CN104699235B - Three dimensions imaging exchange method and system based on ultrasonic wave - Google Patents

Abstract

The invention discloses a kind of three dimensions imaging exchange method and system based on ultrasonic wave, three dimensions of the present invention is imaged exchange method, different from existing holographic imaging technology, method and system of the present invention initially set up 3 d space coordinate, target three dimensions is generated, and launches the ultrasonic microbubble that can be sensed with ultrasound field；Then, ultrasound field is formed in target three dimensions by ultrasonic wave, potential well position is generated in target three dimensions, control ultrasonic microbubble moves in target three dimensions and is stable at the position, coloured simultaneously by adjusting laser for ultrasonic microbubble, so as to form 3-D view in target three dimensions.Further, by continuously repeating above-mentioned steps, 3-D view is made to be presented to user as 3D images.The method of the invention and system are the 3D images that user shows, and user can be allowed to be interacted with 3D images, user can not only be made to experience the true sense of touch of 3D images during interaction, and 3-D view can also keep original structure.

Description

Three dimensions imaging exchange method and system based on ultrasonic wave

Technical field

The present invention relates to three dimensions imaging interaction technique field, more particularly to it is a kind of based on the three dimensions of ultrasonic wave into As exchange method and system.

Background technology

With the development of science and technology, electronic equipment and user's interacts constantly from virtually being evolved towards reality.From Amazon The one-dimensional platform of one key delivery system, to the two-dimensional flat plate finger slide of smart mobile phone, then to leap motion, The three-dimension gesture interaction platform such as kinect, increasingly closer to reality is interacted between user and equipment.

Traditional three-D imaging method needs fixed imaging plane, the imaging plane of described fixation can be screen, Water curtain, air curtain etc., using fixed imaging plane, the continual and steady existing plane of reflection is carried out to the light of light source in space Reflection, so as to which corresponding color be presented.

However, though heat is with the prevalence of 3D films and the development of holographic imaging technology, the exploitation of three dimensions imaging technique Obtain the attention of more and more China and foreign countries researchers.But the image that current holographic imaging technology is generated can not be to user Really to feed back, user can not be in the entity sense of touch with experiencing 3D images during 3D image interactives.

The content of the invention

For current imaging technique deficiency, the technical problems to be solved by the invention be to provide it is a kind of based on ultrasonic wave three Dimension space is imaged exchange method and system, and the three dimensions is imaged exchange method without fixed imaging plane, can realize user with The real-time, interactive of 3D images view-based access control model and tactile, that is, while user observes 3D images in three dimensions, moreover it is possible to Interact to obtain the true sense of touch and pressure feedback of 3D images with 3D images.

Three dimensions imaging exchange method provided by the present invention based on ultrasonic wave, different from existing holographic imaging skill It art, can not only be that user shows 3D images, while user can also be allowed to experience 3D images during being interacted with 3D images True sense of touch, and the 3D images that generate of the present invention can have comprehensive observed by the observer of optional position It is visual.Described 3D images can be static 3-D view, or the three-dimensional synthesized by the motion of multiple 3-D views is moved State image, or 3 D video image or the Two-dimensional Surfaces image (as shown in figure 11) that generates in three dimensions.

3-D view of the present invention refers to the figure being at least made up of a frame time T all three-dimensional graph picture points Picture, the image both can be 3-D views, can also two dimensional image, i.e. 3-D view the wherein one-dimensional feelings for being compressed into minimum value Condition, it can also be one dimensional image, i.e. situation of the wherein two dimensional compaction of 3-D view into minimum value.

Frame time T of the present invention is the time of picture points all in particulate matter motion traversal three dimensions, and Frame time T satisfactions persist time, i.e. 20 a quarter seconds less than human eye vision, and it is to connect in human eye to ensure whole 3-D view Continuous.

Three-dimensional graph picture point of the present invention refers to that described three-dimensional graph picture point refers to form 3-D view Each pixel, be by ultrasonic microbubble by after the Laser Focusing of three kinds of colors, the reflection laser in target three dimensions and present The point of respective color, it includes 7 property values, be respectively a time attribute value t, three locus property values (r, θ, φ), three color attribute values (R, G, B).

Described target three dimensions refer to 3-D view present three dimensions, it be different from other three-dimensional dimension images into The two-dimentional curtain that image space method relies on, it is except the height and width of two-dimentional curtain, also with spatial depth；And it is different from curtain Reflection source, presentation of the 3-D view in target three dimensions depend on reflection of the ultrasonic microbubble to light source.It is three-dimensional in target In space, only ultrasonic microbubble can reflection laser, present three-dimensional graph picture point, i.e., in addition to ultrasonic microbubble, target three Be not present in dimension space other can reflection laser, material (user and the three-dimensional graph picture point of three-dimensional graph picture point is presented Except carrying out interactive object, such as user is used to send the objects such as the arm, hand, waddy of instruction)；And ultrasonic microbubble can be with Ultrasound field senses, and the motion of ultrasonic microbubble is controlled by ultrasound field, can moved and stably in the potential well position of ultrasound field Put, reflect the laser of three kinds of colors, corresponding color is presented, the potential well position of ultrasound field can be in target three dimensions All positions in optional position, i.e. target three dimensions all have accessibility for ultrasonic microbubble.

Ultrasonic microbubble of the present invention is to sense with ultrasound field, the thing moved to the potential well position of ultrasound field Body；Ultrasound field of the present invention be ultrasonic waveform into field.

Respective color of the present invention refers to swash according to color scalar value (R', G', B'), three kinds of colors of red, green, blue Light is with the transmitting laser of respective strengths value, the color presented when being mixed on particulate matter.Wherein color scalar value R' is corresponding red The intensity level of laser, color scalar value G' correspond to the intensity level of green laser, and color scalar value B' corresponds to the intensity of blue laser Value.

Further, the three dimensions imaging exchange method provided by the present invention based on ultrasonic wave can also pass through positioning The hand position of user, the corresponding gesture of user is identified, obtains user instruction, enter user and the 3-D view of generation Row real-time interactive, the change to picture characteristics operate, and the hand position of described user refers to user's hand in three-dimensional space Between the location of middle and user's hand posture shape；The change of described picture characteristics includes the shape of image, color, big The change of the image attributes such as small, position, posture, the attitudes vibration of described image refer to image under three dimensions spherical coordinate system The change carried out according to pitch angle and the anglec of rotation.

Further, the three dimensions imaging exchange method provided by the present invention based on ultrasonic wave can also be known in real time Position of the other user in the 3-D view of generation, ensure the 3-D view of generation with being kept originally in user interaction process Structure, that is, the integrality of 3-D view are not damaged, while the proportion structure of its each composition keeps constant.

Wherein described user instruction be selected from the expansion of image, closing, rotation, switching, scaling, movement, folding, merging, Section displaying, part-overall transformation, Image Reversal, details show etc. in instruction any one or it is any a variety of.

Described image rotation refers to that image is rotated by center or rotary shaft.

Described image merges the Fusion Edges referred between different images.

Described image detail shows the detailed information displaying for referring to that image local is included；Described detailed information can be with It is that the attributes such as the hardness of material are presented in length, the image of image local.

To solve the technical problem of the present invention, technical scheme is as follows：

A kind of three dimensions imaging exchange method based on ultrasonic wave, comprises the following steps：

Step 1：Three dimensions spherical coordinate system is established, generates target three dimensions, ultrasonic microbubble is entered described target Three dimensions；

Step 2：Obtain the parameter information of three-dimensional graph picture point all in 3-D view, described three-dimension space image The parameter information of point includes t at the time of picture point, the spherical coordinate system coordinate (r, θ, φ) and color scalar value of picture point (R, G, B)；

Step 3：Positional information of the t user in target three dimensions is obtained, and according to described positional information, adjustment Generate the spherical coordinate system coordinate (r', θ ', φ ') and color scalar value (R', G', B') of the three-dimensional graph picture point of t；Also It is positional information of this step according to user in target three dimensions, adjusts the ball of the three-dimensional graph picture point of original t Coordinate system coordinate (r, θ, φ) and color scalar value (R, G, B), generate the spherical coordinate system of the three-dimensional graph picture point of new t Coordinate (r', θ ', φ ') and color scalar value (R', G', B')；

Step 4：According to the spherical coordinate system coordinate (r', θ ', φ ') of the three-dimensional graph picture point of t, ultrasonic wave is generated , the control ultrasonic microbubble motion of described ultrasound field, and make ultrasonic microbubble that there is corresponding speed, when being contacted with user to The corresponding pressure feedback of user is given, described ultrasonic microbubble is stable at ultrasound field potential well position in target three dimensions Put；

Step 5：According to the spherical coordinate system coordinate (r', θ ', φ ') of t three-dimensional graph picture point, laser direction is adjusted, Laser intensity is adjusted according to t three-dimension space image parameter color scalar value (R', G', B'), launches three kinds of face of red, green, blue The laser of color, makes it focus on ultrasonic microbubble, makes ultrasonic microbubble that respective color be presented, and then stops transmitting laser, waits next Secondary instruction；

Step 6：Repeat step 2~5, by a frame time T, all figures in ultrasonic microbubble traversal target three dimensions Picture point, 3-D view is generated in target three dimensions.

Described frame time T refers to needed for three-dimensional graph picture point all in ultrasonic microbubble traversal target three dimensions Time；Described frame time T is the time needed for the whole 3-D view of ultrasonic microbubble completion, and frame time T meets to be less than people The eye retentivity time of eye, ensure that whole 3-D view can be captured by human eye.

In described traversal target three dimensions all picture points refer to ultrasonic microbubble in target three dimensions according to Moment t distributing order, in the spherical coordinate system coordinate (r', θ ', φ ') of the three-dimensional graph picture points of all composition 3-D views, Corresponding color scalar value (R', G', B') is presented.All picture points refer to a frame time in described target three dimensions Influenceed in T by the moment t all three-dimensional graph picture points arranged by customer location under moment t and/or user operation instruction, The picture point generated in target three dimensions.

In one frame time T, three-dimensional graph picture point and the mapping relations such as figure of the image generated in target three dimensions Shown in 10.The spherical coordinate system coordinate (r, θ, φ) and color scalar value (R, G, B) of former three-dimensional graph picture point, can be only by the moment The influence of customer location obtains new spherical coordinate system coordinate (r', θ ', φ ') and color scalar value (R', G', B') under t；It is former three-dimensional The spherical coordinate system coordinate (r, θ, φ) and color scalar value (R, G, B) of space diagram picture point, can customer location and use under by moment t The influence of family operational order obtains new spherical coordinate system coordinate (r', θ ', φ ') and color scalar value (R', G', B')；It is former three-dimensional The spherical coordinate system coordinate (r, θ, φ) and color scalar value (R, G, B) of space diagram picture point, can user operation instruction under by moment t Influence obtain new spherical coordinate system coordinate (r', θ ', φ ') and color scalar value (R', G', B').

In the step 4 of three dimensions imaging exchange method provided by the invention based on ultrasonic wave, described ultrasound field Control ultrasonic microbubble motion refers to that described ultrasonic microbubble is synchronous with ultrasound field generation coupling；Described coupling synchronously refers to surpass The resonant frequency ω of sound microvesicle_cWith the frequencies omega of ultrasound field_eIt is equal, and ultrasonic microbubble is sensitive to ultrasound field, by ultrasound Wave field active force；The ultrasound field effect power includes one or more uncorrelated gradient arrows that ultrasonic microbubble position is subject to Measure the active force on direction, the ultrasound field being distributed in real-time dynamic reflection induction range of ultrasonic microbubble；

Wherein, choosing for ultrasonic microbubble can utilize the method for resonant frequency matching to meet the ultrasound of above-mentioned condition to screen Microvesicle, described resonant frequency matching process include frequency direct measuring method and frequency scanning determination method.

Described frequency direct measuring method refers to be calculated according to the quality m and coefficient of elasticity k of ultrasonic microbubble, wherein The coefficient of elasticity k of ultrasonic microbubble is relevant with the appearance and size and hardness of ultrasonic microbubble, and the quality and coefficient of elasticity of ultrasonic microbubble are all It can be obtained by searching corresponding material parameter, then the resonant frequency ω of ultrasonic microbubble_cCalculation formula it is as follows：

Described frequency scanning determination method refers to continually scan for the frequency for changing ultrasonic wave generating source, micro- by observing ultrasound Bubble effect of ultrasonic wave in same intensity different frequency ultrasound field is showed to determine the resonant frequency of ultrasonic microbubble, or directly Measured by frequency meter.

For multiple ultrasonic roots according to the spherical coordinate system coordinate points (r', θ ', φ ') of the three-dimensional graph picture point of t, generation is super Potential well position is located at the spherical coordinate system coordinate points (r', θ ', φ ') in target three dimensions in acoustic wavefield, wherein ultrasound field, surpasses Sound microvesicle potential well position into ultrasound field is moved, and is finally stable at the position.Ball just because of three-dimensional graph picture point is sat The coordinate of mark system coordinate points (r', θ ', φ ') and potential well position (r', θ ', φ ') it is identical, particulate matter could be presented in relevant position Corresponding color, turn into three-dimensional graph picture point.

Preferably, the three dimensions imaging exchange method provided by the invention based on ultrasonic wave, moreover it is possible to further identification User operation instruction, and corresponding map function can be carried out to the 3-D view of generation based on the instruction, comprise the following steps：

Step 1：Three dimensions spherical coordinate system is established, generates target three dimensions, ultrasonic microbubble is entered described target Three dimensions；

Step 2：Obtain the parameter information of three-dimensional graph picture point all in 3-D view, described three-dimension space image The parameter information of point includes t at the time of picture point, the spherical coordinate system coordinate (r, θ, φ) and color scalar value of picture point (R, G, B)；

Step 3：Positional information of the t user in target three dimensions is obtained, and combines n frame time T use before t Family target three dimensions positional information, analysis obtain user operation instruction, then according to t user in target three-dimensional space Between positional information and obtained user operation instruction, the spherical coordinate system coordinate of the three-dimensional graph picture point of adjustment generation t (r', θ ', φ ') and color scalar value (R', G', B')；Described customer position information includes current time t_m, user's finger tip Spherical coordinate system coordinate (r_m,θ_m,φ_m)；Described frame time T refers to three-dimensional all in ultrasonic microbubble traversal target three dimensions Time needed for space diagram picture point；

Step 4：According to the spherical coordinate system coordinate (r', θ ', φ ') of the three-dimensional graph picture point of t, ultrasonic wave is generated , the control ultrasonic microbubble motion of described ultrasound field, and make ultrasonic microbubble that there is corresponding speed, when being user's contact to The corresponding pressure feedback of user is given, described ultrasonic microbubble is stable at ultrasound field potential well position in target three dimensions Put；

Step 5：According to the spherical coordinate system coordinate (r', θ ', φ ') of t three-dimensional graph picture point, laser direction is adjusted, Laser intensity is adjusted according to t three-dimension space image parameter color scalar value (R', G', B'), launches three kinds of face of red, green, blue The laser of color, ultrasonic microbubble is focused on, respective color is presented in ultrasonic microbubble, then stops transmitting laser, and wait instructs next time；

Step 6：Repeat step 2~5, by a frame time T, all figures in ultrasonic microbubble traversal target three dimensions Picture point, 3-D view is generated in target three dimensions.

Expansion of the described user instruction selected from image, closing, rotation, switching, scaling, movement, folding, merging, section Displaying, part-overall transformation, Image Reversal, details show etc. in instruction any one or it is any a variety of.

Described image rotation refers to that image is rotated by center or rotary shaft.

Described image merges the Fusion Edges referred between different images.

Described image detail shows the detailed information displaying for referring to that image local is included；Described detailed information can be with It is that the attributes such as the hardness of material are presented in length, the image of image local.

Preferably, the present invention also provides a kind of three dimensions imaging exchange method based on ultrasonic wave, one can not only be entered Step identification user operation instruction, moreover it is possible to by the relative tertiary location relation of 3-D view that is generated with previous frame time T and/ Or user operation instruction is launched to control or stops launching laser, ensure what the integrality that 3-D view is presented was not operated by user Interference, its step are as follows：

Step 1：Three dimensions spherical coordinate system is established, target three dimensions is generated, ultrasonic microbubble is entered target three-dimensional space Between；

Step 2：Obtain the parameter information of three-dimensional graph picture point all in 3-D view, described three-dimension space image The parameter information of point includes t at the time of picture point, the spherical coordinate system coordinate (r, θ, φ) and color scalar value of picture point (R, G, B)；

Step 3：Positional information of the t user in target three dimensions is obtained, and combines n frame time T use before t Family target three dimensions positional information, analysis obtain user operation instruction, then according to t in target three dimensions Customer position information and user operation instruction, the spherical coordinate system coordinate (r', θ ', φ ') and color of adjustment generation graphics picture point Scalar value (R', G', B')；Described customer position information includes current time t_m, the spherical coordinate system coordinate (r of user's finger tip_m, θ_m,φ_m)；Described frame time T refers to that ultrasonic microbubble travels through the time needed for all three-dimensional graph picture points；

Described frame time T is to complete the time needed for whole 3-D view, and frame time T meets to be less than human eye vision The time is persisted, ensures that whole 3-D view can be captured by human eye.

Step 4：According to the spherical coordinate system coordinate (r', θ ', φ ') of the three-dimensional graph picture point of t, ultrasonic wave is generated , the control ultrasonic microbubble motion of described ultrasound field, and make ultrasonic microbubble that there is corresponding speed, when being contacted with user to The corresponding pressure feedback of user is given, described ultrasonic microbubble is stable at ultrasound field potential well position in target three dimensions Put；

Step 5：According to the relative tertiary location relation and/or use of user and previous frame time the T 3-D view generated Family operational order is launched to control or stops launching laser, if transmitting laser, is sat according to the ball of t three-dimensional graph picture point Mark system coordinate (r', θ ', φ '), adjust laser direction, according to t three-dimension space image parameter color scalar value (R', G', B' laser intensity) is adjusted, launches the laser of three kinds of colors of red, green, blue, focuses on ultrasonic microbubble, corresponding face is presented in ultrasonic microbubble Color, then stops transmitting laser, and wait instructs next time；

Step 6：Repeat step 2~5, by a frame time T, ultrasonic microbubble travels through all three-dimensional graph picture points, 3-D view is generated in target three dimensions.

The present invention also provides three based on ultrasonic wave corresponding to a kind of three dimensions imaging exchange method based on ultrasonic wave Dimension space is imaged interactive system, and described interactive system includes ultrasonic wave and module, laser generation module, interactive information acquisition occurs Module, the first image storage analysis and processing module and power module, (its structured flowchart such as Fig. 9 institutes occur for module, ultrasonic microbubble Show), wherein：

Described ultrasonic wave occurs module and is used to launch ultrasonic wave, forms ultrasound field, forms potential well in three dimensions, So as to control ultrasonic microbubble to move to potential well position, and it is stable at the position；Preferably, module occurs for described ultrasonic wave, It can be made up of at least three supersonic generators and at least one ultrasonic wave controller, described ultrasonic wave controller is used to connect The ultrasonic wave control signal that the first image storage analysis and processing module is sent is received, execute instruction is sent to each supersonic generator Parameter, control send direction, intensity and the phase of excusing from death ripple, and supersonic generator is used to receive holding for ultrasonic wave controller transmission Row order parameter, adjustment send the ultrasonic wave of respective direction, intensity and phase, form ultrasound field, are formed in three dimensions Potential well, so as to control ultrasonic microbubble to move to potential well position, and it is stable at the position.

Specifically, the method that ultrasonic microbubble is stable at ultrasound field potential well position in target three dimensions is as follows：

Ultrasonic wave occurs module and is made up of the individual supersonic generators of n (n >=3) and at least one ultrasonic wave controller；It is described Execute instruction parameter of the potential well position on each supersonic generator be Then exist In target three dimensions, positioned at the potential energy V of the ultrasonic microbubble of ultrasound field each point_e(r_i) be calculated by below equation：

Wherein, E_kThe energy sent for k-th of supersonic generator, (r_ik,θ_ik,φ_ik) it is in t_iK-th of ultrasonic wave of moment Execute instruction parameter of the generator using itself as spherical coordinate system origin,For in t_iThe ultrasound of k-th of supersonic generator of moment Wave phase adjusting parameter, K be ultrasound field proportionality constant, q_ikFor in t_iThe intensity of k-th of ultrasonic wave of moment.

Specifically, ultrasonic microbubble senses with ultrasound field, forms ultrasonic microbubble Density Distribution.T is in locus r_i On, the ultrasonic microbubble density of the pseudo- potential energy of ultrasonic microbubble Density Distribution thus position determines.Therefore, ultrasonic microbubble Density Distribution Pseudo- potential energy is：

V_c(r_i, t) and=σ C (r_i,t)

C(r_i, t) and it is r_iThe ultrasonic microbubble density of opening position, σ ε_iIn the range of ultrasonic microbubble Density Distribution density- Potential energy conversion coefficient, σ can be by measuring in the state of the equilibrium, potential energy V₀Ultrasound field r_iThe ultrasonic microbubble density C at place₀ It is calculated, calculation formula is as follows：

On the r of locus, the potential energy of definition sensing synthesis expression field is t：

V (r, t)=V_c(r,t)-V_e(r,t)

V is that ultrasonic microbubble synthesizes the potential energy in expressing field, V in sensing_cFor the pseudo- potential energy of ultrasonic microbubble Density Distribution, V_eFor Potential energy of the ultrasonic microbubble in ultrasound field；

On the r of locus, the quantum superposition state plane wave function ψ (r, t) of ultrasonic microbubble is represented by known t：

A (r) be wave function amplitude, ω_cFor the frequency of wave function, and meet ω_c=ω_e, ω_eFor ultrasound field frequency；

Again because ultrasonic microbubble senses with ultrasound field, r in the unit interval is then considered_iPosition ultrasonic microbubble is by ultrasound Wave field gradient force action and the ENERGY E (r changed_i) synthesized with sensing and express field potential energy difference Δ V (r_i) there is following relation：

E(r_i)ψ(r_i)=Δ V (r_i)

Sensing synthesis expression field potential energy difference Δ V (r_i) be can be calculated with time t situation of change by below equation：

ΔV(r_i, t) and=Δ V_c(r_i,t)-ΔV_e(r_i,t)

Wherein, Δ V_c(r_i, t) be ultrasonic microbubble Density Distribution pseudo- potential energy difference, Δ V_e(r_i, t) for ultrasonic microbubble in ultrasound Potential energy difference in wave field, N ε_iIn the range of and r_iRelevant position quantity.

In the case of without additional potential energy, position r_iWith r_jThe potential energy of the sensing synthesis expression field at place reaches poised state, needs Meet following relation：

As available from the above equation, ultrasonic microbubble is in position r_iWith r_jThe potential energy of the sensing synthesis expression field at place reaches poised state Potential variation amount is：

In t in locus r_iOn ultrasonic microbubble in the case where sensing synthesizes expression field gradient it is suffered make a concerted effort beCalculation formula is as follows：

Wherein, | c_ij|²Exist for ultrasonic microbubbleThe powered quantity of ultrasonic microbubble is accounted for by driving number on gradient of vector direction Amount ratio.

Therefore, r_iQuantum superposition state residing for ultrasonic microbubble on position is represented by

Therefore, using without when Schrodinger equation describe ultrasonic microbubble under t motion state it is as follows：

ψ(r_i) it is position r_iLocating the wave function of ultrasonic microbubble, m is ultrasonic microbubble quality,For reduced Planck constant.

When in r_iWhen the ultrasonic microbubble kinetic energy at place meets approximately equal, above equation is changed into：

T(r_i)+U(r_i)ψ(r_i)=E ψ (r_i)

T(r_i) it is position r_iLocate ultrasonic microbubble kinetic energy, U (r_i) it is position r_iLocate ultrasonic microbubble potential energy.

It is knownE(r_i)ψ(r_i)=Δ V (r_i), then have：

And normal velocity component u and speed v point of the ultrasonic microbubble along contour surface are calculated by Hamilton-Jacobi equation It is not：

As u=v, tangential velocity component of the ultrasonic microbubble along equipotentiality curved surface is 0, is not occurred in ultrasonic microbubble motion process Collision, the efficiency highest of ultrasonic microbubble motion, the ultrasonic microbubble change energy that is thus easy to get and the relation of change potential energy are E=2U.

Derived more than, t is in locus r_iUpper all ultrasonic microbubbles sense synthesis expression field according to corresponding Gradient direction motion, do not produce collision between ultrasonic microbubble now, most efficient self-organization can be ensured.

Then, r_iThe ultrasonic microbubble of position is to r_jThe speed during self-organization of position is calculated as follows：

As V (r_i,t)-V(r_j, t) ＞ 0 when, v_ij＞ 0, now, r_iUltrasonic microbubble on position is to r_jPosition is moved, and works as V (r_i,t)-V(r_j, t) ＜ 0 when, v_ij＜ 0, now, r_jUltrasonic microbubble outside position is to r_iPosition is moved, as V (r_i,t)-V(r_j,t) When=0, v_ij=0, now, r_iThe ultrasonic microbubble of position is relative to r_jPosition reaches poised state.Therefore, ultrasonic microbubble is eventually It is stable at the minimum ultrasound field potential well position r of V (r, t).

The laser that module is used to launch three kinds of colors of red, green, blue occurs for described laser, and control ultrasonic microbubble presents corresponding Color；Module occurs for described laser can be by least one red laser generator, at least one green glow generator, at least one Individual blue light generator and at least one laser generator controller composition；Described red laser generator is red sharp for sending Light；Described green laser generator is used to send green laser；Described blue laser generator is used to send blue laser； Described laser generator controller is used to receive the laser control signal that the first image storage analysis and processing module is sent, control hair Go out direction, the intensity of laser.

Described interactive information acquisition module is used to determine the positional information of user in three dimensions, is converted to user position Confidence number is simultaneously sent to the first image storage analysis and processing module；Described interactive information acquisition module can be swashed by least three Optical range finding apparatus and at least one identification device composition；The distance that laser ranging system is used to determine user's body to device is joined Number；Identification device is used to identify user's body, and identification device can use the equipment such as Leap Motion, Kinect.

Described ultrasonic microbubble occurs module and is used to generate ultrasonic microbubble；With ultrasound field coupling occurs for described ultrasonic microbubble Contract walks；Described coupling synchronously refers to that ultrasonic microbubble meets the resonant frequency ω of ultrasonic microbubble with ultrasound field_cWith ultrasonic wave The frequencies omega of field_eIt is equal, and ultrasonic microbubble is sensitive to ultrasound field, by ultrasound field effect power；The ultrasound field is made Firmly include the active force on one or more uncorrelated gradient vector directions that ultrasonic microbubble position is subject to, ultrasonic microbubble The real-time dynamic reflection induction range of distribution in ultrasound field.Described ultrasonic microbubble occurs module and receives the storage of the first image The control signal of analysis and processing module, ultrasonic microbubble is generated according to control signal.

Wherein, choosing for ultrasonic microbubble can utilize the method for resonant frequency matching to meet the ultrasound of above-mentioned condition to screen Microvesicle, described resonant frequency matching process include frequency direct measuring method and frequency scanning determination method；

Described frequency direct measuring method refers to be calculated according to the quality m and coefficient of elasticity k of ultrasonic microbubble, wherein The coefficient of elasticity k of ultrasonic microbubble is relevant with the appearance and size and hardness of ultrasonic microbubble, and the quality and coefficient of elasticity of ultrasonic microbubble are all It can be obtained by searching corresponding material parameter, then it is as follows to calculate formula for the resonant frequency of ultrasonic microbubble：

Described frequency scanning determination method refers to continually scan for the frequency for changing ultrasonic wave generating source, micro- by observing ultrasound Bubble effect of ultrasonic wave in same intensity different frequency ultrasound field is showed to determine the resonant frequency of ultrasonic microbubble, or directly Measured accordingly by frequency meter.

Described the first image storage analysis and processing module is used for the picture point parameter letter for storing and reading graphics picture point Breath, send ultrasonic microbubble generation signal and module occurs to ultrasonic microbubble, receive the use that described interactive information acquisition module is sent Family position signalling, generated after being analyzed and processed the three-dimensional graph picture point of t spherical coordinate system coordinate (r', θ ', φ ') and Color scalar value (R', G', B'), and the spherical coordinate system coordinate of three-dimensional graph picture point (r', θ ', φ ') is converted into ultrasonic wave Control signal is sent to supersonic generator, and control sends direction, intensity and the phase of ultrasonic wave, by color scalar value (R', G', B') laser control signal is converted to, it is sent to laser and module occurs, control sends direction, the intensity of laser, micro- to ultrasound The raw module that is soaked sends ultrasonic microbubble generation signal.

Preferably, described the first image storage analysis and processing module includes image information memory module and the first data Analysis and processing module.

Wherein, described image information memory module is used for the parameter information for storing graphics picture point；Described graphics The parameter information of picture point includes t at the time of picture point, the spherical coordinate system coordinate (r, θ, φ) and color scalar value of picture point (R, G, B)；

The first described Data Analysis Services module is used for the ginseng for reading the graphics picture point in image information memory module Number information, receives users location signals, analyzes and processes users location signals, the three-dimensional graph picture point of adjustment generation t Spherical coordinate system coordinate (r', θ ', φ ') and color scalar value (R', G', B'), and the spherical coordinate system of three-dimensional graph picture point is sat Mark (r', θ ', φ ') is converted to ultrasonic wave control signal and is sent to supersonic generator, and control sends direction, the intensity of ultrasonic wave And phase, color scalar value (R', G', B') is converted into laser control signal, laser is sent to and module occurs, control sends sharp The direction of light, intensity, send ultrasonic microbubble generation signal and module occurs to microvesicle.

Described power module is used to module, laser generation module, interactive information acquisition module, ultrasound occur to ultrasonic wave Module occurs for microvesicle, the first image storage analysis and processing module provides the energy, and is connected with above-mentioned module.

The present invention also provides three based on ultrasonic wave corresponding to a kind of three dimensions imaging exchange method based on ultrasonic wave Dimension space is imaged interactive system, can further identify user operation instruction, moreover it is possible to pass through the three-dimensional generated with previous frame time T The relative tertiary location relation and/or user operation instruction of image are three-dimensional to control transmitting or stopping transmitting laser, guarantee presentation The integrality of image is not disturbed by user's operation, described interactive system includes ultrasonic wave generation module, module occurs for laser, Module, the second image storage analysis and processing module and power module (its structural frames occur for interactive information acquisition module, ultrasonic microbubble Figure is as shown in Figure 1), wherein：

Described ultrasonic wave occurs module and is used to receive the ultrasonic wave control that the second image storage analysis and processing module is sent Signal, launch ultrasonic wave, form ultrasound field, potential well is formed in three dimensions, so as to control ultrasonic microbubble to move to potential well Position, and it is stable at the position；Preferably, module occurs for described ultrasonic wave, can be by least three supersonic generators Formed with least one ultrasonic wave controller, described ultrasonic wave controller is used to receive the second image storage analysis and processing module The ultrasonic wave control signal sent, to each supersonic generator send execute instruction parameter, control send excusing from death ripple direction, Intensity and phase, ultrasound field is formed, forms potential well in three dimensions, so as to control ultrasonic microbubble to move to potential well position, And it is stable at the position.

The laser that module is used to launch three kinds of colors of red, green, blue occurs for described laser, and control ultrasonic microbubble presents corresponding Color；Module occurs for described laser can be by least one red laser generator, at least one green glow generator, at least one Individual blue light generator and laser generator controller；Described red laser generator is used to send red laser；Described green Laser generator is used to send green laser；Described blue laser generator is used to send blue laser；Described laser hair Raw controller is used to receive the laser control signal that the second image storage analysis and processing module is sent, and control sends the side of laser Transmitting to, intensity and laser and stop transmitting.

Described interactive information acquisition module is used to determine the positional information of user in three dimensions, is converted to user position Confidence number is simultaneously sent to the second image storage analysis and processing module；Described interactive information acquisition module can be swashed by least three Optical range finding apparatus and at least one identification device composition；The distance that laser ranging system is used to determine user's body to device is joined Number；Identification device is used to identify user's body, and identification device can use the equipment such as Leap Motion, Kinect.

Described ultrasonic microbubble occurs module and is used to generate ultrasonic microbubble；With ultrasound field coupling occurs for described ultrasonic microbubble Contract walks；Described coupling synchronously refers to that ultrasonic microbubble meets the resonant frequency ω of ultrasonic microbubble with ultrasound field_cWith ultrasonic wave The frequencies omega of field_eIt is equal, and ultrasonic microbubble is sensitive to ultrasound field, by ultrasound field effect power；The ultrasound field is made Firmly include the active force on one or more uncorrelated gradient vector directions that ultrasonic microbubble position is subject to, ultrasonic microbubble The real-time dynamic reflection induction range of distribution in ultrasound field.Described ultrasonic microbubble occurs module and receives the storage of the second image The ultrasonic microbubble generation signal of analysis and processing module, signal generation ultrasonic microbubble is generated according to ultrasonic microbubble.

Described the second image storage analysis and processing module is used for the parameter information for storing and reading graphics picture point, sends Ultrasonic microbubble generates signal and module occurs to ultrasonic microbubble, receives the customer location letter that described interactive information acquisition module is sent Number, and analyze to obtain user operation instruction according to the positional information of n frame time T before t, according to the user of t in mesh Mark the positional information and user operation instruction in three dimensions, the spherical coordinate system of the three-dimensional graph picture point of adjustment generation t Coordinate (r', θ ', φ ') and color scalar value (R', G', B'), and by the spherical coordinate system coordinate of three-dimensional graph picture point (r', θ ', φ ') be converted to ultrasonic wave control signal and be sent to supersonic generator, control sends direction, intensity and the phase of ultrasonic wave, root According to user and the relative tertiary location relation of the 3-D view of previous frame time T generations, by color scalar value (R', G', B') Laser control signal is converted to, laser is sent to and module occurs, control sends the direction of laser, the transmitting of intensity and laser and stopped Only launch, module, which occurs, to microvesicle sends ultrasonic microbubble generation signal.

Preferably, described the second image storage analysis and processing module includes image information memory module, the second data Analysis and processing module, wherein,

Described image information memory module is used for the parameter information for storing graphics picture point；Described graphics picture point Parameter information includes t at the time of picture point, the spherical coordinate system coordinate (r, θ, φ) and color scalar value (R, G, B) of picture point；

The second described Data Analysis Services module is used for the ginseng for reading the graphics picture point in image information memory module Number information, receives the users location signals that described interactive information acquisition module is sent, and identification user and previous frame time T give birth to Into 3-D view relative tertiary location relation, and according to the position signalling of n frame time T before t, analysis obtains user Operational order, according to positional information and/or user operation instruction of the user of t in target three dimensions, generate t Three-dimensional graph picture point spherical coordinate system coordinate (r', θ ', φ ') and color scalar value (R', G', B'), and by three dimensions The spherical coordinate system coordinate (r', θ ', φ ') of picture point is converted to ultrasonic wave control signal and is sent to supersonic generator, control hair Go out direction, intensity and the phase of ultrasonic wave, according to the relative tertiary location of user and previous frame time the T 3-D view generated Relation, color scalar value (R', G', B') is converted into laser control signal, is sent to laser and module occurs, control sends laser Direction, intensity and laser transmitting and stop transmitting, to ultrasonic microbubble occur module send ultrasonic microbubble generation signal.

Described power module is used to module, laser generation module, interactive information acquisition module, ultrasound occur to ultrasonic wave Module occurs for microvesicle, the second image storage analysis and processing module provides the energy, and is connected with above-mentioned module.

The beneficial effects of the invention are as follows：Three dimensions imaging method and system based on ultrasonic wave, the present invention can pass through 3-D view is presented in target three dimensions in ultrasonic microbubble, due to ultrasonic microbubble in by ultrasound field ultrasonic potential well controlled, The optional position that can be moved in target three dimensions, therefore the imaging of 3-D view of the present invention is independent of fixation Imaging plane；Again because interactive information acquisition module can catch positional information of the user in target three dimensions, and then Can be by catching action of the user in object space, therefore the method for the invention and system can control ultrasonic microbubble Motion, adjusts position of the 3-D view in target three dimensions, user is carried out real-time interactive with 3-D view.

Specifically, the real-time interactive includes：(1) manipulation of the user to 3-D view, the gesture instruction of user can be by System identification of the present invention, user can manipulate 3-D view；(2) user experiences the sense of touch of 3-D view, due to this The described method and system of invention according to the positional information of user, can adjust the movement velocity of ultrasonic microbubble, so as to user with During the 3-D view contact of generation, user can be experienced 3-D view and object is presented by corresponding pressure feedback True sense of touch；(3) integrality of 3-D view is not disturbed by user action, because three dimensions of the present invention is imaged Method and system according to the positional information of user, can adjust the movement locus of ultrasonic microbubble, therefore user and the three-dimensional of generation When image contacts, the integrality of 3-D view structure is not disturbed by user.User has surmounted existing three with system interaction Vision is tieed up, it is also realistic in body-sensing tactile.

Brief description of the drawings

Fig. 1 is the structured flowchart of the imaging interactive system of the three dimensions based on ultrasonic wave of the present invention；

Fig. 2 is the flow chart of the imaging exchange method of the three dimensions based on ultrasonic wave of the present invention；

Fig. 3 is the user instruction schematic diagram of image rotation of the present invention；

Fig. 4 is the user instruction schematic diagram of image scaling of the present invention；

Fig. 5 is that the present invention shows remarks and the user instruction schematic diagram introduced；

Fig. 6 is the user instruction schematic diagram that image of the present invention is retreated；

Fig. 7 is present invention generation ultrasound field potential well schematic diagram；

Fig. 8 is that module and ultrasonic wave generation module synchronization control schematic diagram occur for laser of the present invention；

Fig. 9 is the structured flowchart of the imaging interactive system of the three dimensions based on ultrasonic wave of the present invention；

Figure 10 is 3 d image data of the present invention and generation 3-D view graph of a relation；

Figure 11 is the 3-D view schematic diagram of present invention generation Two-dimensional Surfaces；

Shown in figure, 5 --- ultrasonic wave generation module, 6 --- laser generation module, 11 --- ultrasonic microbubble, 12 --- Coordinate origin, 13 --- the potential well position of ultrasound field.

Embodiment

Hereinafter, exemplary embodiment is described in detail with reference to the drawings.However, specific structure disclosed herein and functional details Only represent the purpose of description exemplary embodiment.Exemplary embodiment can be realized by many alterative versions, should not be construed as only It is limited to exemplary embodiments set forth herein.

It is understood that although can be used term " first ", " second " etc. to describe each element here, but these elements are not Should be limited by these terms.These terms are only used for an element and another differentiation.For example, the first element can be described as Second element, similarly, second element can be described as the first element, without departing from the scope of exemplary embodiment.Here, term "and/or" includes one or more any one and all combinations that correlation lists project.

It is understood that when element is referred to as " connecting " or " coupling " is to another element, it can be directly connected to or coupled to other yuan Element, or neutral element may be present.On the contrary, when element is referred to as " being directly connected to " or " direct-coupling " to another element, in being not present Between element.Other words for describing relation between element can be explained in the same way.

(such as " between " and " directly between ", " adjacent " and " direct neighbor " etc.).

Here, singulative " one ", "one" and " described " are intended to also include plural form, except non-language explicitly indicates that.

It can also be appreciated that term " comprising ", " including ", "comprising" and/or " including " indicate when in use signified feature, Integer, step, operation, the presence of element, and/or component, but it is not excluded for other one or more features, integer, step, behaviour Presence or increase of work, element, and/or component and/or its group.

It shall yet further be noted that in some alternatives, the function/action pointed out in illustrative methods can not be according to shown in accompanying drawing Or the order described in specification occurs.For example, sequentially two shown accompanying drawings or step can be actually serial and performed simultaneously, Or in reverse order or can sometimes repeat, depending on involved function/action.Similarly, in any shown or institute Between the step of stating, extra intermediate steps are can perform before or afterwards.

In order that the object, technical solutions and advantages of the present invention are clearer, by taking three-dimensional demonstration human body food digestion as an example, With reference to accompanying drawing, the invention will be further described.

Demonstrate required three-dimensional image information in this example to be pre-stored within the image information memory module of the system, this example The scene of demonstration is that teacher explains chemical explosion, attraction, the classroom of digestion, teacher-oriented hair to student respectively The bright user in this demonstration, student and teacher on the scene are observer.

Three dimensions imaging interactive system of the present invention based on ultrasonic wave includes ultrasonic wave and module, laser hair occurs Module, the second image storage analysis and processing module and power module occur for raw module, interactive information acquisition module, ultrasonic microbubble, Described the second image storage analysis and processing module includes image information memory module and the second Data Analysis Services module, described Ultrasonic wave occur module be made up of supersonic generator and ultrasonic wave controller, structured flowchart such as Fig. 1 of the interactive system It is shown；Interactive system of the present invention generated in target three dimensions 3-D view and with flow such as Fig. 2 of user mutual It is shown.

System specific works step of the present invention is as follows：

Step 1：System initialization, the second Data Analysis Services module are formed flat with ultrasonic generator in ultrasonic module Face central point is spherical coordinate origin, establishes spherical coordinate, and sits the angle of depression of each ultrasonic generator in reference axis 0 is designated as, ultrasonic microbubble occurs module transmitting ultrasonic microbubble and enters target three dimensions；

Step 2：Second Data Analysis Services module obtains the ginseng of the three-dimensional graph picture point in image information memory module Number information, the parameter information of described three-dimensional graph picture point include t at the time of picture point, the spherical coordinate system coordinate of picture point (r, θ, φ) and color scalar value (R, G, B), i.e. three-dimensional graph picture point i information parameter are (t_i,r_i,θ_i,φ_i,R_i,G_i, B_i)；

Step 3：Interactive information acquisition module obtains t_iPositional information (t of the moment user in target three dimensions_i,r_im, θ_im,φ_im), and it is sent to the second Data Analysis Services module；

Specific implementation process is as follows：

By taking the hand various point locations for determining user as an example, interactive information acquisition module is by three laser ranging systems and one Identification device forms；Hand various point locations are identified by identification device first, obtained respectively by three laser ranging systems Spherical coordinate system parameter (r to finger using j-th of laser ranging system as origin_jm,θ_jm,φ_jm), according to laser ranging system certainly Spherical coordinate system location parameter (the r established in system_j,θ_j, 0), the coordinate (r of hand position can be calculated_m,θ_m,φ_m), meter It is as follows to calculate formula：

Wherein, r_jmFor the distance of user's finger m to j-th laser ranging system, θ_jmIt is user's finger m relative to j-th The corner of laser ranging system, φ_jmThe elevation angle for user's hand position m relative to j-th of laser ranging system.

Interactive information acquisition module identifies hand profile, user is worked as by determining the position coordinates of user's hand each point The hand position information at preceding moment is sent to the second Data Analysis Services module.

Step 4：Second Data Analysis Services module receives user's current time t_iHand position information, and combine t_iWhen Before quarter n frame time T user target three dimensions positional information, analysis obtain user operation instruction, then according to t_iWhen Carve positional information of the user in target three dimensions and obtained user operation instruction, the spherical coordinate system of adjustment generation picture point Coordinate (r_i',θ_i',φ_i') and color scalar value (R_i',G_i',B_i'), and further by the spherical coordinate system coordinate of picture point (r_i',θ_i',φ_i') be converted to the order parameter (r that each supersonic generator and laser generator in module occur for ultrasonic wave_ik, θ_ik,φ_ik)；

Specific Image Adjusting coordinate system transformation is clicked through using the coordinate transformation method of spherical coordinate system image to former coordinate system The conversion such as row translation, rotation, scaling diminution, when such as carrying out equal proportion zoom to image, there is following relation：r_i'= l·r_i, θ_i'=θ_i, φ_i'=φ_i, l is proportionality coefficient；When being rotated to figure, there is following relation：r_i'=r_i, θ_i'=θ_i+ Δ θ, φ_i'=φ_i+ Δ φ, Δ θ and Δ φ are the corresponding anglec of rotation；, can be first by spherical coordinate when such as being translated to image It is coordinate (r_i,θ_i,φ_i) be converted to plane right-angle coordinate (x_i,y_i,z_i), translation obtains (x_i',y_i',z_i'), reconvert balling-up Coordinate system coordinate (r_i',θ_i',φ_i'), wherein there is following relation：x_i'=x_i+ Δ x, y_i'=y_i+ Δ y, z_i'=z_i+ Δ z, Δ x, Δ y, Δ z are respectively three translation of axes amounts；Other complex transformations can be by converting combination producing briefly above, such as rolls over Dissolve and change and can be obtained by rotation and translation conversion superposition.

By taking supersonic generator as an example, it is as follows that picture point i parameter information specifically changes implementation process：

Known now picture point i parameter information is (t_i,r_i,θ_i,φ_i,R_i,G_i,B_i), module occurs for ultrasonic wave according to this (t in picture point parameter information_i,r_i',θ_i',φ_i') picture point is obtained to each ultrasonic wave generation of ultrasonic wave generation module Specific instruction parameter (the r of device_ik,θ_ik,φ_ik), k-th supersonic generator is (r in spherical coordinate system coordinate parameters_k,θ_k,0) Calculation formula is as follows：

Wherein, r_ikFor the distance of picture point i to k-th supersonic generator, θ_ikIt is picture point i ultrasonic relative to k-th The corner of wave producer, φ_ikThe elevation angle for picture point i relative to k-th of supersonic generator, c are the velocity of sound,K-th to surpass The elevation angle adjustment phase place of sonic generator.

In the present embodiment by taking the finger for detecting user as an example, the use of the 3-D view rotation of the system generation can be set Family instruction outwards straightens to U-shaped, remaining finger for thumb and forefinger and kept clenching fist the action of shape, rotary wrist, such as Fig. 3 institutes Show；3-D view scaling user instruction in addition to thumb and forefinger finger keep clench fist shape, thumb and forefinger to The action of U-shaped, change thumb and forefinger angle is overhang into, as shown in Figure 4；The pause of the system simultaneously shows and determined The user instruction of respective menu is that forefinger stretches and double-clicks the action of corresponding 3-D view, remaining digital flexion, as shown in Figure 5； The user instruction of the front and rear switching of 3-D view keeps shape of clenching fist for each finger in addition to forefinger, and forefinger is extended straight forward quickly to the left Or the action of stroke to the right, as shown in Figure 6.

Step:5：According to the spherical coordinate system coordinate (r', θ ', φ ') of the three-dimensional graph picture point of t, ultrasonic wave is generated , the control ultrasonic microbubble motion of described ultrasound field, and make ultrasonic microbubble that there is corresponding speed, when being contacted with user to The corresponding pressure feedback of user is given, described ultrasonic microbubble is stable at ultrasound field potential well position in target three dimensions Put.

The potential energy calculation of specific ultrasound field is as follows:

It is made up of for example, module occurs for ultrasonic wave three supersonic generators and a ultrasonic wave controller, it is known that image Order parameter o'clock on k-th of supersonic generator isThen ultrasonic microbubble is positioned at super Potential energy V in acoustic wavefield during focus point_e(r_i) be calculated by below equation：

K be ultrasound field proportionality constant, q_ikFor in t_iThe intensity of k-th of ultrasonic wave of moment, E_kSent out for k-th of ultrasonic wave The energy that raw device is sent, (r_ik,θ_ik,φ_ik) it is in t_iK-th of supersonic generator of moment is using itself as spherical coordinate system origin Execute instruction parameter,For in t_iThe ultrasonic wave phase adjustment parameters of k-th of supersonic generator of moment.

Meanwhile in order to realize the true sense of touch of 3-D view, specific ultrasonic microbubble applies corresponding pressure F to finger_i, lead to Cross the movement velocity v of system control ultrasonic microbubble_iTo realize, specific formula for calculation is as follows:

Wherein, m_iFor the quality of single ultrasonic microbubble, Δ t is the time that finger contacts ultrasonic microbubble, and wherein Δ t is normal Number, ultrasonic microbubble speedIt can be calculated according to the run duration parameter of ultrasonic microbubble, specific formula for calculation isWherein,It is moved to point i motion vector from point i-1 for ultrasonic microbubble, and Δ t_iThe point currently set for system I-1 time parameters t_i-1With point i time parameters t_iBetween time difference, following relation be present：

Δt_i=μ_i(t_i-t_i-1)

Wherein, μ_iFor corresponding material hardness parameter, can be set by inquiring about relevant material parameters；Wherein, ultrasound is micro- The movement velocity v of bubble_iExpression field potential energy difference Δ V (r are synthesized with sensing_i) directly proportional, therefore according to ultrasonic microbubble in ultrasound field Potential energy V_e(r_i) calculation formula, can be by adjusting the emissive porwer q of supersonic generator_k, control the motion of ultrasonic microbubble fast Degree, specific conversion relation, can be obtained by the derivation of equation.

Step 6：According to the spherical coordinate system coordinate (r', θ ', φ ') of t three-dimensional graph picture point, laser generator is received Order parameter, laser direction is adjusted, it is strong to adjust laser according to t three-dimension space image parameter color scalar value (R', G', B') Degree, to launch the laser of three kinds of colors of red, green, blue, focus on ultrasonic microbubble, ultrasonic microbubble is presented respective color, then stopped, etc. Treat to instruct next time；

Step 7：Repeat step 2~6, by a frame time T, ultrasonic microbubble travels through all three-dimensional graph picture points, 3-D view is presented.

The chemical explosion process of embodiment 1 is demonstrated

Specifically, interactive system of the present invention can identify the gesture of teacher in three dimensions, realize teacher with The interaction of 3-D view, it is as follows that teacher demonstrates chemical explosion process：

(1) system starts, and launches ultrasonic microbubble into target three dimensions, and ultrasonic microbubble is stable at target three dimensions In；

(2) teacher makes the front and rear switching gesture instruction of 3-D view first, and system walks according to foregoing specific works The gesture of rapid 3~step 4 identification teacher, read the information ginseng of the chemical explosion 3-D view stored in image information memory module Number, system show three-dimensional according to foregoing specific works step 1~step 7 control ultrasonic microbubble in target three dimensions Image, it is switched to the three-dimensional demonstration initial pictures of chemical explosion；

(3) teacher is double-clicked using finger and touches the three-dimensional initial pictures, it is determined that playing, system is according to foregoing specific The control ultrasonic microbubble motion of 1~step 7 of job step shows chemical explosion scene image；Described chemical explosion scene image bag All 3-D views of actual chemical explosion process are included, i.e. the 3-D view of the system generation illustrates actual chemical explosion Process；

(4) teacher is clicked using finger, and system identifies gesture according to foregoing specific works step 3~step 4, temporarily Stop the broadcasting of chemical explosion scene, now every control parameter (t of ultrasonic microbubble_i,r_i,θ_i,φ_i,R_i,G_i,B_i) keep constant；

(5) teacher amplifies and reduced the static chemical explosion 3-D view of pause using finger, is double-clicked with finger and shows phase The prompting answered and data, 3-D view is rotated by rotating gesture, observe 3-D view from different perspectives；

Specific Image Adjusting coordinate system transformation is clicked through using the coordinate transformation method of spherical coordinate system image to former coordinate system The conversion such as row translation, rotation, scaling diminution, when such as carrying out equal proportion zoom to image, there is following relation：r_i'= l·r_i, θ_i'=θ_i, φ_i'=φ_i, l is proportionality coefficient；When being rotated to figure, there is following relation：r_i'=r_i, θ_i'=θ_i+ Δ θ, φ_i'=φ_i+ Δ φ, Δ θ and Δ φ are the corresponding anglec of rotation；, can be first by spherical coordinate when such as being translated to image It is coordinate (r_i,θ_i,φ_i) be converted to plane right-angle coordinate (x_i,y_i,z_i), translation obtains (x_i',y_i',z_i'), reconvert balling-up Coordinate system coordinate (r_i',θ_i',φ_i'), wherein there is following relation：x_i'=x_i+ Δ x, y_i'=y_i+ Δ y, z_i'=z_i+ Δ z, Δ x, Δ y, Δ z are respectively three translation of axes amounts；

(6) demonstration finishes, and teacher double-clicks gesture using finger, system identification gesture, stops generation 3-D view.

The magnetic field magnetic iron of embodiment 2 attracts each other demonstration

Specifically, system of the present invention can also realize the interaction body-sensing of user in operation, operated in user While give the corresponding body-sensing pressure of user, experiencing magnetic field magnetic iron in user attracts each other process.

So that student's magnetic manipulation field magnet attracts each other demonstration as an example, its process is as follows：

(1) system starts, and launches ultrasonic microbubble into target three dimensions, and ultrasonic microbubble is stable at target three dimensions In；

(2) student makes the front and rear switching gesture instruction of 3-D view first, and system walks according to foregoing specific works The gesture of rapid 3~step 4 identification student, read the magnet stored in image information memory module and attract each other the letter of 3-D view Parameter is ceased, system is shown according to foregoing specific works step 1~step 7 control ultrasonic microbubble in target three dimensions 3-D view, it is switched to the three-dimensional demonstration initial pictures that magnet attracts each other；

(3) student is double-clicked using finger and touches the three-dimensional initial pictures, it is determined that playing, system is according to foregoing specific The control ultrasonic microbubble motion of 1~step 7 of job step shows magnet and attracted each other scene image；Described magnet attracts each other field Scape image includes actual magnet and attracted each other all 3-D views of process, i.e. the 3-D view of the system generation illustrates reality The magnet on border attracts each other process；

(4) student, which is put his hand into magnetic field, pushes magnet (3-D view) action open, and system is according to foregoing specific Job step 3~step 4 cognometrics green hand's gesture, to magnet 3-D view) image space adjust accordingly, to student's hand Movement locus is followed, and finger is applied by the relative motion of ultrasonic microbubble according to foregoing specific works step 5 Add corresponding pressure, student is experienced pressure caused by attraction；

Specific ultrasonic microbubble applies corresponding pressure F to finger_i, pass through the movement velocity v of system control ultrasonic microbubble_iCome Realize, specific formula for calculation is as follows:

Wherein, m_iFor the quality of single ultrasonic microbubble, Δ t is the time that finger contacts ultrasonic microbubble, and wherein Δ t is normal Number, ultrasonic microbubble speedIt can be calculated according to the run duration parameter of ultrasonic microbubble, specific formula for calculation isWherein,It is moved to point i motion vector from point i-1 for ultrasonic microbubble, and Δ t_iThe point currently set for system I-1 time parameters t_i-1With point i time parameters t_iBetween time difference, following relationship delta t be present_i=μ_i(t_i-t_i-1), wherein μ_iFor Corresponding material hardness parameter, it can be set by inquiring about relevant material parameters；Wherein, the movement velocity v of ultrasonic microbubble_iWith sense Expression field potential energy difference Δ V (r should be synthesized_i) directly proportional, therefore according to the potential energy V of ultrasonic microbubble in ultrasound field_e(r_i) calculate public affairs Formula, can be by adjusting the emissive porwer q of supersonic generator_k, control the movement velocity of ultrasonic microbubble, specific conversion relation, It can be obtained by the derivation of equation.

(5) student unclamps magnet (3-D view), and the gesture of system identification student, system is according to foregoing specific work Make the control ultrasonic microbubble motion of step 1~step 7 and show magnet to attract each other scene image；

(6) demonstration finishes, and student double-clicks gesture using finger, system identification gesture, stops generation 3-D view.

The digestion food demonstration of the digestive system of embodiment 3

Specifically, teacher can also remain able to completely open up when 3-D view has other body parts such as finger to block Show whole 3-D view, illustrated below by taking the process that teacher demonstrates digestive system digestion apple as an example：

(1) system starts, and launches ultrasonic microbubble into target three dimensions, and ultrasonic microbubble is stable at target three dimensions In；

(2) teacher makes the front and rear switching gesture instruction of 3-D view first, and system walks according to foregoing specific works The gesture of rapid 3~step 4 identification teacher, read the information ginseng of image information memory module digestive system digestion apple 3-D view Number, system control ultrasonic microbubble to show graphics in target three dimensions according to foregoing specific works step 1~7 Picture, it is switched to the three-dimensional demonstration initial pictures of digestive system digestion apple process；

(3) teacher is double-clicked using finger and touches the three-dimensional initial pictures, it is determined that playing, system is according to foregoing specific The control ultrasonic microbubble motion of 1~step 7 of job step shows digestive system digestion apple scene image；Described digestive system disappears Changing apple scene image includes the 3-D view of true apple, the 3-D view of true digestive system and the digestion of true digestive system The 3-D view of all 3-D views of apple process, i.e. the system generation illustrates real digestive system digestion apple mistake Journey；

(4) teacher's progress hand catches the 3-D view of apple to be fed to the action of digestive system, and system is according to as previously described Specific works step 3~step 4 by interactive information module identify hand position and action, adjust the 3-D view of apple Parameter information, the 3-D view of apple is controlled to enter digestive system；

(5) teacher shows that digestive system carries out digestive system demonstration using finger, and system is according to foregoing specific works Step 3~step 4 identification finger position, when finger position is overlapping with the viewing area of digestive system, the second image of system Storage analysis and processing module updates to the movement locus of ultrasonic microbubble, controls the movement locus of ultrasonic microbubble to get around residing for hand Position, and control laser generator opening and closing make ultrasonic microbubble show normal color；When hand is in some laser When between generator and ultrasonic microbubble, the laser generator is closed, is both the intensity for strengthening other laser generators, makes Digestive System display is not influenceed by hand motion；

Wherein, the movement locus of ultrasonic microbubble updates, by being superimposed phase on original ultrasonic microbubble location parameter The displacement answered obtains, wherein when being translated to image, can be first by spherical coordinate coordinate (r_i,θ_i,φ_i) be converted to it is flat Face rectangular coordinate system (x_i,y_i,z_i), translation obtains (x_i',y_i',z_i'), reconvert is into spherical coordinate system coordinate (r_i',θ_i',φ_i'), Wherein there is following relation：x_i'=x_i+ Δ x, y_i'=y_i+ Δ y, z_i'=z_i+ Δ z, Δ x, Δ y, Δ z are respectively that teacher's finger enters Enter translational movement of the ultrasonic microbubble in three reference axis caused by respective regions；

(6) demonstration finishes, and teacher double-clicks gesture using finger and determines that demonstration finishes, and system is according to foregoing specific work Make step 3~step 4 identification gesture, stop generation 3-D view.

The ball of embodiment 4, which is cast, hits demonstration

Specifically, student in the dummy object that 3-D view is presented can also operate with real-world object identical, By student illustrate exemplified by ball casts the process hit below：

(1) system starts, and launches ultrasonic microbubble into target three dimensions, and ultrasonic microbubble is stable at target three dimensions In；

(2) student makes the front and rear switching gesture instruction of 3-D view first, and system walks according to foregoing specific works The gesture of rapid 3~step 4 identification student, read image information memory module ball and cast the information ginseng for hitting demonstration 3-D view Number, system show three-dimensional according to foregoing specific works step 1~step 7 control ultrasonic microbubble in target three dimensions Image, it is switched to ball and casts the three-dimensional demonstration initial pictures for hitting presentation process.

(3) student is double-clicked using finger and touches the three-dimensional initial pictures, it is determined that playing, system is according to foregoing specific The control ultrasonic microbubble motion of 1~step 7 of job step shows ball and casts shock demonstration scene image；Described ball casts shock and drilled Show all 3-D views that scene image includes the 3-D view of real ball and real ball casts knockout process, i.e. the system The 3-D view of generation illustrates real ball and casts the process hit；

(4) student clutches the 3-D view of ball, and system is known according to foregoing specific works step 3~step 4 The position of other hand and action, the parameter information of the 3-D view of ball being adjusted, the 3-D view that ball is presented follows hand to move, and According to step 5 as previously described hand pressure touch feedback is given by ultrasonic microbubble motion；

(5) student carries out projectile action, and system identifies the throwing of hand according to foregoing specific works step 3~step 4 Action is penetrated, adjusts the parameter information of the 3-D view of ball, and shows that the 3-D view of ball moves according to physics law；

(6) ball collides with other balls in target three dimensions, and system is according to foregoing specific works step 3~step 4 second Data Analysis Services modules differentiate the collision boundary by projectile ball and other balls, and other of collision moment are calculated The moving displacement of ball graphics picture point, adjust the graphics picture point translational motion of other balls；

The translational motion of other specific balls and the conservation of momentum under perfectly elastic impact is observed by the translational motion of projectile ball With the conservation of energy, not kinetic energy loss is collided.

(7) demonstration finishes, and student double-clicks gesture using finger and determines that demonstration finishes, and system is according to foregoing specific work Make step 3~step 4 identification gesture, stop generation 3-D view.

Above-described embodiment is used for illustrating the present invention, rather than limits the invention, every to be swashed using similar The method and system that optical generator carries out three dimensions imaging is fallen within protection scope of the present invention.In the spirit of the present invention In scope of the claims, to any modifications and changes of the invention made, protection scope of the present invention is both fallen within.

Claims (12)

1. a kind of three dimensions imaging exchange method based on ultrasonic wave, it is characterised in that comprise the following steps：

Step 1：Three dimensions spherical coordinate system is established, generates target three dimensions, ultrasonic microbubble is entered described target three-dimensional Space；

Step 2：The parameter information of three-dimensional graph picture point all in 3-D view is obtained, described three-dimensional graph picture point Parameter information includes t at the time of picture point, the spherical coordinate system coordinate (r, θ, φ) and color scalar value (R, G, B) of picture point；

Step 3：Positional information of the t user in target three dimensions is obtained, and according to described positional information, adjustment generation The spherical coordinate system coordinate (r', θ ', φ ') and color scalar value (R', G', B') of the three-dimensional graph picture point of t；

Step 4：According to the spherical coordinate system coordinate (r', θ ', φ ') of the three-dimensional graph picture point of t, ultrasound field, institute are generated The ultrasound field control ultrasonic microbubble motion stated, and make ultrasonic microbubble that there is corresponding speed, give use when being contacted with user The corresponding pressure feedback in family, described ultrasonic microbubble is finally set to be stable at ultrasound field potential well position in target three dimensions；

Step 5：According to the spherical coordinate system coordinate (r', θ ', φ ') of t three-dimensional graph picture point, laser direction is adjusted, according to t Moment three-dimension space image parameter color scalar value (R', G', B') adjusts laser intensity, and transmitting three kinds of colors of red, green, blue swash Light, it is focused on ultrasonic microbubble, make ultrasonic microbubble that respective color be presented, then stop transmitting laser, wait instructs next time；

Step 6：Repeat step 2~5, by a frame time T, all images in ultrasonic microbubble traversal target three dimensions Point, 3-D view is generated in target three dimensions.

2. the three dimensions imaging exchange method according to claim 1 based on ultrasonic wave, it is characterised in that described step Rapid 3 are：Positional information of the t user in target three dimensions is obtained, and with reference to n frame time T user before t in target The positional information of three dimensions, analysis obtains user operation instruction, then according to t user in the position of target three dimensions Information and obtained user operation instruction, the three-dimensional graph picture point of adjustment generation t spherical coordinate system coordinate (r', θ ', φ ') and color scalar value (R', G', B').

3. the three dimensions imaging exchange method according to claim 2 based on ultrasonic wave, it is characterised in that：The step In 5 according to the relative tertiary location relation of user and previous frame time the T 3-D view generated and/or user operation instruction come Control transmitting stops transmitting laser.

4. the imaging exchange method of the three dimensions based on ultrasonic wave according to Claims 2 or 3, it is characterised in that：It is described User operation instruction be selected from the expansion of 3-D view, closing, rotation, switching, scaling, movement, folding, merging, section displaying, In part-overall transformation, details idsplay order any one or it is any a variety of.

5. the imaging exchange method of the three dimensions based on ultrasonic wave according to Claims 2 or 3, it is characterised in that：It is described User operation instruction for upset.

A kind of 6. three dimensions imaging interactive system based on ultrasonic wave, it is characterised in that：Described interactive system includes ultrasound Module (5) occurs for ripple, module (6) occurs for laser, module occurs for interactive information acquisition module, ultrasonic microbubble, the storage of the first image Analysis and processing module and power module, wherein：

Described ultrasonic wave occurs module (5) and is used to launch ultrasonic wave, forms ultrasound field, forms potential well in three dimensions, So as to control ultrasonic microbubble to move to potential well position, and it is stable at the position；

The laser that module (6) is used to launch three kinds of colors of red, green, blue occurs for described laser, and control ultrasonic microbubble presents corresponding Color；

Described interactive information acquisition module is used to determine positional information of the user in target three dimensions, is converted into use Family position signalling is simultaneously sent to the first image storage analysis and processing module；

Described ultrasonic microbubble occurs module and is used to generate ultrasonic microbubble；

Described first image storage analysis and processing module is used for the parameter information for storing and reading graphics picture point, described in reception Interactive information acquisition module send users location signals, after being analyzed and processed, adjustment generation t three-dimensional graph The spherical coordinate system coordinate (r', θ ', φ ') and color scalar value (R', G', B') of picture point；

Described power module is used to module, laser generation module, interactive information acquisition module, ultrasonic microbubble occur to ultrasonic wave Generation module, the first image storage analysis and processing module provide the energy.

7. the three dimensions imaging interactive system according to claim 6 based on ultrasonic wave, it is characterised in that described the One image storage analysis and processing module includes image information memory module and the first Data Analysis Services module, wherein：

Described image information memory module is used for the parameter information for storing graphics picture point；

The first described Data Analysis Services module is used for the parameter letter for reading the graphics picture point in image information memory module Breath, the users location signals that described interactive information acquisition module is sent are received, after being analyzed and processed, adjustment generation t Three-dimensional graph picture point spherical coordinate system coordinate (r', θ ', φ ') and color scalar value (R', G', B').

A kind of 8. three dimensions imaging interactive system based on ultrasonic wave, it is characterised in that：Described interactive system includes ultrasound Module (5) occurs for ripple, module (6) occurs for laser, module occurs for interactive information acquisition module, ultrasonic microbubble, the storage of the second image Analysis and processing module and power module, wherein：

Described ultrasonic wave occurs module (5) and is used to launch ultrasonic wave, forms ultrasound field, forms potential well in three dimensions, So as to control ultrasonic microbubble to move to potential well position, and it is stable at the position；

The laser that module (6) is used to launch three kinds of colors of red, green, blue occurs for described laser, and control ultrasonic microbubble presents corresponding Color；

Described interactive information acquisition module is used to determine positional information of the user in target three dimensions, is converted into use Family position signalling is simultaneously sent to the second image storage analysis and processing module；

Described ultrasonic microbubble occurs module and is used to generate ultrasonic microbubble；

Described second image storage analysis and processing module is used for the parameter information for storing and reading graphics picture point, described in reception The users location signals that send of interactive information acquisition module, and according to the user of n frame time T before t in target three-dimensional Positional information in space, analysis obtain user operation instruction, are then believed according to t user in the position of target three dimensions The user operation instruction for ceasing and obtaining, the spherical coordinate system coordinate (r', θ ', φ ') of the three-dimensional graph picture point of adjustment generation t With color scalar value (R', G', B'), and the spherical coordinate system coordinate of three-dimensional graph picture point (r', θ ', φ ') is converted into ultrasound Wave control signal is sent to supersonic generator, and control sends direction, intensity and the phase of ultrasonic wave, by color scalar value (R', G', B') laser control signal is converted to, it is sent to laser and module occurs, control sends direction, the intensity of laser, micro- to ultrasound The raw module that is soaked sends ultrasonic microbubble generation signal；

Described power module is used to module, laser generation module, interactive information acquisition module, ultrasonic microbubble occur to ultrasonic wave Generation module, the second image storage analysis and processing module provide the energy.

9. the imaging interactive system of the three dimensions based on ultrasonic wave according to claim 8, it is characterised in that：Described Second image storage analysis and processing module includes image information memory module and the second Data Analysis Services module, wherein：

Described image information memory module is used for the parameter information for storing graphics picture point；

The second described Data Analysis Services module is used for the parameter letter for reading the graphics picture point in image information memory module Breath, the users location signals that described interactive information acquisition module is sent are received, and according to the user of n frame time T before t Positional information in target three dimensions, analysis obtains user operation instruction, then according to t user in target three-dimensional space Between positional information and obtained user operation instruction, the spherical coordinate system coordinate of the three-dimensional graph picture point of adjustment generation t (r', θ ', φ ') and color scalar value (R', G', B'), and by the spherical coordinate system coordinate of three-dimensional graph picture point (r', θ ', φ ') Being converted to ultrasonic wave control signal and be sent to ultrasonic wave generation module, control sends direction, intensity and the phase of ultrasonic wave, according to User and the relative tertiary location relation of the 3-D view of previous frame time T generations, color scalar value (R', G', B') is turned Laser control signal is changed to, laser is sent to and module occurs, control the transmitting and stopping of the direction for sending laser, intensity and laser Transmitting, module occurs to ultrasonic microbubble and sends ultrasonic microbubble generation signal.

10. the three dimensions imaging interactive system according to claim 8 based on ultrasonic wave, it is characterised in that：Described Expansion of the user operation instruction selected from 3-D view, closing, rotation, switching, scaling, movement, folding, merging, section displaying, office In portion-overall transformation, details idsplay order any one or it is any a variety of.

11. the three dimensions imaging interactive system according to claim 8 based on ultrasonic wave, it is characterised in that：Described User operation instruction is upset.

12. the imaging interactive system of the three dimensions based on ultrasonic wave according to claim any one of 6-11, its feature exist Module (5) occurs in described ultrasonic wave to be made up of at least three supersonic generators and at least one ultrasonic wave controller.