CN106601062A - Interactive method for simulating mine disaster escape training - Google Patents
Interactive method for simulating mine disaster escape training Download PDFInfo
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Abstract
The invention discloses an interactive method for simulating mine disaster escape training. An escape training system employed by the interactive method is composed of a piece of virtual reality glasses, an omnibearing VR treadmill, a somatosensory interactive device and a computer. The omnibearing VR treadmill controls a motion of a person model in a virtual reality mine scene according to a moving state of a human body; the somatosensory interactive device carries out human body skeleton tracking and gesture identification to complete correlated interaction operations of the person model in the virtual reality mine scene; and then real-time information of a three-dimensional virtual mine is outputted by the virtual reality glasses, so that a trainee completes virtual reality mine escape training based on omnibearing reality situation simulation. Therefore, a trainer can carry out the operation of accurate reduction of a real fire situation in situ and the training experience is good.
Description
Technical field
The present invention relates to a kind of exchange method for simulating mine disaster escape training.
Background technology
Safety problem annoyings for a long time the development of coal industry, in order that underground operators be familiar with subsurface environment,
Self-rescue method is grasped, Virtual mine escape training is particularly important.Current Virtual mine escape training system is too relied on
Keyboard and mouse etc. tradition interactive device, trainee cannot by limbs operational control Virtual Laneway in freely run, Bu Nengshi
Now with the interaction of virtual facility in tunnel, therefore experience effect is not good, lacks tension and feeling of immersion during escape.
The content of the invention
It is an object of the invention to a kind of exchange method for simulating mine disaster escape training is proposed, to make to undergo training
Person completes the virtual reality mine escape training of full-scope simulation emulation reality.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of exchange method for simulating mine disaster escape training, the escape training system that it is adopted includes virtual existing
Real glasses, comprehensive type VR treadmill, body feeling interaction equipment and computer；
Wherein, virtual reality glasses, comprehensive type VR treadmill, body feeling interaction equipment are connected respectively with computer；It is described
Implementation method includes：
The step of equal proportion three-dimensional panorama simulation virtual reality mine systems are generated by computer；
The step of relief virtual reality mine scene is presented by virtual reality glasses；
The mobile status of human body is converted to personage's mould in virtual reality mine scene by comprehensive type VR treadmill
The step of moving operation of type is controlled；And
The real-time tracing of skeleton is obtained by body feeling interaction equipment, and human hands bone node is identified,
So as to complete the step of controlling the related interactive operation of person model in virtual reality mine scene.
Preferably, the mobile status of the human body includes walking, jumps and run.
Preferably, the interactive operation includes the interactive operation of touching formula or gripping-type interactive operation.
Preferably, include gyroscope and accelerometer in interior inertial sensor real-time perception people using virtual reality glasses
The position of body head, and the visual angle of correspondence adjustment display picture, make human body be dissolved in virtual reality mine scene.
Preferably, the support that the virtual reality glasses pass through illusory engine bottom plug-in unit, from virtual reality mine systems
The picture that scene cameras capture is arrived, and the speed refresh picture that 13ms is not higher than with every frame are obtained in the mine map of structure.
Preferably, the movement locus and speed data on the comprehensive type VR treadmill is by comprehensive type VR treadmill
Eight blocks of trajectory track plates of bottom are obtained and transmitted to computer, and the respective direction vector sum motion of person model is converted in real time
Speed, control person model and scene camera are moved with speed by human motion direction in virtual reality mine scene.
Preferably, the step of body feeling interaction equipment obtains the real-time tracing of skeleton is as follows：
1) body feeling interaction equipment choosing Kinect, according to 25 bone nodes that Kinect gets human body, builds in three-dimensional
The person model consistent with Kinect bone nodes is set up in mould software；
2 set up Avatar systems in illusory engine, obtain the example of skeleton mesh animation, will set up in 3DMax
Three dimensional character model it is corresponding with Kinect skeletal joint points, and by Microsoft Kinect SDK kits and
Third party's plug-in unit of OpaqueMultimedia exploitations, obtains frame by frame personage bone node space position and directional information；
Wherein, Kinect Interface interfaces obtain the corresponding artis of skeleton, Get Centered Body letters
Number and GetJoint Absolute Position functions obtain the positional information of current operation bone and corresponding joint point tracking；
3) it is last, the bone node of the person model in the skeleton for tracking and illusory engine is corresponded, make
The movement locus of person model is consistent with the movement response that human body is made.
Preferably, the process of the touching formula interactive operation is specific as follows：
1) the skeleton hand binding collision body imported in illusory engine, by Attach To functions by two collision bodies
Successively Snap to Target modes are used according to set membership with hand the node parameter hand_l or hand_r of skeleton
Bound, the hand of now Jing body feeling interactions equipment control skeleton has collision；
2) position that control operation is needed in virtual reality mine scene arranges corresponding trigger；
3) control skeleton by body feeling interaction equipment to be moved to behind required control operation position, hand collision body passes through
Touching mode opens trigger operation event.
Preferably, the process of the gripping-type interactive operation is specific as follows：
1) static mesh is created in virtual reality mine scene, and correspondence adds collision to prepare personage's skeletal joint
Put the binding with static mesh；
2) by Get Hand State as Exceution functions, right-hand man's enumerated value and Kinect are added
Interface interface parameters, so as to the gesture state for obtaining Kinect identifications in every two field picture；
3) when it is Open states to recognize hand state, using Attach To functions by collision body and the hand of skeleton
Portion's artis binding, adds static mesh to be operated and quotes using Move Component to functions, and will be to be operated
Target object location is set to off node parameter hand_l/hand_r positions；
4) when it is Close states to recognize hand state, then the Set Visibility functions for being carried using illusory engine
The collision body that skeleton is bound is hidden with Detach functions, is operated so as to not collide with other objects.
The invention has the advantages that：
The inventive method is mutually tied using virtual reality glasses, comprehensive type VR treadmill, body feeling interaction equipment with computer
The form of conjunction, comprehensive type VR treadmill controls the dynamic of person model in virtual reality mine scene according to the mobile status of human body
Make, and skeleton tracking and gesture identification are carried out by body feeling interaction equipment, complete personage's mould in virtual reality mine scene
Interactive operation of type etc., the most real time information of three-dimensional mine at last, are exported by virtual reality glasses, complete trainee
The virtual reality mine escape training of full-scope simulation emulation reality.The present invention can be saved and build true escape system
Manpower and materials, and make trainer carry out the operation that height reduces natural fire situation in situ, obtain preferable training experiences.
Description of the drawings
The structural representation of the escape training system that Fig. 1 is adopted by the inventive method；
Wherein, 1- computers, 2- body feeling interaction equipment, 3- virtual reality glasses, 4- human bodies, comprehensive types VR of 5- are run
Machine.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in further detail to the present invention：
With reference to shown in Fig. 1, one kind simulation mine disaster escape training system, including computer 1, body feeling interaction equipment 2, void
Intend Reality glasses 3 and comprehensive type VR treadmill 5.Wherein：
Body feeling interaction equipment 2, virtual reality glasses 3 and comprehensive type VR treadmill 5 are connected respectively with computer 1.
Body feeling interaction equipment 2 in the present invention for example can be using Kinect etc..
Virtual reality glasses 3 in the present invention can for example adopt Oculus Rift, certainly, the virtual reality glasses 3
Can also be PlayStation VR, Vive Pre, Oculus rift DK2 etc..
Comprehensive type VR treadmill 5 in the present invention for example can be using Virtuix Omni etc..
A kind of exchange method for simulating mine disaster escape training, using above-mentioned escape training system, the method bag
Include：
The step of a generates equal proportion three-dimensional panorama simulation virtual reality mine systems by computer 1；
The step of b is presented relief virtual reality mine scene by virtual reality glasses 3；
C is converted to the mobile status of human body to personage in virtual reality mine scene by comprehensive type VR treadmill 5
The step of moving operation of model is controlled；And
D obtains the real-time tracing of skeleton by body feeling interaction equipment 2, and human hands bone node is known
Not, so as to complete in virtual reality mine scene person model correlation interactive operation control the step of.
The equal proportion three-dimensional panorama simulation virtual reality mine systems set up in step a have following features：
1. the respective fictional reality mine scene that mine terrain generation is adapted to concrete mine is combined；
2. real-time update is carried out to virtual reality mine systems with reference to the concrete interactive operation of trainee；
3. escape route training is carried out when planning optimal path, escape.
In stepb, by the use of virtual reality glasses 3 as the visual output device of escape training system, respectively undergo training
The eyes of person provide different pictures, and by binocular parallax stronger third dimension is produced.
Include gyroscope and accelerometer in interior inertial sensor real-time perception trainee's head using virtual reality glasses 3
The position in portion, and the visual angle of correspondence adjustment display picture, make trainee be dissolved in virtual reality mine scene.
In step c, the mobile status of human body includes walking, jumps and run.Can be with by comprehensive type VR treadmill 5
Above-mentioned mobile status is converted into into the corresponding mobile status of person model in virtual reality mine scene.
Trainee uses special low friction footwear, arch brace is aided in by waist, by the bowl of comprehensive type VR treadmill 5
Columnar structure base, all around walks about on comprehensive type VR treadmill 5, the bowl assembling structure base of comprehensive type VR treadmill 5
Ensure that trainee remains at original position, movement locus and number of speed of the trainee on comprehensive type VR treadmill 5 after walking about
Obtain and transmit to computer according to by eight blocks of trajectory track plates of the comprehensive bottom of type VR treadmill 5, personage is converted in real time
The respective direction vector sum movement velocity of model, control person model and scene camera are by human motion direction with speed virtual
Move in real mine scene, so as to strengthen feeling of immersion and controllability.
In step d, body feeling interaction equipment 2 obtain skeleton real-time tracing the step of it is as follows：
1) Kinect is chosen as the body feeling interaction equipment 2 in the present invention, human body is got according to body feeling interaction equipment
25 bone nodes, set up the person model consistent with Kinect bone nodes in 3 d modeling software；
2) Avatar systems are set up in illusory engine, the example of skeleton mesh animation is obtained, will be set up in 3DMax
Three dimensional character model it is corresponding with Kinect skeletal joint points, and by Microsoft Kinect SDK kits and
Third party's plug-in unit of OpaqueMultimedia exploitations, obtains frame by frame personage bone node space position and directional information；
Wherein, Kinect Interface interfaces obtain the corresponding artis of skeleton, Get Centered Body letters
Number and GetJoint Absolute Position functions obtain the positional information of current operation bone and corresponding joint point tracking；
3) it is last, the bone node of the person model in the skeleton for tracking and illusory engine is corresponded, make
The movement locus of person model is consistent with the movement response that human body is made.
In step d, the mode of the body feeling interaction of body feeling interaction equipment 2 so that the simpler nature of man-machine interactive operation, institute
Some interactive operations all can be completed by limb action.In addition to the keeping strokes of user and 3D person models, natural interaction is used
Mode is also in the scene a critical function with interacting for object.
Related interactive operation in the present invention includes the interactive operation of touching formula or gripping-type interactive operation.
Specifically, the process for touching formula interactive operation is specific as follows：
1) the skeleton hand binding collision body imported in illusory engine, by Attach To functions by two collision bodies
Successively Snap to Target modes are used according to set membership with hand the node parameter hand_l or hand_r of skeleton
Bound, the hand of now Jing body feeling interactions equipment control skeleton has collision；
2) position of control operation, such as tunnel gate, warning device, lift are needed in virtual reality mine scene
Deng place, corresponding trigger is set；
3) control skeleton by body feeling interaction equipment 2 to be moved to behind required control operation position, hand collision body leads to
Cross touching mode and open trigger operation event, play default closing gate animation, alarm lamp alarm broadcast, start lifter liter
Rise and wait animation, sound and special efficacy, so as to realize to entering the simple interaction such as region, trigger button in scene.
And gripping-type interactive operation is then to follow the trail of the phase for getting four hand skeletal joint points by body feeling interaction equipment 2
To position, so as to judge that hand motion recognition gesture state carries out corresponding operating.
The process of gripping-type interactive operation is specific as follows：
1) static networks such as fire extinguisher, life saving mask, survival capsule, downhole operation equipment are created in virtual reality mine scene
Lattice object, and correspondence adds collision to prepare the binding of personage's skeletal joint point and static mesh；
2) by Get Hand State as Exceution functions, right-hand man's enumerated value and Kinect are added
Interface interface parameters, so as to the gesture state for obtaining Kinect identifications in every two field picture；
3) when it is Open states to recognize hand state, with reference to said process using Attach To functions by collision body and
The hand joint point binding of skeleton, adds static mesh to be operated and draws using Move Component to functions
With, and target object location to be operated is set to off into node parameter hand_l/hand_r positions；
4) when it is Close states to recognize hand state, then the Set Visibility functions for being carried using illusory engine
The collision body that skeleton is bound is hidden with Detach functions, is operated so as to not collide with other objects.
The specifically used process of escape training system is as follows in the present invention：
Trainee enters comprehensive type VR treadmill 5, stands towards body feeling interaction equipment 2, wears virtual reality glasses 3.
Trainee enters simulation virtual reality mine systems, and preparation is ready, opens each interactive device.
Virtual reality glasses 3 are presented training system interface, and interface is designed using card form UI, and trainee lifts left hand level
Brandish, menu switching is carried out by Kinect identification gesture operations；Selected choices from menus option by the foresight at interface center；Visual station keeping
It is confirmation within 3 seconds to choose, into disaster pattern selected by trainee and corresponding mine map training is started.
Escape training is divided into study course training and autonomous training both of which：
Study course is trained by introducing and marking lifesaving appliance present position to the overall of mine life saving passage, helps trainee
Understand mine inner case and grasp escape method and route；Autonomous training then independently selects escape mode by trainee completely.
Training starts, the support that virtual reality glasses 3 pass through illusory engine bottom plug-in unit, from virtual reality mine systems structure
The picture that scene cameras capture is arrived, and the speed refresh picture that 13ms is not higher than with every frame are obtained in the mine map built, so as to
Keep virtual reality glasses 3 that the smoothness of picture is presented, reach the effect of real-time Transmission.Above-mentioned picture refreshing speed can drop simultaneously
The spinning sensation of low trainee, strengthens its impression for being immersed in mine landform.
Under study course training mode, according to system suggestion, trainee's wearing low friction footwear are gone forward in comprehensive type VR treadmill 5
Afterwards left and right is walked about, and the bowl assembling structure base of comprehensive type VR treadmill 5 ensures that trainee remains at original position after walking about, and undergoes training
Movement locus and speed of the person on comprehensive type VR treadmill is transmitted to training system, and virtual reality mine field is converted in real time
The respective direction vector sum movement velocity of person model in scape, controls the person model and scene camera in training system by undergoing training
Person's direction of motion is moved in the scene with speed, so as to strengthen feeling of immersion and controllability.
Person model is walked about to can hand in trainee controls virtual reality mine scene by comprehensive type VR treadmill 5
Mutually before object, stretch out crawl and placement of the right hand using gesture control object, realize closing tunnel gate, start warning device,
Lift is opened, using other down-hole lifesaving appliances such as fire extinguisher, life saving mask, survival capsule.
Trainee is completed after training, and system interface shows and continues to train and the tab that logs off, and trainee passes through ray
Detection and visual station keeping are selected, and are continued to escape and are trained or log off.
Certainly, described above is only presently preferred embodiments of the present invention, and the present invention is not limited to enumerate above-described embodiment, should
When explanation, any those of ordinary skill in the art are all equivalent substitutes for being made, bright under the teaching of this specification
Aobvious variant, all falls within the essential scope of this specification, ought to be protected by the present invention.
Claims (9)
1. a kind of for simulating the exchange method that mine disaster escape is trained, the escape training system that it is adopted includes virtual reality
Glasses, comprehensive type VR treadmill, body feeling interaction equipment and computer；Wherein, virtual reality glasses, comprehensive type VR are run
Machine, body feeling interaction equipment are connected respectively with computer；Characterized in that, the implementation method includes：
The step of equal proportion three-dimensional panorama simulation virtual reality mine systems are generated by computer；
The step of relief virtual reality mine scene is presented by virtual reality glasses；
The mobile status of human body is converted to person model in virtual reality mine scene by comprehensive type VR treadmill
The step of moving operation is controlled；And
The real-time tracing of skeleton is obtained by body feeling interaction equipment, and human hands bone node is identified, so as to
Complete to the step of the interactive operation of person model correlation is controlled in virtual reality mine scene.
2. it is according to claim 1 it is a kind of for simulate mine disaster escape training exchange method, it is characterised in that institute
Stating the mobile status of human body includes walking, jumps and run.
3. it is according to claim 1 it is a kind of for simulate mine disaster escape training exchange method, it is characterised in that institute
Interactive operation is stated including the interactive operation of touching formula or gripping-type interactive operation.
4. it is according to claim 1 it is a kind of for simulate mine disaster escape training exchange method, it is characterised in that profit
Include gyroscope and accelerometer in the position of interior inertial sensor real-time perception human body head with virtual reality glasses, and it is right
The visual angle of display picture should be adjusted, human body is dissolved in virtual reality mine scene.
5. it is according to claim 1 it is a kind of for simulate mine disaster escape training exchange method, it is characterised in that institute
Support of the virtual reality glasses by illusory engine bottom plug-in unit is stated, is obtained in the mine map built from virtual reality mine systems
The picture that scene cameras capture is arrived is taken, and the speed refresh picture that 13ms is not higher than with every frame.
6. it is according to claim 1 it is a kind of for simulate mine disaster escape training exchange method, it is characterised in that institute
The movement locus and speed data stated on comprehensive type VR treadmill is chased after by eight pieces of tracks of comprehensive type VR running motor spindle
Track plate is obtained and transmitted to computer, and the respective direction vector sum movement velocity of person model is converted in real time, controls personage's mould
Type and scene camera are moved with speed by human motion direction in virtual reality mine scene.
7. it is according to claim 1 it is a kind of for simulate mine disaster escape training exchange method, it is characterised in that institute
State as follows the step of body feeling interaction equipment obtains the real-time tracing of skeleton：
1) body feeling interaction equipment choosing Kinect, according to Kinect 25 bone nodes of human body are got, soft in three-dimensional modeling
The person model consistent with Kinect bone nodes is set up in part；
2) Avatar systems are set up in illusory engine, the example of skeleton mesh animation is obtained, three for setting up in 3DMax
Dimension person model is corresponding with Kinect skeletal joint points, and by Microsoft Kinect SDK kits and Opaque
Third party's plug-in unit of Multimedia exploitations, obtains frame by frame personage bone node space position and directional information；
Wherein, Kinect Interface interfaces obtain the corresponding artis of skeleton, Get Centered Body functions and
Get Joint Absolute Position functions obtain the positional information of current operation bone and corresponding joint point tracking；
3) it is last, the bone node of the person model in the skeleton for tracking and illusory engine is corresponded, make personage
The movement locus of model is consistent with the movement response that human body is made.
8. it is according to claim 7 it is a kind of for simulate mine disaster escape training exchange method, it is characterised in that institute
The process for stating touching formula interactive operation is specific as follows：
1) the skeleton hand binding collision body imported in illusory engine, by Attach To functions by two collision bodies and people
Hand the node parameter hand_l or hand_r of body bone is carried out successively according to set membership using Snap to Target modes
There is collision in binding, the hand of now Jing body feeling interactions equipment control skeleton；
2) position that control operation is needed in virtual reality mine scene arranges corresponding trigger；
3) control skeleton by body feeling interaction equipment to be moved to behind required control operation position, hand collision body is by touching
Mode opens trigger operation event.
9. it is according to claim 8 it is a kind of for simulate mine disaster escape training exchange method, it is characterised in that institute
The process for stating gripping-type interactive operation is specific as follows：
1) create static mesh in virtual reality mine scene, and correspondence add collision prepare personage's skeletal joint point with
The binding of static mesh；
2) by Get Hand State as Exceution functions, right-hand man's enumerated value and Kinect Interface are added
Interface parameters, so as to the gesture state for obtaining Kinect identifications in every two field picture；
3) when it is Open states to recognize hand state, the hand of collision body and skeleton is closed using Attach To functions
Node binding, adds static mesh to be operated and quotes using Move Component to functions, and by target to be operated
Object space is set to off node parameter hand_l/hand_r positions；
4) when it is Close states to recognize hand state, then the Set Visibility functions that carried using illusory engine and
Detach functions hide the collision body that skeleton is bound, and are operated so as to not collide with other objects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611026775.1A CN106601062A (en) | 2016-11-22 | 2016-11-22 | Interactive method for simulating mine disaster escape training |
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| CN107489446A (en) * | 2017-09-13 | 2017-12-19 | 徐州翰林科技有限公司 | Mine escape Training Control system after a kind of calamity |
| CN107544677A (en) * | 2017-10-24 | 2018-01-05 | 广州云友网络科技有限公司 | Utilize modularization track and the method and system of body-sensing unit simulation moving scene |
| CN107643698A (en) * | 2017-09-13 | 2018-01-30 | 徐州翰林科技有限公司 | Mine escape training platform system after a kind of calamity |
| CN107731016A (en) * | 2017-10-10 | 2018-02-23 | 东莞华南设计创新院 | A kind of Chemical Engineering Training system based on virtual reality |
| CN107783652A (en) * | 2017-10-17 | 2018-03-09 | 广州杰赛科技股份有限公司 | Implementation method, system and the device of virtual reality |
| CN108230804A (en) * | 2017-12-25 | 2018-06-29 | 郑玉宣 | A kind of virtual reality mine emergency rehearsal and operative skill Training Methodology and system |
| CN108281077A (en) * | 2017-12-26 | 2018-07-13 | 丰羽教育科技（上海）有限公司 | A kind of virtual escape guiding method and system based on wearable device |
| CN108376198A (en) * | 2018-02-27 | 2018-08-07 | 山东师范大学 | A kind of crowd simulation method and system based on virtual reality |
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| CN108806384A (en) * | 2018-07-24 | 2018-11-13 | 李慧 | A kind of method of virtual earthquake escape training |
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| CN111862715A (en) * | 2020-07-27 | 2020-10-30 | 中国南方电网有限责任公司超高压输电公司贵阳局 | Anti-icing operation authorization training evaluation system based on VR technology |
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| JP2021068209A (en) * | 2019-10-23 | 2021-04-30 | スコネック エンターテインメント カンパニー リミテッド | Virtual reality control system |
| CN113012513A (en) * | 2021-03-10 | 2021-06-22 | 上海市精神卫生中心（上海市心理咨询培训中心） | Training method and system for shopping ability of autism patient |
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| CN110162163A (en) * | 2018-03-08 | 2019-08-23 | 长春大学 | A kind of virtual fire-fighting drill method and system based on body-sensing and VR technology |
| CN110162163B (en) * | 2018-03-08 | 2023-05-09 | 长春大学 | Virtual fire-fighting exercise method and system based on somatosensory and VR technology |
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| CN108572731A (en) * | 2018-03-16 | 2018-09-25 | 中国科学院自动化研究所 | Dynamic based on more Kinect and UE4 catches Data Representation method and device |
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| CN108961905A (en) * | 2018-08-02 | 2018-12-07 | 李慧 | A kind of fire disaster escaping drilling method based on virtual reality technology |
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| JP2021068209A (en) * | 2019-10-23 | 2021-04-30 | スコネック エンターテインメント カンパニー リミテッド | Virtual reality control system |
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| CN111862715A (en) * | 2020-07-27 | 2020-10-30 | 中国南方电网有限责任公司超高压输电公司贵阳局 | Anti-icing operation authorization training evaluation system based on VR technology |
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