CN106228615A - Unmanned vehicle experiencing system based on augmented reality and experiential method thereof - Google Patents
Unmanned vehicle experiencing system based on augmented reality and experiential method thereof Download PDFInfo
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Abstract
nullA kind of unmanned vehicle experiencing system based on augmented reality and experiential method thereof，Unmanned vehicle experiencing system based on augmented reality includes the user terminal (2) of at least one unmanned vehicle body (1) and at least one correspondence，Described unmanned vehicle body (1) and user terminal (2) connect via Wireless Telecom Equipment each other，Described unmanned vehicle body (1) is provided with the capture apparatus (3) for gathering real scene image data and is used for measuring the measurement module (4) of unmanned vehicle body (1) supplemental characteristic，Described user terminal (2) is provided with the virtual scene generator (5) for generating virtual scene and deficiency and excess binding modules (6)，Described deficiency and excess binding modules (6) is set up, based on described view data and supplemental characteristic, the virtual scene that described virtual scene maker (5) generates by Imaging space and described deficiency and excess binding modules (6) and is embedded described Imaging space and experience environment with the unmanned vehicle forming augmented reality.
Description
Technical field
The invention belongs to unmanned vehicle and experience field, particularly relate to a kind of unmanned flight's body based on augmented reality
Check system and experiential method thereof.
Background technology
The application of unmanned vehicle is the most constantly expanded, and either industry unmanned plane is still consumed unmanned plane and all obtained
Significant progress, especially many rotary wind types unmanned vehicle are the little miniature unmanned vehicle of representative, and its various ingredients are opened
Beginning modularity, industry reaches its maturity.
Unmanned plane game of competing for speed the most worldwide obtains certain universal, especially in Ji Ke colony,
Head-mounted display, the mode such as glasses, monitor screen of wearing is used to share the visual field with SUAV, then with main perspective or the
Three visual angle modes (main perspective mode is relatively conventional) manipulate unmanned plane and complete the flight of regulation flight line, with the deadline
Short person is victory.
The unmanned plane activity of competing for speed has become as the consumer level unmanned plane city that in addition to unmanned plane is taken photo by plane is the biggest
?.But, current unmanned plane is competed for speed field, depends on the barrier being arranged at ground or the game lines delimited in advance
Road, goes guiding unmanned plane of competing for speed to pass through obstacle, completes aerial compulsory exercise.It is an impediment to earth bulging physical property matter and place of competing for speed
The constraints such as the restriction of size, and unmanned plane to compete for speed be generally to need bigger scope and higher flying height, place
The biggest more easily present more for imaginative power and more excellent match.In other words, currently without man-machine match midfield of competing for speed
The physical restriction of ground condition, causes the over-all properties that can not give play to unmanned plane of competing for speed in match completely, and unmanned plane of competing for speed is played
Family also is difficult to experience the enjoyment of competing for speed that remote high-speed flight controls on a large scale.
Patent documentation CN105704501A discloses a kind of virtual reality live broadcast system based on unmanned plane panoramic video, institute
The system of stating includes unmanned plane, mobile control terminal, the live Cloud Server of VR, immersion visual device, arranges in described unmanned plane
There is VR processor, and UAV flight has panoramic video camera, described unmanned plane to use wireless data even with the mobile end that controls
Connecing, the live Cloud Server of described VR controls terminal with mobile, visual device uses the Internet or virtual private net mode to be connected,
Wherein, described panoramic video camera comprises binocular or many mesh photographic head, for 360 ° of panoramic videos of collection site, it is ensured that visual field
Cover all around, using the teaching of the invention it is possible to provide the full detail required for stereoscopic three-dimensional modeling；Described VR processor is as in VR image procossing
The heart, receives described 360 ° of panoramic videos and panoramic video camera parameter, the relevant information of each target in determining scene, the most throughout one's life
Becoming three-dimensional panoramic video, described relevant information is the locus of each target, distance, size, orientation, speed in including scene；Institute
State the mobile terminal that controls for the three-dimensional panoramic video returned from the VR processor of unmanned plane being uploaded in real time VR live cloud clothes
Business device；The live Cloud Server of described VR comes for the mobile control terminal transmission that one or more sets unmanned planes of cache are corresponding
Three-dimensional panoramic video, carry out live event according to live user's request；Described immersion visual device has at internal figure
Reason device and controller, the three-dimensional panoramic video relayed for the live Cloud Server of real-time reception VR, and quickly process video image
Reduce real 3D scene, real-time exhibition.This patent can be directly by the flight of the various action control unmanned planes of health and same
Time get the visual angle of aircraft.But this patent cannot be set up unmanned vehicle and compete for speed competition area, and these competition area can basis
Need on the basis of Imaging space, to embed required virtual scene to realize the playing condition of abundant species, and compete for speed match not
Limited by place, ground, improved player's feeling of immersion of competing for speed, improve unmanned vehicle and compete for speed the safety competed with match judge's
Automatization judgement.
Disclosed in patent documentation CN105629470 A, a kind of head mounted display includes: link block, for setting up and mesh
The communication connection of marking device；Receiver module, for receiving the display information that described target device sends；Creation module, for root
Virtual reality scenario is created according to the type of described target device；Display module, is used for showing described virtual reality scenario, and by institute
State display information superposition to be shown on described virtual reality scenario.This patent achieves by display virtual real scene, and will
Display information superposition is shown on virtual reality scenario, thus experience when being possible not only to promote viewing video information, simultaneously can
To build operating environment true to nature, but this patent is simple superposition display information and virtual scene, it is impossible to virtual scene is embedding
Enter to Imaging space, it is impossible to setting up unmanned vehicle and compete for speed competition area, these competition area can be as required at Imaging space
On the basis of embed required virtual scene to realize the playing condition of abundant species, and match of competing for speed is not limited by place, ground
System, improves and competes for speed player's feeling of immersion, improves unmanned vehicle and competes for speed the safety of match and the automatization judgement of match judge.
Patent documentation CN103699106 A discloses collaborative of a kind of multiple no-manned plane based on VR-Forces emulation platform
Business planning simulation system, described multiple no-manned plane cotasking planning simulation system is by n unmanned plane simulation subsystem, a ground
Control centre's simulation subsystem and a mission planning simulating scenes management subsystem composition；Described n unmanned plane emulation subsystem
System, a ground control centre simulation subsystem and a mission planning simulating scenes management subsystem each operate in same
On different computers in LAN.The multiple no-manned plane cotasking planning scene that the emulation of this patent is different, and ensure each nothing
Man-machine simulation entity status information and the concordance of simulation time, show multiple no-manned plane with two dimensional image form simultaneously in real time
The mission planning simulating scenes of cotasking planning simulation process.But this patent cannot be set up unmanned vehicle and compete for speed arena
Ground, these competition area can embed required virtual scene as required to realize abundant species on the basis of Imaging space
Playing condition, and match of competing for speed do not limited by place, ground, improves and competes for speed player's feeling of immersion, improves unmanned vehicle and competes for speed match
Safety and match judge automatization judgement.
Patent documentation CN105759833 discloses a kind of immersion unmanned plane driving flight system and includes airborne device and ground
Face device, airborne device and ground installation pass through wireless connections；Described airborne device is positioned on unmanned plane, controls unmanned plane during flying
State and gather the positional information of unmanned plane and the image of surrounding, and by image and positional information to ground installation, and connect
Receive head angle information and the control instruction of ground installation；Described ground installation receives positional information and the figure that airborne device sends
As being analyzed, processed by the computer augmented reality of ground installation, the surrounding enviroment of unmanned plane position are believed
After breath, road information, transport information, beacon information, landmark information analog simulation in the real world image spacing that is added to, logical
Cross virtual reality goggles and present to manipulator.This patent, by the advantage of virtual reality Yu augmented reality, makes unmanned plane exist
Becoming more interesting in flight course, in flight course, we can not only obtain real-time image frame by unmanned plane, also
Can be by existing augmented reality, let us knows unmanned plane oneself state, the height of position, friendship by picture
Logical, location mark, communal facility, road environment and place map informative presentations, follow the trail of the various merits such as locking dynamic object
Energy.But this patent is simple simulation Overlapping display information and environment scene, it is impossible to virtual scene is embedded into Imaging space, nothing
Method is set up unmanned vehicle and is competed for speed competition area, and these competition area can embed required as required on the basis of Imaging space
Virtual scene to realize the playing condition of abundant species, and compete for speed match do not limited by place, ground, improve compete for speed player sink
Leaching sense, improve unmanned vehicle compete for speed match safety and match judge automatization judgement.
The application notices problem above, adopts an original approach and utilizes augmented reality equipment to combine unmanned plane control system, solves
Certainly unmanned plane is competed for speed the problems such as scope design and limitation in height design.By augmented reality, physical condition can not be set
Limiting, arrange aerial virtual obstacles, plan aerial virtual race circuit, the player that competes for speed etc. experiences what user was shot by unmanned plane
The virtual race scene that the real border of flight and augmented reality equipment provide, to combination, controls unmanned plane and carries out waiting enhancing as competed for speed in the air
Experience of reality, is greatly improved the playability of the unmanned plane experience as competed for speed in the air.
Disclosed above-mentioned information is used only for strengthening the understanding to background of the present invention in the background section, it is thus possible to
Comprise and be not formed in the information of prior art known to a person of ordinary skill in the art in this country.
Summary of the invention
It is an object of the invention to be achieved by the following technical programs.
According to an aspect of the present invention, a kind of unmanned vehicle experiencing system based on augmented reality includes at least one nothing
The user terminal of people's aircraft body and at least one correspondence, described unmanned vehicle body and user terminal each other via
Wireless Telecom Equipment connects, and described unmanned vehicle body is provided with the capture apparatus for gathering real scene image data and for surveying
The measurement module of amount unmanned vehicle body parameter data, described user terminal is provided with the virtual scene for generating virtual scene
Generator and deficiency and excess binding modules, described deficiency and excess binding modules based on described view data and supplemental characteristic set up Imaging space and
The virtual scene that described virtual scene maker is generated by described deficiency and excess binding modules embeds described Imaging space to form enhancing
Environment experienced by the unmanned vehicle of reality.
Preferably, the unmanned vehicle of described augmented reality experience virtual scene in environment according to Geometrical consistency and/
Or Movement consistency is embedded in described Imaging space.In this article, no matter described Geometrical consistency refers in virtual environment
In static or roaming, entity object all should keep perspective relation concordance with integrated image.It is to say, Geometrical consistency pair
Virtual scene embeds the geometry site of Imaging space and has carried out conforming restriction.Described Movement consistency refers to when void
Object in near-ring border is made and such as being translated or during the motion such as rotation, and the size of model and visual angle all should be built with rest image at any time
Vertical virtual environment keeps consistent.
Preferably, it is one or more that described measurement module includes in positioning unit, altimeter, gyroscope, accelerometer,
Described supplemental characteristic includes locus, one or more highly, in rotational angle and angle of rotation acceleration.
Preferably, described positioning unit is GPS module, described height is calculated as barometertic altimeter, described gyroscope is MEMS
Gyroscope, described accelerometer be mems accelerometer, described capture apparatus be CCD camera and/or described Wireless Telecom Equipment
By having in the wireless LAN communication equipment of different priorities, the Stratosphere Communication network equipment and satellite network communications equipment
One or more compositions.
Preferably, several blits that unmanned vehicle body is provided with view data and supplemental characteristic synchronize pass synchronization module
With for processing the first application processing module of view data and supplemental characteristic, and/or described user terminal is provided with for locating
Reason view data and the second application processing module of supplemental characteristic, described first application processing module and/or described second application
Processing module includes CPU, internal memory and memorizer.
Preferably, described virtual scene generator includes the virtual objects model generation mould for generating virtual image model
Block and for generating the virtual objects Coordinate generation module of coordinate of described virtual image model.
Preferably, described user terminal is provided with the unmanned vehicle for presenting described augmented reality and experiences the display of environment
Module and for controlling the flight control modules of unmanned vehicle body.
Preferably, to third party, described display module shows that environment experienced by the unmanned vehicle of described augmented reality simultaneously.
It is supplied to user's frequency range of user it is highly preferred that described display module is provided with by experiencing environment and/or is supplied to third-party sight
See frequency range.
Preferably, described virtual scene generator is to be located at the virtual scene drawing apparatus outside user terminal, described void
Intend scene drawing device via Wireless Telecom Equipment wireless connections unmanned vehicle body and user terminal.
Preferably, described unmanned vehicle experiencing system is provided with for following the trail of the unmanned flight's body at described augmented reality
Test the follow-up mechanism of the unmanned vehicle body in environment and for calculating the timer of fixture.
According to a further aspect in the invention, a kind of experience side using unmanned vehicle experiencing system based on augmented reality
Method comprises the following steps.
In first step, described capture apparatus gathers real scene image data and measurement module measures unmanned vehicle body ginseng
Number data.
In second step, described view data and supplemental characteristic are sent to described user terminal via Wireless Telecom Equipment,
Described virtual scene generator generates virtual scene.
In third step, described deficiency and excess binding modules sets up Imaging space and institute based on described view data and supplemental characteristic
State the virtual scene that described virtual scene maker generates by deficiency and excess binding modules embed described Imaging space with formed strengthen existing
Environment experienced by real unmanned vehicle.
Preferably, in third step, the unmanned vehicle of described augmented reality experiences the virtual scene in environment according to several
What concordance and/or Movement consistency are embedded in described Imaging space.
Therefore, this unmanned vehicle experiencing system based on augmented reality and experiential method thereof have a following advantage:
1. as unmanned vehicle compete for speed match experiencing system cost greatly lower, such as, match scene, renewal of track more
For simple, convenient；
2. do not limited by place, ground such as the compete for speed experiencing system of match of unmanned vehicle, ground obstacle competed for speed experience
Develop into aerial virtual obstacles to compete for speed experience；
3. experience Consumer's Experience unmanned vehicle reality border and virtual race scene combines, improve user's feeling of immersion；
4. owing to being to utilize virtual reality technology to realize layout of roads and barrier layout, so unmanned vehicle will not be true
Clash into, the security incident such as damage；
5. whether unmanned vehicle there is in violation of rules and regulations, departs from the judgement of the events such as circuit, relies on data process and can complete, more
Add precisely, departing from uncertain factors such as artificial judgment.
Described above is only the general introduction of technical solution of the present invention, in order to make the technological means of the present invention clearer
Understand, reach the degree that those skilled in the art can be practiced according to the content of description, and in order to allow the present invention
Above and other objects, features and advantages can become apparent, illustrate with the detailed description of the invention of the present invention below
Explanation.
Accompanying drawing explanation
By reading the detailed description in hereafter preferred embodiment, the present invention various other advantage and benefit
Those of ordinary skill in the art be will be clear from understanding.Figure of description is only used for illustrating the purpose of preferred implementation,
And it is not considered as limitation of the present invention.It should be evident that drawings discussed below is only some embodiments of the present invention,
For those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings
Other accompanying drawing.And in whole accompanying drawing, it is presented with like reference characters identical parts.
In the accompanying drawings:
Fig. 1 is the structural representation of based on augmented reality according to an embodiment of the invention unmanned vehicle experiencing system
Figure；
Fig. 2 is that the structure of based on augmented reality in accordance with another embodiment of the present invention unmanned vehicle experiencing system is shown
It is intended to；
Fig. 3 is the experience using unmanned vehicle experiencing system based on augmented reality according to an embodiment of the invention
The step schematic diagram of method；
Fig. 4 is the workflow of based on augmented reality according to an embodiment of the invention unmanned vehicle experiencing system
Figure.
Below in conjunction with drawings and Examples, the present invention is further explained.
Detailed description of the invention
It is more fully described the specific embodiment of the present invention below with reference to accompanying drawings.Although accompanying drawing shows the present invention's
Specific embodiment, it being understood, however, that may be realized in various forms the present invention and should not limited by embodiments set forth here
System.On the contrary, it is provided that these embodiments are able to be best understood from the present invention, and can be complete by the scope of the present invention
Convey to those skilled in the art.
It should be noted that employ some vocabulary in the middle of description and claim to censure specific components.Ability
Field technique personnel it would be appreciated that, technical staff may call same assembly with different nouns.This specification and right
In the way of requiring that difference by noun is not used as distinguishing assembly, but be used as distinguishing with assembly difference functionally
Criterion." comprising " or " including " as mentioned by the middle of description and claim in the whole text is an open language, therefore should solve
It is interpreted into " comprise but be not limited to ".Description subsequent descriptions be implement the present invention better embodiment, right described description be with
For the purpose of the rule of description, it is not limited to the scope of the present invention.Protection scope of the present invention is when regarding appended right
Require that defined person is as the criterion.
For ease of the understanding to the embodiment of the present invention, do as a example by several specific embodiments further below in conjunction with accompanying drawing
Explanation, and each accompanying drawing is not intended that the restriction to the embodiment of the present invention.
Fig. 1 is the structural representation of the unmanned vehicle experiencing system based on augmented reality of one embodiment of the present of invention
Figure, the embodiment of the present invention will be specifically described in conjunction with Fig. 1.
As it is shown in figure 1, An embodiment provides a kind of unmanned vehicle based on augmented reality to experience system
System, unmanned vehicle experiencing system based on augmented reality includes at least one unmanned vehicle body 1 and at least one correspondence
User terminal 2, described unmanned vehicle body 1 and user terminal 2 each other via Wireless Telecom Equipment connect, described nothing
People's aircraft body 1 is provided with the capture apparatus 3 for gathering real scene image data and for measuring unmanned vehicle body 1 parameter
The measurement module 4 of data, described user terminal 2 is provided with the virtual scene generator 5 for generating virtual scene and deficiency and excess combines
Module 6, described deficiency and excess binding modules 6 sets up Imaging space based on described view data and supplemental characteristic and described deficiency and excess combines mould
Virtual scene that described virtual scene maker 5 is generated by block 6 embeds described Imaging space and flies with nobody forming augmented reality
Row body tests environment.
In embodiment, unmanned vehicle body 1 is the body part of unmanned vehicle, and unmanned vehicle is called for short " unmanned
Machine ", english abbreviation is " UAV " (unmanned aerial vehicle), is to utilize radio robot and the program provided for oneself
Control the most manned aircraft that device is handled.Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned
Multi-rotor aerocraft, unmanned airship, unmanned parasol etc..
In the embodiment of the present invention, preferred unmanned vehicle is many rotor unmanned aircrafts, and many rotor unmanned aircrafts are permissible
It it is four rotors, six rotors and the rotor quantity unmanned vehicle more than six.
The unmanned vehicle that technical solution of the present invention uses is primarily referred to as many rotor unmanned aircrafts little, miniature, this nothing
People's aircraft volume is little, low cost, flight stability preferable, and flight cost is low.The present invention use aircraft, typically with
Four axle multi-rotor aerocrafts are representative.Therefore, in one embodiment, unmanned vehicle body 1 can the most rotors without
People's aircraft body.The experiencing system of the present invention can accommodate the user terminal of multiple unmanned vehicle and correspondence thereof and compete for speed
Match.
Preferably, described measurement module 4 includes positioning unit, altimeter, gyroscope, accelerometer to the embodiment of the present invention
In one or more, described supplemental characteristic include locus, highly, in rotational angle and angle of rotation acceleration one or
Multiple.
In one embodiment, it is high that described positioning unit is GPS module or Big Dipper locating module, described height is calculated as air pressure
Degree is counted, described gyroscope is MEMS gyroscope, described accelerometer is mems accelerometer, described capture apparatus is CCD camera,
And/or described Wireless Telecom Equipment is by having the wireless LAN communication equipment of different priorities, the Stratosphere Communication network equipment
With the one or more compositions in satellite network communications equipment.
In one embodiment, measurement module 4 gather and calculate unmanned vehicle body 1 various sensing datas and
Gps data, the collection gyroscope of this module and the gyroscope value of the AD value of accelerometer, i.e. 3 dimensions and the acceleration of 3 dimensions
Angle value, each value is 16 precision.AD value obtains, by attitude algorithm algorithm, the attitude that aircraft is current, and attitude uses quaternary number
Represent, then quaternary number is converted into Eulerian angles, for representing the flight attitude of unmanned vehicle, and pass through wireless communication module
Transmit in real time to user terminal.Wherein, GPS module passes through high sensitivity GPS receptor, is capturing effective satellite-signal
Time, for determining the longitude and latitude position that unmanned vehicle is current.MEMS gyroscope passes through sensor real-time collecting attitude of flight vehicle
Information.The substantially unmanned vehicle of MEMS gyroscope sensor measured value is around the angle of rotation of three-dimensional, i.e. x, y and z axes
Speed, will produce corresponding sensing data, with millisecond be the most in design when unmanned vehicle attitude changes
Cycle set trigger mechanism, periodically monitors Sensor Events, and is aided with MEMS triaxial accelerometer data, can obtain accurately
Unmanned vehicle body 1 Eulerian angles data.Mems accelerometer passes through sensor real-time collecting unmanned plane during flying device in three-dimensional side
To x, y and z axes on the conversion of speed.Owing to mems accelerometer does not has integral error, so under conditions of geo-stationary
The error of MEMS gyroscope can be corrected.Barometertic altimeter passes through sensor, and real-time collecting unmanned vehicle is perpendicular to ground side
To altitude data.
In one embodiment, capture apparatus 3 can be photographic head or airborne CCD camera, is responsible for gathering HD video figure
As data.
In one embodiment, Wireless Telecom Equipment is mainly responsible for being set up and ground intelligent by all kinds of cordless communication networks
Control communication lines between end by, the unmanned vehicle body 1 flight control signal receiving and sending and the instruction of types of applications layer
Message；The video, audio frequency, sensing data and other application software information that are gathered by unmanned vehicle body 1 are passed through simultaneously
Wireless network sends to user terminal 2.
In the embodiment of the present invention preferably, described Wireless Telecom Equipment is by the wireless local Netcom with different priorities
One or more compositions in letter equipment, the Stratosphere Communication network equipment and satellite network communications equipment.Wireless LAN communication
Equipment can be in bluetooth, ZigBee or Wi-Fi device, and wireless local equipment can be set up short by 2.4GHz communication frequency
Distance communication, the outdoor environment moved at indoor or low speed preferably can set up user terminal 2 and unmanned vehicle body 1 by this equipment
Between communication connection.Stratosphere Communication equipment typically uses helium-airship, balloon as the platform of arrangement repeater station, podium level
Away from ground 17km～22km, unmanned vehicle is when field flight on a large scale, it may be preferred to Stratosphere Communication sets up user terminal 2
And the communication connection between unmanned vehicle body 1.Satellite communication equipment utilizes satellite communication channel to set up user terminal 2 and nothing
Communication connection between people's aircraft body 1, is usually in the case of without other available wireless communication networks, can use satellite
Communicator, as emergency communication.In one embodiment, according to wireless network cost or wireless network access speed, select nothing
Transmission network network, the present invention designs following for precedence scheme, Wi-Fi network: priority is 0；Stratosphere Communication network: preferential
Level is 1；Satellite communication network: priority is 2；Priority level 0-2, selected wireless network priority from high to low, if i.e.
There is multiple wireless signal simultaneously, and radio communication between user terminal 2 and unmanned vehicle body 1 when signal intensity is effective
Can first select Wi-Fi network as Radio Access Network, the like.Preferably, 2G, 3G and 4G are moved by Wireless Telecom Equipment
Dynamic network communication sets priority, and wherein, the 4G priority priority more than 3G, 3G is more than 2G.
In one embodiment, user terminal 2 can be the radio robot of unmanned vehicle, and such as, user is eventually
End 2 can include such as the flight control modules of unmanned vehicle flight control station, for controlling the flight of unmanned vehicle body 1.
Further, user terminal 2 can also be user's mobile device, the such as individual mobile terminal such as mobile phone, pad.Further, use
Family terminal 2 can be that helmet-type operates controller, and further, user terminal 2 can be that VR operates controller, this controller
The flight control modules for controlling unmanned vehicle body 1 can be included.
In the embodiment of the present invention preferably, virtual scene maker 5 produces the virtual scene with space coordinates, empty
Intend the 3 d modeling system that scene generating unit 5 can be virtual pattern drawing system, such as virtual pattern.Virtual scene maker
5 virtual scenes produced can be at the skyborne hollow cylinder that suspends, and is used for allowing unmanned vehicle body 1 pass through；Virtual field
Scape can be a physics bench-type obstacle of some meters of being above the ground level, and allows unmanned vehicle body 1 leap；Virtual scene maker
5 can also design a mark post vertically inserting in ground, allow unmanned vehicle body 1 walk around.
In one embodiment, described virtual scene generator 5 is to be located at the virtual scene outside user terminal to draw dress
Putting, described virtual scene drawing apparatus is via Wireless Telecom Equipment wireless connections unmanned vehicle body 1 and user terminal 2.Institute
Stating virtual scene drawing apparatus can be independent virtual pattern drawing system.
In the embodiment of the present invention preferably, the virtual scene during environment experienced by the unmanned vehicle of described augmented reality is pressed
It is embedded in described Imaging space according to Geometrical consistency and/or Movement consistency.Wherein, no matter described Geometrical consistency refers to
Static or roaming in virtual environment, entity object all should keep perspective relation concordance with integrated image.It is to say, it is several
The geometry site what concordance embeds Imaging space to virtual scene has carried out conforming restriction.Therefore, geometrically consistent
Property focus on allowing the virtual scene generated and Imaging space set up the position corresponding relation under same three-dimensional system of coordinate.Several
What concordance serves considerable effect to the sense of reality improving augmented reality, and incorrect geometrical relationship can allow user couple
Position between real-world object and dummy object produces illusion, and this may result in ratio after more serious in some important occasions
Really.Therefore, virtual scene is embedded in verity and the essence that improve experiencing system in described Imaging space according to Geometrical consistency
Really property.And described Movement consistency refers to such as translate or during the motion such as rotation when the object in virtual environment is made, model
Size and visual angle all should keep consistent with the virtual environment that rest image is set up at any time；The present invention is according in real scene image data
The sensing data of all kinds of unmanned vehicle bodies 1 carried, including such as numbers such as unmanned plane height, speed, orientation, pitching, GPS
Combine according to, it is ensured that virtual scene, be directed at, Geometrical consistency when positioning and Movement consistency.
In one embodiment, deficiency and excess binding modules 6 receives real scene image data and the reality that unmanned vehicle body 1 transmits
Time sensing data set up Imaging space through processing tissue, and generated virtual objects according to geometry by virtual scene maker 5
Concordance, Movement consistency etc. embed in Imaging space, and the augmented reality unmanned plane forming virtual reality fusion experiences environment；The most several
What concordance, refers to no matter static or roaming in virtual environment, and entity object all should keep perspective relation with integrated image
Concordance；And Movement consistency, it is simply that refer to such as translate or during the motion such as rotation when the object in virtual environment is made, model
Size all should keep consistent with the virtual environment that rest image is set up at any time with visual angle.Preferably, described deficiency and excess binding modules 6 is
Independent stereo image processing system, this system can include the image modeling computer for setting up threedimensional model and for processing
The image processor of image.Further, described deficiency and excess binding modules 6 can include the image modeling list for setting up Imaging space
Unit and for virtual objects according to Geometrical consistency, Movement consistency etc. embed Imaging space image processing processor.
Therefore, the present invention is by the different virtual objects models freely set, it is possible to realize inexhaustible unmanned flight
Race circuit of competing for speed device designs, and without reality as Formula 1, needs to build expensive high standard runway, only needs
There is physical space the broadest, unscreened, just can easily realize virtual racetrack layout.
Fig. 2 is the structural representation of the unmanned vehicle experiencing system based on augmented reality of one embodiment of the present of invention
Figure, the embodiment of the present invention will be specifically described in conjunction with Fig. 2.
As in figure 2 it is shown, An embodiment provides a kind of unmanned vehicle based on augmented reality to experience system
System, unmanned vehicle experiencing system based on augmented reality includes at least one unmanned vehicle body 1 and at least one correspondence
User terminal 2, described unmanned vehicle body 1 and user terminal 2 each other via Wireless Telecom Equipment connect, described nothing
People's aircraft body 1 is provided with the capture apparatus 3 for gathering real scene image data and for measuring unmanned vehicle body 1 parameter
The measurement module 4 of data, described user terminal 2 is provided with the virtual scene generator 5 for generating virtual scene and deficiency and excess combines
Module 6, described deficiency and excess binding modules 6 sets up Imaging space based on described view data and supplemental characteristic and described deficiency and excess combines mould
Virtual scene that described virtual scene maker 5 is generated by block 6 embeds described Imaging space and flies with nobody forming augmented reality
Row body tests environment.Several blits that unmanned vehicle body 1 is provided with view data and supplemental characteristic synchronize pass synchronization module 7
With for processing the first application processing module 8 of view data and supplemental characteristic, and/or described user terminal is provided with for locating
Reason view data and the second application processing module 9 of supplemental characteristic, described first application processing module 8 and/or described second should
CPU, internal memory and memorizer is included by processing module 9.
In one embodiment, as unmanned vehicle body 1 the first application processing module 8 of core processing module
Including CPU, memory ram, operating system and application software.This module is responsible for multi-task scheduling, including accessing measurement module 4, visiting
Ask Wireless Telecom Equipment, memory read/write and unmanned plane sensing data process etc..Further, the first application processing module
Video or picture can also be carried out high efficiency of compression coded treatment by 8 so that image or video data are easy in real time in all kinds of nothings
Line communication network transmits, is back to user terminal 2.It is of course also possible to by independent image processing module by video or figure
Sheet carries out high efficiency of compression coded treatment.
In one embodiment, count blit and pass the unmanned vehicle body that synchronization module 7 is responsible for collecting capture apparatus 3
The flying qualities such as unmanned plane height that view data on 1 and various kinds of sensors collect, orientation, pitching, GPS synchronize, it is ensured that
It is back to image and the flying quality time synchronized of user terminal 2.
In one embodiment, the second application processing module 9, as the core processing module of user terminal 2, is responsible for many
Business scheduling, including accessing measurement module, accessing Wireless Telecom Equipment, memory read/write and sensing data process etc..Enter one
Step ground, the second application processing module 9 can include outdoor scene processing module, its video real scene image returned by unmanned vehicle and biography
Sensor data, carry out decompressing, decoding process, and are sent to deficiency and excess binding modules and are further processed.
The most preferably, described first application processing module 8 and/or described second application processing module
9 can include general processor, digital signal processor, application-specific integrated circuit ASIC, on-site programmable gate array FPGA, simulation
Circuit, digital circuit, and combinations thereof or the processor of other known or later exploitations.Described first application processing module 8 and/
Or described second application processing module 9 can include memorizer, memorizer can be volatile memory or nonvolatile memory.
Memorizer can include one or more read only memory ROM, random access memory ram, flash memory, Electrical Erasable
Programmable read only memory EEPROM or other type of memorizer.
The most preferably, described virtual scene generator 5 includes for generating virtual image model
Virtual objects model generation module 10 and for generating the virtual objects Coordinate generation module of coordinate of described virtual image model
11.Virtual objects model generation module 10 generates unmanned vehicle and competes for speed the virtual obstacles needed for match, the image such as virtual circuit
Model.Virtual objects Coordinate generation module 11 generate unmanned plane compete for speed match needed for virtual objects position, height seat
Mark.The void that virtual scene maker 5 combined with virtual object model generation module 10 and virtual objects Coordinate generation module 11 generate
Intend object model and virtual objects coordinate produces the virtual scene with space coordinates.Such as, virtual scene can be outstanding
Floating skyborne hollow cylinder, be above the ground level some meters physics bench-type obstacle, vertically insert in the combination of the mark post etc. on ground.
The most preferably, described user terminal 2 is provided with and flies for nobody presenting described augmented reality
Row body tests the display module 12 of environment and for controlling the flight control modules 13 of unmanned vehicle body.Display module 12 will
The augmented reality environment of the virtual reality fusion that system is formed presents to user, and this module is not intended to the concrete entity presented, Ke Yiwei
The display interface of unmanned controller, it is possible to control end display screen interface for mobile phone, can be also that helmet-type operates controller
Display unit；Be limited to current display module 12 presents effect, can only accomplish augmented reality at present, rather than human eye of can out-tricking
Virtual reality degree, but this experience is for competing for speed and flying hands, as long as can allow its confirm aerial exist one virtual
Obstacle, has reached effect.For compete for speed flight for, fly hands be more willing to experience be in high-speed flight, be accurately given and fly
Row instruction, and completes the highly difficult sense of accomplishment passed through, and and the virtual barrier that presents of non-interesting, the image effect of scene have many
Truly.So the verity of display effect has no effect on the enforcement of the present invention.In one embodiment, display module 12 can wrap
Include LCDs.
In one embodiment, described display module 12 shows the unmanned vehicle of described augmented reality simultaneously to third party
Experience environment.It is supplied to user's frequency range of user it is highly preferred that described display module is provided with by experiencing environment and/or is supplied to the
The viewing frequency range of tripartite.
The most preferably, described user terminal 2 is provided with human-computer interaction interface and flies nobody for user
The operation of row device, this interface is not intended to application entity, can be entity unmanned controller, it is possible to control transverse plane behaviour for mobile phone
Make interface, can be also helmet-type operation controller etc.,
The most preferably, described unmanned vehicle experiencing system is provided with for following the trail of in described enhancing existing
Real unmanned vehicle experiences the follow-up mechanism 14 of the unmanned vehicle body in environment and for calculating the timing of fixture
Device 15.Follow-up mechanism 14 is used for space orientation tracking and the virtual objects location in real space of unmanned vehicle body 1,
The coupling of the most virtual and real object and arrangement.Acquisition to unmanned vehicle body 1 relative space position and vision orientation is adopted
Carry out registering or labelling with the follow-up mechanism 14 such as tracking transducer, preferably practical example use inertial navigation unit carry out with
Track.Inertial navigation unit measures the acceleration of motion of unmanned vehicle body 1 by principle of inertia, the inertia dress of usual indication
Put and include gyroscope and accelerometer.But the present invention is not excluded for making to carry out the virtual scene Tracing Registration to outdoor scene in other ways
Or labelling, including: use infrared ray, ultrasound wave, electromagnetism, optics, radio wave etc. to be tracked.Described timer 15 is in case competing
Speed ratio match calculates each player flight time started, arrives at endpoints, flight used time, the parameters such as total duration of flying, it is possible to
Effectively assist completing of this match of competing for speed, and guarantee fairness.
Fig. 3 is the experiential method of the unmanned vehicle experiencing system based on augmented reality of one embodiment of the present of invention
Step schematic diagram, the embodiment of the present invention will be specifically described in conjunction with Fig. 3.
As it is shown on figure 3, use the experiential method of unmanned vehicle experiencing system based on augmented reality to comprise the following steps.
In first step S1, described capture apparatus 3 gathers real scene image data and measurement module 4 measures unmanned vehicle originally
Body 1 supplemental characteristic.
In second step S2, described view data and supplemental characteristic are sent to described user terminal via Wireless Telecom Equipment
2, described virtual scene generator 5 generates virtual scene.
In third step S3, described deficiency and excess binding modules 6 sets up Imaging space based on described view data and supplemental characteristic
And the virtual scene that described virtual scene maker 5 is generated by described deficiency and excess binding modules 6 embeds described Imaging space to be formed
Environment experienced by the unmanned vehicle of augmented reality.
It is further appreciated by this below by the workflow introducing unmanned vehicle experiencing system based on augmented reality
Invention.The workflow diagram of unmanned vehicle experiencing system based on augmented reality shown in Figure 4.
First, unmanned vehicle body 1 and user terminal 2 are started shooting Power-On Self-Test, unmanned vehicle body 1 and user terminal
2 connect via Wireless Telecom Equipment each other, and that sets up between user terminal 2 and unmanned vehicle body 1 is point-to-point wireless
Number passes and figure passes link, and after communicating to connect successfully, described unmanned vehicle body 1 is provided with for gathering real scene image data
Capture apparatus 3 and for measuring the measurement module 4 of unmanned vehicle body 1 supplemental characteristic, capture apparatus 3 gathers aircraft outdoor scene
Image, measurement module 4 gathers the supplemental characteristics such as aircraft altitude, orientation, pitching, GPS, unmanned vehicle real scene image and flight
Supplemental characteristic synchronizes, and is back to user terminal 2, real scene image that user terminal 2 returns according to unmanned vehicle and a series of
Flying quality, it is judged that whether unmanned plane during flying device enters playing area of competing for speed, when playing area is competed for speed in entrance, described user is eventually
End 2 is provided with the virtual scene generator 5 for generating virtual scene and deficiency and excess binding modules 6, described deficiency and excess binding modules 6 based on
Described view data and supplemental characteristic set up Imaging space and described deficiency and excess binding modules 6, and described virtual scene maker 5 is raw
The virtual scene become embeds described Imaging space and experiences environment with the unmanned vehicle forming augmented reality, and user is according to becoming in real time
The outdoor scene changed and virtual race barrier control unmanned plane and complete, according to virtual circuit, match of competing for speed, and wherein, follow-up mechanism 14 is remembered
Compete for speed flight line and the barrier touching etc. of record unmanned vehicle, timer 15 records and competes for speed the time, and follow-up mechanism 14 also may be used
To experience environment by data calibration revising further unmanned vehicle, after the match that completes to compete for speed, close described virtual scene
Maker 5 and deficiency and excess binding modules 6.
Although embodiment of the present invention being described above in association with accompanying drawing, but the invention is not limited in above-mentioned
Specific embodiments and applications field, above-mentioned specific embodiments the most schematic, guiding rather than restricted
's.Those of ordinary skill in the art is under the enlightenment of this specification and in the scope protected without departing from the claims in the present invention
In the case of, it is also possible to making a variety of forms, these belong to the row of present invention protection.
Claims (10)
1. a unmanned vehicle experiencing system based on augmented reality, it include at least one unmanned vehicle body (1) and
The user terminal (2) of at least one correspondence, described unmanned vehicle body (1) and user terminal (2) are each other via wireless
Communication equipment connects, it is characterised in that: described unmanned vehicle body (1) is provided with and sets for the shooting gathering real scene image data
Standby (3) and be used for measuring the measurement module (4) of unmanned vehicle body (1) supplemental characteristic, described user terminal (2) be provided with for
Generating virtual scene generator (5) and the deficiency and excess binding modules (6) of virtual scene, described deficiency and excess binding modules (6) is based on described
View data and supplemental characteristic set up Imaging space and described deficiency and excess binding modules (6), and described virtual scene maker (5) is raw
The virtual scene become embeds described Imaging space and experiences environment with the unmanned vehicle forming augmented reality.
Unmanned vehicle experiencing system based on augmented reality the most according to claim 1, it is characterised in that: described enhancing
The virtual scene that the unmanned vehicle of reality is experienced in environment is embedded in described reality according to Geometrical consistency and/or Movement consistency
In scape space.
Unmanned vehicle experiencing system based on augmented reality the most according to claim 1, it is characterised in that: described measurement
It is one or more that module (4) includes in positioning unit, altimeter, gyroscope, accelerometer, and described supplemental characteristic includes space
Position, one or more highly, in rotational angle and angle of rotation acceleration.
Unmanned vehicle experiencing system based on augmented reality the most according to claim 1, it is characterised in that: described virtual
It is described that scene generator (5) includes that virtual objects model generation module (10) for generating virtual image model and being used for generates
Virtual objects Coordinate generation module (11) of the coordinate of virtual image model.
Unmanned vehicle experiencing system based on augmented reality the most according to claim 1, it is characterised in that: described user
Terminal (2) is provided with the unmanned vehicle for presenting described augmented reality and experiences the display module (12) of environment and be used for controlling nothing
The flight control modules (13) of people's aircraft body.
Unmanned vehicle experiencing system based on augmented reality the most according to claim 5, it is characterised in that: described display
To third party, module (12) shows that environment experienced by the unmanned vehicle of described augmented reality simultaneously.
Unmanned vehicle experiencing system based on augmented reality the most according to claim 1, it is characterised in that: described virtual
Scene generator (5) is to be located at the virtual scene drawing apparatus outside user terminal, and described virtual scene drawing apparatus is via nothing
Line communication equipment wireless connections unmanned vehicle body (1) and user terminal (2).
Unmanned vehicle experiencing system based on augmented reality the most according to claim 1, it is characterised in that: described unmanned
Aircraft body check system is provided with for following the trail of the unmanned vehicle in the unmanned vehicle experience environment of described augmented reality originally
The follow-up mechanism (14) of body and for calculating the timer (15) of fixture.
9. one kind uses according to the unmanned vehicle experiencing system based on augmented reality according to any one of claim 1-8
Experiential method, it comprises the following steps:
In first step (S1), described capture apparatus (3) gathers real scene image data and measurement module (4) measures unmanned vehicle
Body (1) supplemental characteristic；
In second step (S2), described view data and supplemental characteristic are sent to described user terminal via Wireless Telecom Equipment
(2), described virtual scene generator (5) generates virtual scene；
In third step (S3), described deficiency and excess binding modules (6) sets up Imaging space based on described view data and supplemental characteristic
And described deficiency and excess binding modules (6) virtual scene that described virtual scene maker (5) is generated embed described Imaging space with
Environment experienced by the unmanned vehicle forming augmented reality.
Experiential method the most according to claim 9, it is characterised in that: in third step (S3), the nothing of described augmented reality
The virtual scene that people's aircraft is experienced in environment is embedded in described Imaging space according to Geometrical consistency and/or Movement consistency
In.
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| CN111650953B (en) * | 2020-06-09 | 2024-04-16 | 浙江商汤科技开发有限公司 | Aircraft obstacle avoidance processing method and device, electronic equipment and storage medium |
| CN114185320A (en) * | 2020-09-15 | 2022-03-15 | 中国科学院软件研究所 | Evaluation method, device and system for unmanned system cluster and storage medium |
| CN114185320B (en) * | 2020-09-15 | 2023-10-24 | 中国科学院软件研究所 | Evaluation method, device and system for unmanned system cluster and storage medium |
| CN112700696A (en) * | 2020-12-17 | 2021-04-23 | 苏州流昴飞行器技术有限公司 | Unmanned aerial vehicle simulation flight system |
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