CN114699762A - Cable car system based on inside-out positioning - Google Patents

Abstract

The invention discloses an Inside-out positioning-based cable car system, which comprises a field, a cable car arranged on the cable, a driving device for driving the cable car to move and an experience device, wherein the cable car is arranged on the cable car; the experience device comprises virtual head-mounted equipment, an Inside-out positioning unit is arranged on the outer side of the virtual head-mounted equipment, the Inside-out positioning unit comprises a camera, an inertia detection unit and a data acquisition and processing unit, and the data acquisition and processing unit is electrically connected with the virtual head-mounted equipment. The method can realize real-time positioning through Inside-out positioning, does not need additional equipment or a specific marker, and has high positioning accuracy, so that the virtual object is combined with a real physical space more accurately; the mode that the entity cable car, hawser and virtual picture combine together is adopted, makes the experience person have good experience effect, under the cooperation of environment simulation unit, has increased the interest.

Description

Cable car system based on inside-out positioning

technical field

The invention relates to the technical field of virtual reality, in particular to a cable car system based on inside-out positioning.

Background technique

With the development of science and technology, many simulation devices are combined with virtual reality devices to enhance the immersion of the game. In the prior art, the virtual reality device is usually positioned with a positioning device provided on the simulation device, or the simulation device is additionally provided with a landmark object for positioning, resulting in high cost and unchanged operation.

Inside-out positioning is a positioning and tracking method in virtual reality and augmented reality. Sensors such as cameras are fixed to a certain part of the user's body (usually on the head), and the sensor obtains the position and attitude changes from the external environment during use. information, obtain the motion information relative to the environment in real time through calculation, and determine the corresponding position and posture in the virtual environment. (eg local shape, edge, texture, etc.) information. Compared with fixing multiple sensors in the environment, the outside-in method of obtaining the user's position and attitude information through external sensors has lower environmental requirements and equipment installation costs, and realizes more flexible and convenient application area expansion.

SUMMARY OF THE INVENTION

In view of the above deficiencies, the technical problem to be solved by the present invention is to provide a cable car system based on inside-out positioning, the system has a good sense of game immersion, and can accurately locate the height without additional equipment or setting specific markers, It makes the combination of virtual objects and real physical space more accurate.

For solving the above-mentioned technical problems, the technical scheme of the present invention is:

A cable car system based on inside-out positioning, comprising a venue, a cable erected in the venue, a cable car set on the cable, a driving device for driving the cable car to move, and an experience device; the experience device includes a virtual Head mounted device, the outside of the virtual head mounted device is provided with an inside-out positioning unit, the inside-out positioning unit includes a camera, an inertial detection unit and a data acquisition and processing unit, the data acquisition and processing unit and the virtual head wear the electrical connection of the device;

The camera is used to collect the image of the current scene in real time, and transmit it to the data collection and processing unit;

The inertial detection unit is used to collect the linear motion acceleration and rotational angular velocity data of the wearer of the virtual head-mounted device in real time, and transmit it to the data collection and processing unit;

The data acquisition and processing unit block is used to analyze the image from the camera, obtain the object feature information and background feature information in the scene, and compare the object feature information and background feature information in the scene with the information from the inertial Perform data fusion on the linear motion acceleration and rotational angular velocity data of the detection unit, obtain the three-dimensional coordinates and attitude information in the current scene, and transmit the fused data to the virtual head-mounted device, which is used for receiving according to the received data. The data shows the corresponding content scenarios.

Preferably, the experience device further includes a main control unit and an environment simulation unit that are electrically connected, and the main control unit is electrically connected to the driving device.

Preferably, the environment simulation unit includes a voice unit provided on the cable car, and the voice unit is configured to emit corresponding voice according to the position of the cable car.

Preferably, the environment simulation unit includes an air outlet unit provided on the cable car, and the air outlet unit includes an air outlet pipe and an outlet fan.

Preferably, the experience device further includes a vibration unit electrically connected to the main control unit, and the vibration unit is provided at the bottom of the cable car.

Preferably, the vibration unit includes a vibration motor and a timing unit, and the vibration motor and the timing unit are respectively electrically connected to the main control unit.

Preferably, the experience device further includes a stop unit electrically connected to the main control unit, the stop unit is used for transmitting a stop electrical signal to the main control unit, and the main control unit is used for controlling the stop electrical signal according to the stop electrical signal The drive is stopped.

Preferably, the stop unit includes a voice pickup unit, the voice pickup unit includes a voice sensor, and the voice pickup unit is used to pick up the voice of the experiencer in the cable car, and transmit it into a corresponding electrical signal to the host control unit.

Preferably, the experience device further includes a prompting unit electrically connected to the main control unit.

After adopting the above-mentioned technical scheme, the beneficial effects of the present invention are:

Because the cable car system based on inside-out positioning of the present invention includes a venue, a cable, a cable car arranged on the cable, a driving device for driving the cable car to move, and an experience device; the experience device includes a virtual headset, and the outer side of the virtual headset is set There is an inside-out positioning unit, the inside-out positioning unit includes a camera, an inertial detection unit and a data acquisition and processing unit, and the data acquisition and processing unit is electrically connected with the virtual head mounted device. The present invention can realize real-time positioning through inside-out positioning, without setting, without additional equipment or setting specific markers, with high positioning accuracy, making the combination of virtual objects and real physical space more accurate; The way of combining the pictures makes the experiencer have a good experience effect, and with the cooperation of the environment simulation unit, it increases the interest.

Description of drawings

1 is a schematic structural diagram of a cable car system based on Inside-out positioning in the present invention;

2 is a schematic block diagram of a virtual reality device and an Inside-out positioning unit in an embodiment;

Fig. 3 is the principle block diagram of the experience apparatus in the embodiment;

In the picture: 1- cable, 2- cable car, 3- virtual reality device, 4- camera.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

As shown in Figure 1, Figure 2 and Figure 3, a cable car system based on inside-out positioning includes a venue, a cable 1 erected in the venue, a cable car 2 set on the cable 1, and a drive device for driving the cable car 2 to move And the experience device; the experience device includes a virtual head mounted device 3, the outside of the virtual head mounted device 3 is provided with an Inside-out positioning unit, and the Inside-out positioning unit includes a camera 4, an inertial detection unit and a data acquisition and processing unit, and the data acquisition and processing unit Electrically connect with the virtual headset.

Wherein, the camera 4 is used to collect the image of the current scene in real time, and transmit it to the data collection and processing unit;

Wherein, the inertial detection unit is used to collect the linear motion acceleration and rotational angular velocity data of the wearer of the virtual head mounted device 3 in real time, and transmit it to the data acquisition and processing unit;

Among them, the data acquisition and processing unit block is used to analyze the image from the camera 4, obtain the object feature information and background feature information in the scene, and compare the object feature information and background feature information in the scene with the linear motion from the inertial detection unit. Data fusion of acceleration and rotational angular velocity data is performed to obtain the three-dimensional coordinates and attitude information in the current scene, and the fused data is transmitted to the virtual head mounted device 3, which is used to display the corresponding content scene according to the received data. .

In this embodiment, the experience device further includes a main control unit, an environment simulation unit electrically connected to the main control unit, a vibration unit, a stop unit and a prompt unit. The main control unit may be, but not limited to, STM32 series single-chip microcomputer, or a PLC.

The environment simulation unit may include a voice unit arranged on the cable car, and the voice unit is used to send out corresponding voice according to the position of the cable car. And/or, the environment simulation unit includes an air outlet unit provided on the cable car, and the air outlet unit includes an air outlet pipe and an outlet fan. The main control unit can control the voice unit to emit a corresponding voice according to the position where the driving device drives the cable car to move, and cooperates with the scene displayed in the virtual head-mounted device 3 to improve the user's physical sensation. In the same way, the main control unit triggers the outlet fan according to the location of the cable car, so that the wind blows from the outlet duct to the face, which cooperates with the scene displayed by the virtual head-mounted device 3 to improve the user's physical sensation. The main control unit can determine the position of the cable car through the running time of the driving device. Of course, the determination of the slave position of the cable car is not limited to the methods listed above.

The vibration unit includes a vibration motor and a timing unit, and the vibration motor and the timing unit are respectively electrically connected to the main control unit. The main control unit can control the vibration of the vibration motor according to the position where the cable car is moved by the driving device, and trigger the timing unit at the same time. When the time is up, the vibration motor stops vibrating to simulate the vibration that occurs during the cable car journey. In virtual headset 3 The displayed scene cooperates to enhance the user's sense of movement.

Wherein, the stop unit includes a voice pickup unit, the voice pickup unit includes a voice sensor, and the voice pickup unit is used to pick up the voice of the experiencer in the cable car, and transmit it into a corresponding electrical signal to the main control unit. When the wearer sends a stop voice signal, it is picked up by the voice pickup unit and transmits the corresponding electrical signal to the main control unit. The main control unit stops the driving device to prevent the experiencer from being too scared, thereby reducing the user's physical sensation. When the driving device stops, the main control unit triggers the prompting unit to issue a prompt to notify the staff.

The cable car system of the present invention can realize real-time positioning through inside-out positioning, without setting, without additional equipment or setting specific markers, with high positioning accuracy, making the combination of virtual objects and real physical space more accurate; using physical cable cars, The combination of the cable 1 and the virtual screen enables the experiencer to have a good experience effect, and with the cooperation of the environment simulation unit, the interest is increased.

The above-mentioned preferred embodiments of the present invention are not intended to limit the present invention. Any modifications made within the spirit and principles of the present invention, which are equivalent to an improvement of a cable car system based on inside-out positioning, etc. should be included within the protection scope of the present invention.

Claims (9)

1. A cable car system based on inside-out positioning, characterized in that it comprises a venue, a cable erected in the venue, a cable car set on the cable, a drive device and an experience device for driving the cable car to move; the The experience device includes a virtual head-mounted device, an inside-out positioning unit is arranged on the outside of the virtual head-mounted device, and the inside-out positioning unit includes a camera, an inertial detection unit and a data acquisition and processing unit, the data acquisition and processing unit and the virtual head mounted device is electrically connected; The camera is used to collect the image of the current scene in real time, and transmit it to the data collection and processing unit; The inertial detection unit is used to collect the linear motion acceleration and rotational angular velocity data of the wearer of the virtual head-mounted device in real time, and transmit it to the data collection and processing unit; The data acquisition and processing unit block is used to analyze the image from the camera, obtain the object feature information and background feature information in the scene, and compare the object feature information and background feature information in the scene with the information from the inertial Perform data fusion on the linear motion acceleration and rotational angular velocity data of the detection unit, obtain the three-dimensional coordinates and attitude information in the current scene, and transmit the fused data to the virtual head-mounted device, which is used for receiving according to the received data. The data shows the corresponding content scenarios. 2 . The cable car system based on inside-out positioning according to claim 1 , wherein the experience device further comprises a main control unit and an environment simulation unit that are electrically connected, and the main control unit is electrically connected to the driving device. 3 . 3 . The cable car system based on inside-out positioning according to claim 2 , wherein the environment simulation unit comprises a voice unit arranged on the cable car, and the voice unit is used to send out the voice according to the position of the cable car. 4 . corresponding voice. 4 . The cable car system based on inside-out positioning according to claim 2 , wherein the environment simulation unit comprises an air outlet unit provided on the cable car, and the air outlet unit comprises an air outlet pipe and an outlet air outlet. 5 . fan. 5. The cable car system based on inside-out positioning according to any one of claims 2 to 4, wherein the experience device further comprises a vibration unit electrically connected to the main control unit, and the vibration unit is configured to at the bottom of the gondola. 6. The cable car system based on inside-out positioning according to claim 5, wherein the vibration unit comprises a vibration motor and a timing unit, and the vibration motor and the timing unit are respectively electrically connected to the main control unit. connect. 7 . The cable car system based on inside-out positioning according to claim 2 , wherein the experience device further comprises a stop unit electrically connected to the main control unit, and the stop unit is configured to transmit a stop electrical signal. 8 . To the main control unit, the main control unit is configured to control the drive device to stop according to the stop electric signal. 8. The cable car system based on inside-out positioning according to claim 7, wherein the stop unit comprises a voice pickup unit, the voice pickup unit comprises a voice sensor, and the voice pickup unit is used to pick up the The voice of the experiencer in the cable car is transmitted into the corresponding electrical signal to the main control unit. 9 . The cable car system based on inside-out positioning according to claim 8 , wherein the experience device further comprises a prompting unit electrically connected to the main control unit. 10 .

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