CN201220098Y - Head type controller for capturing and following virtual or remote target - Google Patents

Abstract

The utility model discloses a head-mounted virtual or remote target capture and follow controller. The controller includes a control circuit, which is characterized in that the control circuit is composed of a minimum control unit composed of a single-chip computer, an infrared transmitter and an infrared receiver. The origin calibration unit of the system space coordinate system, the three-axis low-level acceleration sensor and the standard RS-232 serial interface are connected, wherein, the output terminal of the infrared receiver and the X of the three-axis low-level acceleration sensor The output ends of acceleration signals in three directions of , Y, and Z and the sensitivity selection input end are respectively connected to the I/O port of the single-chip microcomputer; the RS-232 serial interface is serially connected to the read-write port of the single-chip microcomputer. The utility model realizes that when the operator's own face turns to one direction, the sight of the "first person" will turn to the same direction, thereby greatly improving the ability to capture and track in the virtual environment or the environment where the remote robot is located. , Monitor the success rate of the target.

Description

A head-mounted virtual or remote target capture and follow controller

technical field

The utility model relates to a control device, in particular to a follower controller specially suitable for manipulating other parts of the human body except hands and feet, which is suitable for capturing and tracking objects in the game screen and objects within the visual range of a robot monitor.

Background technique

In real life, people capture the target objects in the surrounding environment through the cooperation of the head with the visual system, but the target objects in the virtual environment need to be completed with the cooperation of hands or other limbs with the visual system. For example, the movement of existing computer game screens is basically operated and controlled by input devices such as mouse, keyboard or handle. It needs to be completed by the visual system, which will take a long time for training, and it is not conducive to training the coordination ability of various parts of the human body required in real life. Another example is the remote control of the robot. The controller captures the moving target from the picture sent back from the remote camera, but in order for the robot to track and monitor the moving target, it must be done by manipulating input devices such as joysticks or dials by hand. At this time, the controller loses the opportunity to control other actions of the robot or other equipment carried by the robot, which often leads to the failure of the entire task. If the controlled robot is a robot performing capture and fighting tasks, it may even be attacked by the enemy.

It can be seen from the above two examples that to track and monitor the target in the virtual environment or the remote environment, especially to track and monitor the moving target in the virtual environment or the remote environment, it is necessary to allow the target to appear in the virtual environment or the remote environment. Within the line of sight of "masters" such as players in first-person games and remote-controlled robots. To achieve this, in addition to maintaining the distance between the "master" and the target, the "master" must always keep his eyes on the target. Undoubtedly, the most ideal way to keep the "master"'s sight fixed on the target is to let the "master"'s sight follow the movement of the controller's head to change direction, and the first technical problem to be solved to achieve this goal is that the controller's head The detection of the spatial motion trajectory of the department.

In the prior art, the detection of a human body or a human body's limb movement trajectory is mostly found in the medical field. The State Intellectual Property Bureau disclosed "a human body motion trajectory detection method" (public number CN 1582851A) on February 23, 2005. Paste different color mark points on parts with cross movement, and the color of the mark points is different from the color of the surface of the part to be detected; use a color camera to capture the images of the person being detected walking on the trail, and use the color image acquisition card to capture the images in real time Send the collected information into the computer; the program stored in the computer performs the identification and tracking of the landmarks, as well as data analysis.” It can be seen that the method described in the above patent application can only obtain data for medical research, but the obtained data must be There are still following problems for real-time follow-up control: one is that the camera captures and shoots the target image at a slow speed, and the data obtained after processing will be used for follow-up control of target tracking and monitoring in the virtual environment, which will obviously cause The "master" visual system in the virtual environment has a large delay in following time; the second is that the amount of image processing and transmission data is very large, which further increases the range of time delay of the "master" visual system; the third is to use It is difficult for a camera to obtain accurate three-dimensional trajectories of human body movements.

China Daily Global Online published an article on February 28, 2008, "The U.S. Launches "First-Person" Manipulated Combat Robots." The helmet of this system will see what the robot sees through the eyepieces worn, and when one's own face is turned in one direction, the camera mounted on the robot will turn in the same direction. However, there is no description of "Head-Aimed Remote Viewer (HARV)" in the article, and its control scheme cannot be verified.

Contents of the invention

In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the utility model is a control device for "first-person" line of sight following the movement trajectory of the human head. The above-mentioned "first person" can be a player of a first-person game, or a remote-controlled robot.

The technical scheme that the utility model solves the above problems is:

A head-mounted virtual or remote target capture and follow controller, the controller includes a control circuit, characterized in that the control circuit is composed of a minimum control unit composed of a single-chip computer, an infrared transmitter and an infrared receiver. The origin calibration unit of the system, the three-axis low-level acceleration sensor and the standard RS-232 serial interface are connected. Among them,

The output end of the infrared receiver, the output end of the acceleration signals in the X, Y, and Z directions of the three-axis low-level acceleration sensor, and the sensitivity selection input end are respectively connected to the I/O port of the single-chip microcomputer;

The RS-232 serial interface is serially connected to the read-write port of the single-chip microcomputer.

The following controller described in the utility model, wherein the serial interface can be connected with the game server at the other end of the network, other players’ PCs or robots through the PC in the computer room, so as to realize the "first person" line of sight to follow the controller The purpose of changing the trajectory of the human head movement.

In the following controller described in the utility model, the infrared emitter can be served by an ordinary infrared light-emitting diode, or can be composed of an ordinary infrared light-emitting diode connected in series with an electronic switch, such as adopting the latter scheme When, wherein the control terminal of the electronic switch is connected with an I/O port of the single-chip microcomputer, so that the single-chip microcomputer is used to add some special coding information to improve the anti-interference ability.

The following controller described in the utility model can be composed of a transmitting device and a data helmet suitable for wearing on a human head, or can be composed of a transmitting device and data glasses suitable for wearing on a human face. The infrared emitter in the above control circuit is set in the transmitting device, and other circuits except the infrared emitter are set in the frame of the data glasses or in the helmet body of the data helmet, and the light receiving of the infrared receiver in the control circuit The outside of the frame of the data glasses or the helmet of the data helmet is exposed, preferably the front of the frame or the helmet. Designed in this way, the launcher can be installed on the top of the computer display panel, so that the system defines the focal point of the two eyes as the origin of the system coordinates when the human body is facing the front, so that the movement of the human head when tracking the target closer to reality. A liquid crystal display can also be embedded in the frame of the data glasses, so that the player or the controller of the robot can fully immerse the scene experience.

The following controller described in the utility model converts a certain posture of the human head into the origin of the space coordinate system of the calibration system through an infrared transmitter and an infrared receiver, and uses a three-axis low-level acceleration sensor to sense the position of the human head. Turning, tilting, and pitching and tilting movements, and converting them into acceleration signals in the three directions of X, Y, and Z to control the movement of the game screen or the direction of sight of the remote robot, realizes that when the operator's own face turns to one direction, " The purpose of the "first-person" sight will turn to the same direction, which not only liberates human hands, but also conforms to human visual habits, thus greatly improving the ability to capture and track robots in the virtual environment or in the environment where the remote robot is located. , Monitor the success rate of the target. In addition, the following controller described in the utility model also has the advantages of simple structure and low cost, and can be used not only in civilian video game fields, but also in public security and military fields.

Description of drawings:

Fig. 1 is the circuit block diagram of a kind of specific embodiment of the control circuit of following controller described in the utility model;

Fig. 2 is the electric principle diagram of a kind of specific embodiment of the control circuit of following controller described in the utility model;

Fig. 3 is a structural schematic diagram of a specific embodiment of the follower controller described in the present invention, in which the dotted arrow indicates the transmission direction of infrared rays;

Fig. 4 is a structural schematic diagram of another specific embodiment of the follower controller described in the present invention, in which the dotted arrow indicates the transmission direction of infrared rays;

Fig. 5 is a schematic structural diagram of the data eye 2 in Fig. 3;

FIG. 6 is a schematic structural diagram of the data helmet 3 in FIG. 4 .

Detailed ways:

Referring to Fig. 1, the control circuit following the controller described in the utility model takes the control unit as the core to configure the origin calibration unit of the system space coordinate system, the three-axis low-level acceleration sensor and the peripheral unit circuits such as the standard RS-232 serial interface composition.

Referring to Fig. 2, described control unit is matched with the conventional oscillator that is made up of 16M crystal oscillator and electric capacity by the MEGA8 type embedded single-chip microcomputer U1 that ATMEL company produces; It consists of an electronic switch formed by an infrared light-emitting diode IR-LED connected in series with an NPN transistor. The infrared receiver in the origin calibration unit of the system space coordinate system is served by a receiving and amplifying integrated infrared receiving tube SFH506-38. Among them, the infrared The signal output terminal of the receiving tube SFH506-38 is connected to the PB0 port of the embedded microcontroller U1, and the base of the NPN transistor is connected to the PB1 port of the microcontroller U1; the three-axis low-level acceleration sensor U2 uses Freescale's MMA7260Q chip, U2 The X, Y, Z three output ports of the single-chip microcomputer U1 are respectively connected to an ADC port (PC0~PC2), the sensitivity selection input ports Select1 and Select2 of U2 are respectively connected to the PB2 and PB3 ports of the single-chip microcomputer U1, and the sleep mode control port is connected to The PD7 port of the single-chip microcomputer U1 is connected; the RS-232 serial interface U3 is served by the commonly used MAX232, and a group of transceiver ports T1IN and T1OUT of U3 are respectively connected with the read-write ports RXD and TXD of the single-chip microcomputer U1.

Referring to Fig. 3 and Fig. 5, in this example, described following controller is made up of transmitting device 1 and the data glasses 2 that are suitable for wearing on people's face, and the infrared transmitter in the above-mentioned control circuit is arranged in transmitting device 1, and control unit, Three-axis low-level acceleration sensor, standard RS-232 serial interface and infrared receiver are arranged in the picture frame 2-1 of data glasses 2, and the light-receiving surface of infrared receiver is formed by the small window 2-1 of picture frame 2-1 upper middle part 2 is exposed; a liquid crystal display 2-3 is also embedded in the mirror frame 2-1, and the display screen of this liquid crystal display 2-3 faces the side of the mirror feet 2-4, and the wearer can directly watch it through the liquid crystal display 2-2 The scene from the game screen or remote robot shooting.

Referring to Fig. 4 and Fig. 6, in this example, described following controller is made up of transmitting device 1 and the data helmet 3 that is suitable for wearing on people's head, and the infrared transmitter in described control circuit is arranged in transmitting device 1, controls Unit, three-axis low-level acceleration sensor, standard RS-232 serial interface and infrared receiver are located in the helmet body 3-1 of the data helmet 3, and the light-receiving surface of the infrared receiver is formed by the middle of the front part of the helmet body 3-1 The small window 3-2 is exposed.

The following takes the following controller shown in Figure 3 and Figure 5 as an example and briefly describes the working process of using the following controller of the present invention to capture the target in the remote environment through the robot's vision system and eliminate the accumulated errors of the system in combination with Figure 2 .

When in use, the data glasses 2 shown in Figure 3 are worn on the face of the person and connected to the computer network system, and then the infrared emitting device 1 can be placed on any fixed object in front of the wearer of the data glasses 2, such as a computer above the display panel. After being ready, power on and initialize, the single-chip microcomputer U1 continuously scans the ICP port connected to the output end of the infrared receiving tube SFH506-38 in the form of query, once the small window 2-2 on the data eye is aligned with the infrared emitting device 1, the output When the system space coordinate system origin calibrates the signal, the single-chip microcomputer U1 records the voltage values output by the three output terminals of U2 at this time, X, Y, and Z, and uses this value as the coordinate system origin to construct the system space coordinate system; next, the data glasses When the wearer of the data glasses 2 captures the target object that appears on the liquid crystal display 2-3, his head will habitually turn left, turn right, and pitch and look up. With the movement of the wearer's head of the data glasses 2, the X, The three output terminals of Y and Z output the corresponding voltage value synchronously, and the voltage value is transformed by the single-chip microcomputer U1 into the relative variation in the system space coordinate system, and the remote robot can be controlled after the relative variation passes through the computer and network system The visual system makes its line of sight follow the synchronous movement of the head of the wearer of the data glasses 2 .

Due to the above follow-up control process, the whole system will inevitably produce accumulated errors, which will reduce the control accuracy of the system. Another important function of the origin calibration unit of the system space coordinate system in the following controller described in the utility model is to eliminate the above-mentioned accumulated errors. The process is as follows: When the head is turned left, right, and tilted, there must be a chance to make the small window 2-2 on the data eyes aligned with the infrared emitting device 1, and whenever the two are aligned, the single-chip microcomputer U1 detects When the system coordinate origin calibrates the signal, the relative change in the system space coordinate system is reset to zero, that is, it returns to the state when the system space coordinate system origin is calibrated. For example, when the origin of the system space coordinate system is calibrated, when the face of the wearer of the data glasses faces straight ahead, the small window 2-2 on the data eyes is aligned with the infrared emitting device 2, and the sight line of the vision system of the remote robot is also toward the robot. directly ahead, then thereafter, whenever the face of the wearer of the data glasses 2 faces directly ahead, regardless of the orientation of the line of sight of the vision system of the remote robot at this time, it will automatically return to the state directly ahead of the robot.

The public can refer to the above description to analyze the working process of following the controller to capture the target in the virtual environment in the present invention.

Claims (4)

1. A head-mounted virtual or remote target capture and follow controller, which includes a control circuit, characterized in that the control circuit is a system composed of a minimum control unit composed of a single-chip computer, an infrared transmitter and an infrared receiver The origin calibration unit of the space coordinate system, the three-axis low-level acceleration sensor and the standard RS-232 serial interface are connected. Among them, The output end of the infrared receiver, the output end of the acceleration signals in the X, Y, and Z directions of the three-axis low-level acceleration sensor, and the sensitivity selection input end are respectively connected to the I/O port of the single-chip microcomputer; The RS-232 serial interface is serially connected to the read-write port of the single-chip microcomputer. 2. A head-mounted virtual or remote target capture and follow controller according to claim 1, characterized in that the infrared emitter is composed of an infrared light-emitting diode and an electronic switch connected in series, wherein the control of the electronic switch The terminal is connected with an I/O port of the single-chip microcomputer. 3. A head-mounted virtual or remote target capture and follow controller as claimed in claim 1 or 2, characterized in that the controller is composed of a transmitter (1) and data glasses (2) suitable for wearing on a human face , the infrared transmitter in the control circuit is located in the transmitter (1), and the control unit, the three-axis low-level acceleration sensor, the standard RS-232 serial interface and the infrared receiver are located in the frame of the data glasses 2 ( 2-1), the light-receiving surface of the infrared receiver is exposed by the upper middle part of the picture frame (2-1); a liquid crystal display (2-3) is also embedded in the picture frame (1), and the display of the liquid crystal display (2-3) The screen faces the side of the mirror feet (2-4). 4. A head-mounted virtual or remote target capture and follow controller as claimed in claim 1 or 2, characterized in that the controller consists of a launch device (1) and a data helmet (3) suitable for wearing on the human head Composition, the infrared transmitter in the control circuit is located in the transmitting device (1), the control unit, the three-axis low-level acceleration sensor, the standard RS-232 serial interface and the infrared receiver are located in the data helmet (3) In the helmet body (3-1), the light-receiving surface of the infrared receiver is exposed in the middle of the helmet body (3-1) front.

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