method as claim in any one of claims 6-9, which is characterized in that further include
Following steps:
Dummy object hardness is set by host computer；
Touch point position capture；
Finger is requested to press force data；
The hardness of object is mapped in driving voltage frequency；
Finger active pressing force is mapped in the amplitude of driving voltage；
WiFi emission control instruction；
Finger perception.
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| CN110716647A (en) * | 2019-10-17 | 2020-01-21 | 广州大西洲科技有限公司 | Augmented reality interaction method, device and system |
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