CN112815893A

CN112815893A - VR positioning and tracking system

Info

Publication number: CN112815893A
Application number: CN202110184681.1A
Authority: CN
Inventors: 穆哈德布齐德; 马建廷
Original assignee: Heyu Medical Shenzhen Co ltd
Current assignee: Heyu Medical Shenzhen Co ltd
Priority date: 2021-02-10
Filing date: 2021-02-10
Publication date: 2021-05-18

Abstract

The invention provides a VR positioning and tracking system, which is used for positioning a space target; the device comprises a rope for connecting a reference point to a target, a length measuring device for measuring the length of a section of the rope from the reference point to the target when the rope is tensioned, and a rotation angle sensor device for measuring a pitch angle and a rotation angle when the rope is pulled out from the reference point; and the processing device is used for processing the data of the length, the pitch angle and the rotation angle of the rope output by the length measuring device and the rotation angle sensor device to obtain the space target positioning. According to the invention, the distance from a reference point to a target point is determined by directly utilizing the length of a straightened rope, the pitch angle and the rotation angle of the rope at the reference point are measured at the same time, the accurate position of the target point in space can be determined by the measured distance and the two angle information, the measurement precision is not interfered by ambient light, and the problem that the target point cannot be positioned due to the fact that the target point is blocked or exceeds the visual range of a camera can be avoided because no external auxiliary equipment such as the camera is needed.

Description

VR positioning and tracking system

Technical Field

The invention relates to the field of VR positioning and tracking systems.

Background

Virtual Reality technology (Virtual Reality VR) mainly includes aspects of simulating environment, perception, natural skills, sensing equipment and the like. The simulated environment is a three-dimensional realistic image generated by a computer and dynamic in real time. Perception means that an ideal VR should have the perception that everyone has. In addition to the visual perception generated by computer graphics technology, there are also perceptions such as auditory sensation, tactile sensation, force sensation, and movement, and even olfactory sensation and taste sensation, which are also called multi-perception. The natural skill refers to the head rotation, eyes, gestures or other human body behavior actions of a human, and data adaptive to the actions of the participants are processed by the computer, respond to the input of the user in real time and are respectively fed back to the five sense organs of the user. The sensing device refers to a three-dimensional interaction device.

In the process of sensing real-world movement, such as in the process of movement and game, the positions of the body parts of the players or game players in the real space need to be determined so as to be mapped onto the target image in the virtual space, so that each part in the corresponding cartoon image in the target image and the actual player or game player are realized, and therefore, sensors are needed to know the spatial positions of the parts of the actual player and game player. At present, the spatial position of the body part of a player in a game is measured by adopting a high-tech method, for example, a laser measurement mode is adopted, markers are arranged on the parts of the player or the game player, such as the wrist, the ankle, the waist, the shin, the forehead of the head and the like, the distance, the pitch angle and the rotation angle of the markers relative to a set point are measured by laser, and the position of a corresponding cartoon character in a virtual space is determined by utilizing three parameters, namely the distance, the pitch angle and the rotation touch angle, so that the motion guidance of the corresponding cartoon character by the motion of the character (the player or the game player) in reality is realized.

Such a method determines the spatial position of the marker, i.e. the distance between the marker and a set reference point, the pitch angle and the rotation angle, by means of cross-positioning of several laser beams or infrared rays, and has the following disadvantages:

the interference is easy, the ambient light can cause interference to the laser, and the laser can be shielded by other places of the player body; the installation of external auxiliary equipment such as a plurality of cameras requires a large space and the visual range of the cameras is limited; the use of the large space field requirement and the auxiliary equipment makes the use price of the equipment higher.

Disclosure of Invention

The invention provides a VR positioning and tracking system according to the defects that a plurality of laser beams or infrared rays are adopted for cross positioning in the prior VR tracking and positioning process, the VR positioning and tracking system is easy to be blocked by interference, the visual range is limited, the price is high, the occupied space of equipment is large, and the like.

The technical scheme adopted by the invention for realizing the technical requirements is as follows: a VR positioning and tracking system for positioning a space target; the device comprises a rope for connecting a reference point to a target, a length measuring device for measuring the length of a section of the rope from the reference point to the target when the rope is tensioned, and a rotation angle sensor device for measuring a pitch angle and a rotation angle when the rope is pulled out from the reference point; and the processing device is used for processing the data of the length, the pitch angle and the rotation angle of the rope output by the length measuring device and the rotation angle sensor device to obtain the space target positioning.

Further, in the VR positioning and tracking system described above: the rope storage device is characterized by further comprising a rope storage device, and the length measuring device is used for measuring the length of the rope entering and exiting the rope storage device.

Further, in the VR positioning and tracking system described above: the rope storage device comprises a rotary disc for winding the rope, the length measuring device is arranged on a rotary disc shaft, and the length measuring device is provided with a first angle sensor for detecting the rotating angle of the rotary disc generated by the rope stretching.

Further, in the VR positioning and tracking system described above: the rotary disc is provided with a coiled spring which drives the rotary disc to rotate so as to realize automatic contraction of the rope.

Further, in the VR positioning and tracking system described above: and a limiting shaft wheel for limiting the pulling direction of the rope from the turntable is arranged on the outer side of the turntable.

Further, in the VR positioning and tracking system described above: the rotation angle sensor device comprises a base arranged at a reference point, a rope enters from the side surface of the base, and a first rotating arm and a second rotating arm which surround and abut against the rope from two sides are arranged on the base; the two ends of the U-shaped cover are respectively hinged with the first rotating arm and the second rotating arm; the rope extends out of the middle of the U-shaped cover and is connected with the target end; the second angle sensor is arranged at the end parts of the first rotating arm and the second rotating arm and used for sensing the rotating angle of an annular body formed by the first rotating arm and the second rotating arm when the annular body swings along with the ropes so as to form the pitch angle of the ropes; and the third angle sensor is arranged on the hinge shaft of the U-shaped cover and used for sensing the swinging angle of the U-shaped cover on the first rotating arm and the second rotating arm along with the movement of the rope to form a rotating angle.

Further, in the VR positioning and tracking system described above: when the rope enters from the side surface of the base, a guide shaft wheel for guiding the rope is also arranged.

According to the invention, the length of a straightened rope is directly utilized to determine the length, and the pitch angle and the rotation angle of the rigid rope at the reference point are measured, so that the rigid rope is not interfered by ambient light and cannot be positioned due to shielding.

The invention is further described with reference to the following figures and detailed description.

Drawings

Fig. 1 is a use scenario (1) of the system of the present invention.

Fig. 2 is a use scenario (2) of the system of the present invention.

Fig. 3 is a use scenario (3) of the system of the present invention.

Fig. 4 is a block diagram of a VR positioning and tracking system according to an embodiment of the present invention.

Fig. 5 is a block diagram of a VR positioning and tracking system according to an embodiment of the present invention.

Fig. 6 is a schematic view of a length measuring device used in the embodiment of the present invention.

Fig. 7 is an exploded view of a length measuring device used in an embodiment of the present invention.

Fig. 8 is a schematic view of a rotation angle sensor device used in the embodiment of the present invention.

Fig. 9 is an exploded view of a rotation angle sensor device used in the embodiment of the present invention.

Detailed Description

Embodiment 1, this embodiment is a VR positioning and tracking system used in a game, as shown in fig. 1, 2, and 3, a game player may set markers on a wrist, an ankle, a head, and a waist, and spatial positioning of the markers is transmitted to a game host, and a target character in a game space (virtual space) is determined in the game host according to an actual position of the game player and moves along with the game player, where the target character includes a cartoon character, a human image, and an animal. After the positions of the marks are determined, the body motions of the corresponding characters and the player in one-to-one correspondence can be determined, namely, the motion capture function is realized. As shown in fig. 1, the player stands on the footplate, the measuring device and the like are arranged in the middle of the footplate, and the devices for measuring the length and the angle of the ropes of the target points on the player are all arranged in the footplate, in practice, the player does not need to stand on the footplate, but can stand in other places, such as directly on the floor, two footplates are respectively arranged on both sides of the person as shown in fig. 2, or the front and the back are all shown in fig. 3. The pedals can be used in pairs, or one pedal can be used independently. In this embodiment, what is adopted is that the position measurement of the mark is accomplished by a mechanical structure, as shown in fig. 1, a sleeve such as a wrist sleeve is arranged at the mark such as the wrist, the ankle, the head and the like, and an interface of a rope is arranged on the sleeve. In this embodiment, utilize magnetism to inhale the knot with the rope be connected with the sign on the player body fast, can make the player have fine experience effect. The magnetic attraction buckle is mainly used for facilitating connection and disconnection, and a user can conveniently connect the rope to different parts in a conversion way according to the requirements of different actions; when the user needs to rest, the connection between the rope and the limb can be released immediately; if the user pulls the rope out too long, the limb and the rope are immediately and automatically disconnected, so that the user is prevented from falling down due to the fact that the user is pulled by the device.

The VR positioning and tracking system in this embodiment is shown in fig. 4, and includes a rope 1 connecting a reference point to a target, and the rope is held by the rope storage device between the reference point and a mark, so that the length of the rope from the reference point to the mark, that is, the distance from the reference point to the mark, can be easily known. Those skilled in the art will appreciate that tensioning the cord can be accomplished in a number of ways, such as by using a coil spring that always exerts a tension on the cord itself, and when the external force is greater than the tension, the cord will be pulled outward, and when the external force is removed or less than the tension, the cord will coil. In addition, a micro motor can be used, the micro motor generates a moment to curl and recover the rope, when the moment that the rope is pulled outwards is detected to be larger than the initial moment generated by the micro motor, the micro motor releases the rope, and when the micro motor is adopted, the length of the rope extending out can be judged through the micro motor, so that the micro motor is adopted in many cases. Of course, other means are possible, such as using a bungee cord, which has the advantage that the length of the bungee cord can be calculated by measuring the tension applied to the bungee cord.

A length measuring device 200 for measuring a length from a reference point to a target in a rope 1 when the rope 1 is tensioned from a storage device to a mark through the reference point on a base plate 2, namely the pedal, and a rotation angle sensor device 100 for measuring a pitch angle and a rotation angle when the rope is pulled out from the reference point; and a processing device for processing the rope length, pitch angle and rotation angle data output by the length measuring device 200 and the rotation angle sensor device 100 to obtain a target spatial reference position, as shown in fig. 5.

At present, there are many methods for measuring the length of a rope at two nodes, and in this embodiment, the length measuring device 200 can reflect the length from the reference point to the mark by measuring the length of the rope pulled from the rope storage device. As shown in fig. 6 and 7, it includes a turntable 201 for winding the rope 1, a first angle sensor 203 disposed on the axis of the turntable 201 for detecting the rotation angle of the turntable 201 due to the expansion and contraction of the rope 1. In this embodiment, the turntable 201 is provided with a coil spring for automatically contracting the rope. When the game starts, due to the effect of the curling spring, the rope 1 is completely wound on the turntable 201, the indication of the first angle sensor is recorded, when the rope is pulled out and attracted with the magnetic catch on the mark position such as a wrist sleeve and a head sleeve, the rope is pulled out and recovered when moving along with a game player, at the moment, the turntable 201 rotates back and forth under the driving of the curling spring, at the moment, the record on the first angle sensor is continuously sent to the processing device, and the distance between the mark position and the reference point is quickly obtained after the processing of the processing device. In the present embodiment, in order to ensure that the cord is not affected by other materials in the turntable 201 when being pulled out, a limit sheave 202 for limiting the direction in which the cord 1 is pulled out from the turntable 201 is provided outside the turntable 201.

In the present embodiment, the rotation angle sensor device 100 used is as shown in fig. 8 and 9: the rope-pulling device comprises a base arranged at a reference point, wherein a rope 1 enters from the side surface of the base, and a first rotating arm 101 and a second rotating arm 102 which surround and abut against the rope 1 from two sides are arranged on the base; a U-shaped cover 103 with two ends respectively hinged with the first rotating arm 101 and the second rotating arm 102; the rope 1 extends out from the middle of the U-shaped cover 103 and is connected with a target end; a second angle sensor 105 arranged at the end of the first rotating arm 101 and the second rotating arm 102, wherein the second angle sensor 105 is used for sensing the angle of the annular body formed by the first rotating arm 101 and the second rotating arm 102 rotating along with the rope to form the pitch angle of the rope; and a third angle sensor 104 arranged on the hinge shaft of the U-shaped cover 103, wherein the third angle sensor 104 senses the angle of the U-shaped cover 103 swinging on the first rotating arm 101 and the second rotating arm 102 along with the movement of the rope 1 to form a rotating angle. Further, when the rope 1 enters from the base side, a guide sheave 106 for guiding the rope 1 is provided.

The rope rotation angle sensor device 100 of the present embodiment is for measuring the pitch angle and the rotation angle of a straightened rope at the fixed end; the rope fixing device comprises a base arranged at the fixed end of a rope, wherein the rope 1 enters from the side surface of the base, and a first rotating arm 101 and a second rotating arm 102 which surround and abut against the rope 1 from two sides are arranged on the base; a U-shaped cover 103 with two ends respectively hinged with the first rotating arm 101 and the second rotating arm 102; the rope 1 extends out from the middle of the U-shaped cover 103 and is connected with a target end; when the pitch angle of the rope changes, the U-shaped cover 103 drives the first rotating arm 101 and the second rotating arm 102 which surround the rope 1 to rotate at two sides, the pitch angle of the rope 1 can be obtained only by measuring the rotating angle of the rope, and when the rope 1 swings towards two sides, the U-shaped cover 103 swings along the hinged point of the first rotating arm 101 and the second rotating arm 102, the swinging angle is measured, and the rotating angle of the rope 1 can be obtained.

The present embodiment uses angle sensors to measure the change of angle, and therefore, further comprises a second angle sensor 105 disposed at the end of the first rotating arm 101 and the second rotating arm 102, the second angle sensor 105 is used for sensing the change of angle of the annular body formed by the first rotating arm 101 and the second rotating arm 102 along with the rotation of the rope, the change of angle is the change of pitch angle to be measured, and the known initial angle is added to form the pitch angle of the rope; a third rotation angle sensor 104 is provided on the pivot shaft of the U-shaped cover 103, and the third angle sensor 104 senses the angle of the U-shaped cover 103 swinging in the longitudinal direction of the first and second rotating

arms

101 and 102 along the rope 1, and the angle of the swinging is a known initial angle, which forms a rotation angle. Practically, in the present embodiment, the second angle sensor 105 and the third angle sensor 104 may both adopt hall sensors, which are widely used for measuring angulation due to high accuracy and low cost. In this embodiment, the two hall sensors are used to detect the up-down swinging and back-and-forth swinging angles of the U-shaped cover 103, and the pitch angle and the rotation angle after the rope is led out from the U-shaped cover 103 can be obtained after processing by the processor, actually, the angle of the up-down swinging of the U-shaped cover 103 itself is the pitch angle to be measured, and the angle of the rotation around the hinge axis is the rotation angle to be measured. At present, besides hall sensors, many angle sensors can be used, such as a photoelectric encoder.

In this example, the pitch angle and the rotation angle that the "a pair of hall sensor + hinge structure" that use realized, this effect also can be realized with an inertial sensor, but in practice, adopt when measuring pitch angle and rotation angle as the inertial sensor on the unmanned aerial vehicle, because the influence of centripetal acceleration causes angle measurement accuracy not too high, though can also satisfy needs. The measurement precision of the 'pair of Hall sensors + hinge structure' adopted in the embodiment is higher.

In this embodiment, when the rope 1 enters from the side of the base, a guiding shaft wheel 106 for guiding the rope 1 is further provided, after the rope 1 enters from the entrance, the rope directly enters the pipeline enclosed by the first rotating arm 101 and the second rotating arm 102, and then extends out from the middle of the U-shaped cover 103 to be connected with the object and straightened, when the rope 1 moves together with the object, such as being connected with the wrist of a game player or a sportsman, the U-shaped cover 103 is driven to swing up and down and back and forth along with the movement of the wrist, when the rope swings up and down, because two sides of the U-shaped cover 103 are respectively hinged with the first rotating arm 101 and the second rotating arm 102, only the first rotating arm 101 and the second rotating arm 102 are driven to rotate by the relative transverse movement with the first rotating arm 101 and the second rotating arm 102, so as to form a change of the pitch angle, when the wrist swings to two sides, the rope 1 is driven to swing, at this time, two legs of the U-shaped cover, forming the variation of the rotation angle.

Claims

1. A VR positioning and tracking system for positioning a space target; the method is characterized in that: the device comprises a rope (1) for connecting a reference point to a target, a length measuring device (200) for measuring the length from the reference point to the target in the rope (1) when the rope (1) is tensioned, and a rotation angle sensor device (100) for measuring the pitch angle and the rotation angle when the rope (1) is pulled out from the reference point; and a processing device for processing the data of the length, the pitch angle and the rotation angle of the rope output by the length measuring device (200) and the rotation angle sensor device (100) to obtain the space target positioning.

2. The VR location tracking system of claim 1, wherein: the rope storage device is further provided, and the length measuring device (200) measures the length of the rope entering and exiting the rope storage device.

3. The VR location tracking system of claim 2, wherein: the rope storage device comprises a rotary table (201) used for winding the rope (1), the length measuring device (200) is arranged on the shaft of the rotary table (201), and the length measuring device (200) is provided with a first angle sensor (203) used for detecting the rotating angle of the rotary table (201) generated by the stretching of the rope (1).

4. The VR location tracking system of claim 3, wherein: the rotary disc (201) is provided with a coiled spring which drives the rotary disc to rotate so as to realize automatic contraction of the rope.

5. The VR location tracking system of any of claims 1 to 4, wherein: the rotation angle sensor device (100) comprises a base arranged at a reference point, a rope (1) enters from the side surface of the base, and a first rotating arm (101) and a second rotating arm (102) which surround and abut against the rope (1) from two sides are arranged on the base; a U-shaped cover (103) with two ends respectively hinged with the first rotating arm (101) and the second rotating arm (102); the rope (1) extends out from the middle of the U-shaped cover (103) and is connected with the target end; the second angle sensor (105) is arranged at the end part of the first rotating arm (101) and the second rotating arm (102), and the second angle sensor (105) is used for sensing the rotating angle of an annular body formed by the first rotating arm (101) and the second rotating arm (102) when swinging along with the rope to form the pitch angle of the rope; and the third angle sensor (104) is arranged on a hinge shaft of the U-shaped cover (103), and the third angle sensor (104) senses the swinging angle of the U-shaped cover (103) on the first rotating arm (101) and the second rotating arm (102) along with the movement of the rope (1) to form a rotating angle.